Underwater space positioning system and method for immersed tube joint immersion butt joint

Abstract

The invention provides an immersed tube joint sinking butt joint underwater space positioning system and method. The immersed tube joint sinking butt joint underwater space positioning system comprises a clinometer, a mobile station group, a tide gauge, a multi-beam sonar and a monitoring data analysis and display module. The inclinometer obtains bidirectional dip angle monitoring data of the immersed tube joint; the mobile station group obtains coordinate monitoring data of positions where the mobile stations are located respectively; the tide level meter obtains tide level monitoring data in the pipe joint sinking and butt joint period; the multi-beam sonar obtains the terrain data of the underwater foundation trench in the pipe joint sinking and docking area; the monitoring data analysis and display module obtains feature point coordinates, pipe joint postures and early warning index data on a to-be-immersed pipe joint according to the inclinometer monitoring data, the mobile station group monitoring data, the tide level data, the multi-beam underwater topographic data and the immersed pipe joint coordinate data.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent monitoring of immersed tube tunnel construction, and specifically to an underwater spatial positioning system and method for the sinking and docking of immersed tube segments, and more specifically to an underwater spatial positioning and early warning system and method for the sinking and docking of immersed tube segments. Background Art

[0002] Immersed tube tunneling is gaining increasing popularity in China due to its advantages, including large tunnel cross-sections, short line lengths, and minimal geological constraints. Underwater placement and docking of pipe segments is a critical process in immersed tube tunnel construction, and docking accuracy directly impacts the quality and even success of the project. Currently, monitoring methods used during pipe segment placement and docking include high-precision optical measurement, survey tower positioning, underwater sonar measurement and positioning, and underwater cable positioning.

[0003] Patent document CN211948593U (application number: 201922298086.1) discloses a device for monitoring the displacement of pipe joints in immersed tube tunnels. The device comprises a telescopic displacement sensor, an adapter plate, and a telescopic rod. The telescopic displacement sensor is connected to the adapter plate via the telescopic rod. The inner surface of the adapter plate is smooth, and the telescopic rod is initially compressed. The end of the telescopic rod is spherical. This patent is designed for monitoring joints in immersed tube tunnels during operation.

[0004] Patent document CN204188163U (application number: 201420597554.X) discloses a system for collecting information on the location of immersed tube tunnels. The system uses a traditional total station observation method. A prism is installed on the top of the measuring tower, and the prism coordinates are observed on the shore by a total station to locate the location of the pipe segment. At the same time, an inclinometer and GPS are installed inside and on the top of the pipe segment for coordinate verification. This method is greatly affected by the observation distance of the total station, and does not take into account basic data information such as the foundation trench topography and the sunken pipe segments, and cannot achieve the early warning function. From the attached document of the patent, Figure 2 The installation, data transmission and calibration methods of the inclinometer are unknown in the specific implementation method. In addition, its data acquisition system is directly immersed in water, but data transmission is impossible in water.

[0005] Patent document CN111678506A (application number: 202010724647.4) discloses a new immersed tube calibration method, which uses a method to calibrate the position of the sensor on the pipe section after the immersed tube section is sunk underwater. However, the document does not mention how to sink and dock the immersed tube section underwater, and the pipe section bottom calibration method is an extremely complicated process both in the engineering and academic circles.

[0006] Existing techniques for underwater monitoring using single optical or acoustic measurement methods often suffer from large deviations and low efficiency. While high-precision optical measurement methods offer high accuracy, they lack real-time data transmission and require manual periodic verification, resulting in poor visualization and real-time performance. Therefore, the urgent need to address the technical challenge of conveniently, accurately, automatically, and in real time, visually monitoring the underwater spatial position of submerged tube segments during their placement and docking is a challenge. Summary of the Invention

[0007] In view of the defects in the prior art, the purpose of the present invention is to provide an underwater spatial positioning system and method for sinking and docking immersed tube segments.

[0008] According to the present invention, an underwater spatial positioning system for sinking and docking an immersed tube segment includes: an inclinometer, a mobile station group, a multi-beam sonar, and a monitoring data analysis and display module 10;

[0009] The inclinometer is used to obtain the inclination angle monitoring data of the pipe section 1 to be sunk;

[0010] The mobile station group is used to obtain coordinate monitoring data of the mobile stations;

[0011] The multi-beam sonar is used to obtain underwater topographic data of the foundation trench in the area where the pipe segment 1 is to be sunk;

[0012] The monitoring data analysis and display module 10 is used to obtain the characteristic point coordinates of the pipe segment to be sunk 1 based on the inclination angle monitoring data of the pipe segment to be sunk 1, the coordinate monitoring data of the mobile station, and the structural size data of the pipe segment to be sunk 1 itself, and obtain the posture of the pipe segment to be sunk 1 based on the characteristic point coordinates; it is used to obtain the vertical minimum distance between the pipe segment to be sunk 1 and the base trench according to the underwater terrain data of the base trench in the sinking area of ​​the pipe segment to be sunk 1 and the characteristic point coordinates of the pipe segment to be sunk 1; at the same time, it is used to obtain the relative height difference, axis deviation and longitudinal distance between the joint to be sunk 1 and the sunken pipe segment 15 based on the characteristic point coordinates of the sunken pipe segment 15 and the characteristic point coordinates of the pipe segment to be sunk 1.

[0013] Preferably, the mobile station group includes a first RTK mobile station 8 and a second RTK mobile station 9;

[0014] The first RTK mobile station 8 is installed on the main survey control tower 2 of the pipe section 1 to be sunk, and is used to obtain coordinate monitoring data of the first RTK mobile station 8;

[0015] The second RTK mobile station 9 is installed on the auxiliary survey control tower 3 of the pipe section 1 to be sunk, and is used to obtain coordinate monitoring data of the second RTK mobile station 9.

[0016] Preferably, the inclinometer is a dual-axis inclinometer 7 including transverse and longitudinal axes;

[0017] The dual-axis inclinometer 7 is installed on the middle partition wall 20 at the lower part of the main measurement control tower 2 near the pipe section 1 to be sunk;

[0018] Obtain the heel and pitch angles of the pipe section 1 to be sunk by means of the dual-axis inclinometer 7;

[0019] Based on the initial measured inclination angle of the pipe section to be sunk and the real-time measured inclination angle obtained by the dual-axis inclinometer 7, the actual inclination angle of the pipe section to be sunk is obtained.

[0020] Preferably, the monitoring data analysis and display module 10 is arranged on the main measurement control tower 2 of the pipe segment 1 to be sunk;

[0021] The inclinometer is connected to the monitoring data analysis and display module 10 through the main measurement control tower 2 of the pipe section to be sunk via a cable 13, so that the monitoring data analysis and display module 10 obtains the inclination angle monitoring data of the pipe section to be sunk 1;

[0022] The mobile station group is connected to the monitoring data analysis and display module 10 by wireless transmission, so that the monitoring data analysis and display module 10 obtains the coordinate monitoring data of the mobile station.

[0023] Preferably, the system further comprises: a tide gauge 21; the tide gauge 21 is installed on the shore of the buried section of the immersed tube tunnel;

[0024] The tide level data of the sinking area of ​​the pipe section 1 to be sunk is obtained by using the tide level meter; and is imported into the monitoring data analysis and display module 10 through wireless transmission; the monitoring data analysis and display module 10 warns of low tide and high tide conditions during the pipe section sinking and docking period based on the tide level data of the sinking area of ​​the pipe section to be sunk.

[0025] According to the present invention, a method for underwater spatial positioning of immersed tube segments during sinking and docking is provided, comprising:

[0026] Step S1: Obtaining inclination angle monitoring data of the pipe section to be sunk 1 by means of an inclinometer installed on the pipe section to be sunk 1;

[0027] Step S2: obtaining the coordinate monitoring data of the mobile station through the mobile station;

[0028] Step S3: Acquire underwater topographic data of the foundation trench in the area where the pipe segment 1 is to be sunk by multi-beam sonar;

[0029] Step S4: The monitoring data analysis and display module 10 obtains the coordinates of the characteristic points of the pipe segment 1 to be sunk based on the tilt angle monitoring data of the pipe segment 1 to be sunk, the coordinate monitoring data of the mobile station, and the structural dimension data of the pipe segment 1 to be sunk, and obtains the posture of the pipe segment 1 to be sunk based on the characteristic point coordinates;

[0030] Step S5: The monitoring data analysis and display module 10 obtains the minimum vertical distance between the pipe segment 1 to be sunk and the foundation trench according to the underwater topographic data of the foundation trench in the sinking area of ​​the pipe segment 1 to be sunk and the coordinates of the characteristic points of the pipe segment 1 to be sunk;

[0031] Step S6: The monitoring data analysis and display module 10 obtains the relative height difference, axis deviation and longitudinal distance between the to-be-sunk joint 1 and the sunken pipe section 15 based on the characteristic point coordinates of the sunken pipe section 15 and the characteristic point coordinates of the to-be-sunk pipe section 1.

[0032] Preferably, the step S1 includes:

[0033] Step S1.1: After the prefabrication of the pipe segment 1 to be sunk is completed, an inclinometer is placed from the top of the pipe through the manhole 12 into the middle corridor of the pipe segment 1 to be sunk. The inclinometer is installed on the middle partition wall 20 of the pipe segment 1 to be sunk near the main measurement and control tower 2, and the inclinometer is kept level with the top of the pipe segment 1 to be sunk.

[0034] Step S1.2: After the inclinometer is installed, it is powered on for testing. The inclinometer measures the initial measured inclination angle and the real-time measured inclination angle of the joint to be submerged; and transmits the measured initial measured inclination angle and the real-time measured inclination angle of the joint to be submerged to the monitoring data analysis and display module 10. The monitoring data analysis and display module 10 calculates the real-time inclination angle of the joint to be submerged based on the initial measured inclination angle and the real-time measured inclination angle of the joint to be submerged;

[0035] The inclinometer is a dual-axis inclinometer 7 including a transverse axis and a longitudinal axis.

[0036] Preferably, step S5 includes:

[0037] Step S5.1: Using the multi-beam sonar to fully scan the underwater foundation trench topography 18 data of the pipe segment sinking and docking area at preset intervals, including the coordinate data of the underwater foundation trench topography 18 of the pipe segment sinking and docking area;

[0038] Step S5.2: The acquired coordinate data of the underwater foundation trench topography 18 in the pipe segment sinking and docking area is transmitted to the monitoring data analysis and display module 10. The monitoring data analysis and display module 10 obtains the vertical minimum distance between the pipe segment 1 to be sunk and the foundation trench based on the coordinate data of the underwater foundation trench topography 18 in the pipe segment sinking and docking area and the coordinates of the characteristic points of the bottom of the pipe segment 1 to be sunk.

[0039] Preferably, step S6 includes:

[0040] Step S6.1: The monitoring data analysis and display module 10 obtains the coordinates of the characteristic points at the tail end of the sunken pipe segment 15 or the head end of the buried segment;

[0041] Step S6.2: The monitoring data analysis and display module 10 obtains the relative height difference, axis deviation and longitudinal distance between the pipe segment to be sunk 1 and the sunken pipe segment 15 based on the characteristic point coordinates of the end of the sunken pipe segment 15 and the characteristic point coordinates of the end of the pipe segment to be sunk 1.

[0042] Preferably, the method also includes: using a tide meter 21 installed on the shore of the buried section of the immersed tube tunnel to obtain tide level data of the sinking area of ​​the pipe section 1 to be sunk; and importing the data into the monitoring data analysis and display module 10 through wireless transmission; the monitoring data analysis and display module 10 warns of low tide and high tide conditions during the sinking and docking of the pipe section based on the tide level data of the sinking area of ​​the pipe section to be sunk.

[0043] Compared with the prior art, the present invention has the following beneficial effects:

[0044] 1. The present invention uses a dual-axis inclinometer, an RTK mobile station group, and a monitoring data analysis and display module to monitor the underwater spatial position of the immersed tube segment in real time without being restricted by the observation distance, and the signal transmission is stable.

[0045] 2. The spatial positioning system for sinking and docking of immersed tube segments provided by the present invention does not require manual counting and can achieve high-precision, automatic, real-time, and visual monitoring of the sinking and docking of the segments;

[0046] 3. The underwater spatial positioning system and method for the sinking and docking of immersed tube segments provided by the present invention integrates information on the foundation trench topography and the position of the sunken tube segments, enabling real-time early warning and forecasting.

[0047] 4. The present invention can monitor the spatial position of the immersed tube segments during their placement and docking in real time through an underwater spatial positioning system composed of an inclinometer, a mobile station, a tide gauge, a multi-beam sonar, and a monitoring data analysis and display module. The provided underwater spatial positioning system and early warning method for the placement and docking of immersed tube segments do not require manual reporting, and can achieve high-precision, automated, and visual real-time monitoring of the placement and docking of segments. The operation is simple, which helps to ensure the safety of immersed tube construction. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] Other features, objects and advantages of the present invention will become more apparent upon reading the detailed description of non-limiting embodiments with reference to the following drawings:

[0049] Figure 1 This is the layout diagram of the spatial positioning system for the sinking and docking of immersed tube segments.

[0050] Figure 2 Schematic diagram of the plane positions of two RTK mobile installations.

[0051] Figure 3 Schematic diagram of the installation position of the dual-axis inclinometer.

[0052] Figure 4Schematic diagram for monitoring the distance between the pipe section to be sunk and the pipe section that has been sunk.

[0053] Figure 5 Schematic diagram for monitoring the distance between the bottom edge of the pipe section to be sunk and the bottom of the foundation trench.

[0054] Among them, 1-pipe section to be sunk; 2-main survey control tower; 3-secondary survey control tower; 4-front lifting barge; 5-rear lifting barge; 6-water tank; 7-dual-axis inclinometer; 8-first RTK mobile station; 9-second RTK mobile station; 10-monitoring data analysis and display module; 11-longitudinal axis of pipe section; 12-manhole; 13-cable; 14-hoisting cable; 15-sunken pipe section; 16-pad; 17-first distance; 18-foundation trench topography; 19-second distance; 20-middle partition wall; 21-tide gauge. DETAILED DESCRIPTION

[0055] The present invention will be described in detail below with reference to specific embodiments. The following examples will help those skilled in the art to further understand the present invention, but are not intended to limit the present invention in any form. It should be noted that, for those skilled in the art, several changes and improvements can be made without departing from the scope of the present invention. These all fall within the scope of protection of the present invention.

[0056] Example 1

[0057] According to the present invention, an underwater spatial positioning system for sinking and docking an immersed tube segment comprises: an inclinometer, a mobile station group, a tide gauge, a multi-beam sonar, and a monitoring data analysis and display module;

[0058] The inclinometer obtains pipe segment inclination angle monitoring data;

[0059] The mobile station group obtains coordinate monitoring data of the location of the mobile station;

[0060] The tide gauge obtains tide level data of the immersed tube section sinking area;

[0061] The multi-beam sonar obtains underwater topographic data of the immersed tube segment sinking area;

[0062] The monitoring data analysis and display module obtains the coordinates of the characteristic points on the pipe section to be sunk based on the inclinometer monitoring data, the mobile station monitoring data, and the structural dimension data of the pipe section to be sunk, and displays the posture of the pipe section to be sunk in real time;

[0063] Wherein, the inclinometer is a dual-axis inclinometer with transverse and longitudinal axes;

[0064] The dual-axis inclinometer is installed on the middle partition wall inside the pipe section to be sunk, close to the lower part of the main measurement control tower;

[0065] The mobile station group includes a first RTK mobile station and a second RTK mobile station;

[0066] The first RTK mobile station 8 is installed on the top of the main survey control tower of the pipe section 1 to be sunk;

[0067] The second RTK mobile station 9 is installed on the top of the auxiliary survey control tower of the pipe section 1 to be sunk;

[0068] The tide gauge is installed on the shore close to the buried section of the tunnel; the tide monitoring data is imported into the monitoring analysis and display software through wireless transmission to warn of low tide and high tide conditions during the sinking and docking of the pipe segments.

[0069] The multi-beam sonar fully covers and scans the foundation trench in the area where the pipe section is to be sunk, with the topographic data interval being no greater than 0.5m;

[0070] The monitoring data analysis and display module is arranged on the main measurement control tower of the pipe section to be sunk;

[0071] The dual-axis inclinometer is connected to the monitoring data analysis and display module via a cable wired connection;

[0072] The first RTK mobile station and the second RTK mobile station are connected to the monitoring data analysis and display module via wireless transmission.

[0073] Specifically, the dual-axis inclinometer measures the heel and pitch angles of the pipe section to be sunk;

[0074] The measured tilt angle includes an initial measured tilt angle and a real-time measured tilt angle;

[0075] The monitoring data analysis and display module subtracts the initial measured inclination angle from the real-time measured inclination angle of the pipe section to be sunk to obtain the real-time inclination angle of the pipe section to be sunk.

[0076] Specifically, the monitoring data analysis and display module inputs the coordinates of the end feature points of the sunken pipe segment (or buried segment);

[0077] The coordinates of the characteristic points on the pipe section to be sunk include the coordinates of the characteristic points at the end and tail of the pipe section to be sunk;

[0078] The monitoring data analysis and display module obtains the distance between the pipe section to be sunk and the sunken pipe section based on the coordinates of the end of the sunken pipe section and the coordinates of the characteristic points of the end of the pipe section to be sunk.

[0079] Specifically, the monitoring data analysis and display module 10 obtains foundation pit topography data;

[0080] The coordinates of the characteristic points on the pipe section to be sunk include the coordinates of the characteristic points on the bottom of the pipe section to be sunk;

[0081] The monitoring data analysis and display module 10 obtains the distance between the pipe section to be sunk and the foundation trench based on the foundation trench topography data and the coordinates of the characteristic points of the bottom of the pipe section to be sunk.

[0082] According to the present invention, a method for spatial positioning monitoring of the sunken and docked pipe segments of an immersed tube tunnel is provided, comprising the following steps:

[0083] Tiltmeter monitoring data acquisition steps: the tiltmeter obtains tiltmeter monitoring data;

[0084] Mobile station monitoring data acquisition step: the mobile station group obtains the mobile station monitoring data;

[0085] Data processing steps: The monitoring data analysis and display module obtains the coordinates of the characteristic points on the pipe section to be sunk based on the inclinometer monitoring data, the mobile station monitoring data and the data of the pipe section to be sunk itself.

[0086] Specifically, the inclinometer monitoring data acquisition step includes the following sub-steps:

[0087] Inclinometer installation sub-step: After the pipe segment to be sunk is prefabricated, the dual-axis inclinometer is placed from the top of the pipe through the manhole into the middle partition corridor of the pipe segment to be sunk; the dual-axis inclinometer is installed on the partition wall of the pipe segment to be sunk, and the dual-axis inclinometer is kept level with the top of the pipe segment to be sunk;

[0088] Inclinometer measurement data acquisition sub-steps: After the dual-axis inclinometer is installed, it is powered on for testing, and the dual-axis inclinometer measures the initial measurement inclination angle and real-time measurement inclination angle of the pipe section to be sunk.

[0089] Specifically, the data processing step includes: a pipe segment actual data acquisition step: the monitoring data analysis and display module subtracts the initial measured inclination angle from the real-time measured inclination angle of the pipe segment to be sunk to obtain the real-time inclination angle of the pipe segment to be sunk.

[0090] Specifically, the method further includes the following steps:

[0091] Steps for obtaining the coordinates of the sunken pipe segment: The monitoring data analysis software obtains the coordinates of the end of the sunken pipe segment;

[0092] Steps for obtaining the distance between the ends: The monitoring data analysis software obtains the distance between the pipe section to be sunk and the sunken pipe section based on the coordinates of the end of the sunken pipe section and the coordinates of the characteristic points of the end of the pipe section to be sunk.

[0093] Specifically, the method further includes the following steps:

[0094] Steps for obtaining foundation pit topography data: monitoring data analysis software obtains foundation pit topography data;

[0095] Steps for obtaining the distance between the pipe bottom and the foundation trench: The monitoring data analysis software obtains the distance between the pipe section to be sunk and the foundation trench based on the foundation trench topographic data and the coordinates of the characteristic points of the bottom of the pipe section to be sunk.

[0096] Example 2

[0097] Example 2 is a preferred example of Example 1

[0098] According to the present invention, a spatial positioning system for sinking and docking of immersed tube segments is provided. Figures 1 to 5 As shown, it includes inclinometer, mobile station group, tide gauge, and monitoring data analysis and display software.

[0099] The inclinometer is a dual-axis inclinometer 7, which is installed on the middle partition wall inside the pipe section to be sunk 1. The mobile station group includes a first RTK mobile station 8 and a second RTK mobile station 9. The first RTK mobile station 8 is installed on the main measurement control tower 2 of the pipe section to be sunk 1. The second RTK mobile station 9 is installed on the auxiliary measurement control tower 3 of the pipe section to be sunk 1. The monitoring data analysis and display module 10 is set on the main measurement control tower 2 of the pipe section to be sunk 1. The dual-axis inclinometer 7 is connected to the monitoring data analysis and display module 10 via a cable 13. The first RTK mobile station 8 and the second RTK mobile station 9 are connected to the monitoring data analysis and display module 10 by wireless transmission. The tide gauge 21 is installed on the shore close to the tunnel axis and is connected to the monitoring data analysis and display module 10 by wireless transmission.

[0100] The dual-axis inclinometer 7 obtains monitoring data on the pipe segment's heel and pitch. Dual-axis inclinometer 7 is dual-axis and can simultaneously measure both heel and pitch angles. It measures the measured inclination angle of the pipe segment 1 to be sunk. This inclination angle includes the initial inclination angle before the segment is floated and the real-time inclination angle during the sinking and docking process. The monitoring data analysis and display module 10 subtracts the initial measured inclination angle from the real-time measured inclination angle of the pipe segment 1 to obtain the inclination angle of the pipe segment 1 to be sunk.

[0101] The mobile station groups obtain spatial positioning coordinate monitoring data of the locations where their respective mobile stations are installed.

[0102] The monitoring data analysis and display module 10 calculates the coordinates of the characteristic points on the pipe section to be sunk 1 based on the tilt angle data, the mobile station group monitoring data and the size (length, width and height) data of the pipe section to be sunk 1 itself.

[0103] Specifically, Figure 1 As shown, the underwater spatial positioning system for the immersed tube segment sinking and docking includes a dual-axis inclinometer 7, two RTK mobile stations, including: a first RTK mobile station 8 and a second RTK mobile station 9, a tide gauge 21 and a set of monitoring data analysis and display modules 10. Figure 1Installation diagram of two RTK mobile stations and one dual-axis inclinometer 7. RTK stands for Real-time kinematic in English and real-time dynamic measurement in Chinese.

[0104] A dual-axis inclinometer 7 is installed horizontally near the waistline of the middle partition wall 20 inside the pipe segment and near the manhole 12, facilitating the insertion of a cable 13 for connection. The pipe segment is a confined space, preventing wireless signals from reaching the outside. Therefore, the monitoring data from the dual-axis inclinometer 7 is transmitted via a wired cable 13 through the manhole 12 to the monitoring data analysis and display module 10 on the main measurement and control tower 2. Specifically, a single dual-axis inclinometer 7 is installed horizontally at the waistline of the internal side wall of the pipe segment after prefabrication and before water testing. The dual-axis inclinometer 7 can simultaneously measure both the transverse and longitudinal angles of the pipe segment. After installation, the dual-axis inclinometer 7 measures and records a set of initial transverse and longitudinal angle values. During the pipe segment's placement and docking, the inclinometer monitoring data is transmitted via a wired cable 13 through the manhole 12 to the monitoring data analysis and display module 10 on the main measurement and control tower 2. The actual inclination value of the pipe segment 1 to be sunk is obtained by subtracting the initial inclination data from the real-time measured inclination data.

[0105] The two RTK mobile stations are vertically installed on the top of the main survey control tower 2 and the auxiliary survey control tower 3, respectively, with their plane positions close to the longitudinal axis 11 of the pipe segment. Figure 2 As shown, two RTK mobile stations are vertically mounted atop the main and auxiliary measurement and control towers (2 and 3), respectively, after the secondary outfitting and installation of the pipe segment's measurement and control towers. Their installation positions are as close as possible to the longitudinal axis 11 of the pipe segment. After installation, the two RTK mobile stations are precisely calibrated on the pipe segment using a total station, and their three-dimensional coordinates in the internal pipe coordinate system are calculated. Monitoring data from the two RTK mobile stations is transmitted wirelessly via a wireless transmitter to the monitoring data analysis and display module 10 on the main measurement and control tower (2).

[0106] A tide gauge 21 is installed on the shore close to the tunnel axis, such as Figure 4 The tide gauge monitors the tide level of the pipe segment 1 in real time during the sinking and docking process, which facilitates the control and early warning of the sinking and docking speed of the pipe segment 1. The tide level data is transmitted to the monitoring data analysis and display module 10 on the main measurement control tower 2 via a wireless transmitter.

[0107] The immersed pipe segment placement and docking monitoring data analysis and display module 10 receives, comprehensively processes, and analyzes data from inclinometers, RTK systems, and tide gauges. Using a three-dimensional structure, it displays the pipe segment's posture and remotely transmits the processed data to the construction control center. The module 10 displays important indicators in real time, such as the distance between the bottom of the pending pipe segment 1 and the foundation trench, the coordinates of the characteristic points at the end of the pending pipe segment 1, and the horizontal distance between the pending pipe segment 1 and the already-sunken pipe segment 15 (or the buried section).

[0108] The position of the already sunk pipe segment 15 can be accurately measured using land surveying methods. The three-dimensional spatial coordinates of the characteristic points at the tail of the pipe segment are then imported into the monitoring data analysis and display module 10. The coordinates of the characteristic points on the pipe segment to be sunk 1 include the coordinates of the characteristic points at the end of the pipe segment to be sunk 1. Based on the coordinates of the end of the already sunk pipe segment 15 and the coordinates of the characteristic points at the end of the pipe segment to be sunk 1, the monitoring data analysis and display module 10 determines the distance 17 between the pipe segment to be sunk 1 and the already sunk pipe segment 15, including the axis deviation, vertical height, and longitudinal distance.

[0109] The monitoring data analysis and display module 10 obtains the foundation trench topography 18 data. The foundation trench topography 18 is fully scanned using multi-beam sonar. In order to ensure the reliability of the early warning, the interval of the foundation trench topography data is no more than 0.5m. The coordinates of the characteristic points on the pipe section 1 to be sunk include the coordinates of the characteristic points on the bottom of the pipe section 1 to be sunk. The monitoring data analysis and display module 10 obtains the distance between the pipe section 1 to be sunk and the foundation trench based on the foundation trench topography 18 data and the coordinates of the characteristic points on the bottom of the pipe section 1 to be sunk, constructs a foundation trench topography grid, and calculates in real time the minimum value from the pipe bottom coordinate to the irregular terrain of the foundation trench as the monitoring and early warning indicator value.

[0110] The embodiment of the present invention also discloses a method for spatial positioning monitoring of the sinking and docking of immersed tube tunnel segments, such as Figure 1 and Figure 2 As shown, the application of the immersed tube tunnel pipe segment sinking and docking spatial positioning monitoring system includes the following steps: Inclinometer monitoring data acquisition step: the inclinometer obtains the inclinometer monitoring data.

[0111] The inclinometer monitoring data acquisition step includes the following steps: Inclinometer installation step: After the prefabrication of the pipe section 1 to be sunk is completed, the dual-axis inclinometer 7 enters the middle partition corridor of the pipe section 1 to be sunk through the manhole 12 from the top of the pipe; the dual-axis inclinometer 7 is installed on the middle partition wall 20 of the pipe section 1 to be sunk, and the dual-axis inclinometer 7 is kept basically level with the top of the pipe section 1 to be sunk.

[0112] Specifically, after the prefabrication of the submerged pipe segment 1 is completed, before the water tank 6 is filled with water and the pipe segment is floated for leak testing (or before the semi-submersible barge is submerged for leak testing), enter the pipe segment middle corridor through the manhole 12 from the top of the pipe and install the inclinometer 7 on the inner side of the middle partition wall. Figure 3As shown, a dual-axis inclinometer 7 is installed at the waistline of the intermediate partition wall 20, and is kept as level as possible with the pipe top. A central corridor is formed between the intermediate partition walls 20, and the inclinometer 7 is positioned as close to the manhole 12 as possible to facilitate cable transmission to the main measurement and control tower 2.

[0113] Inclinometer measurement data acquisition steps: After the dual-axis inclinometer 7 is installed, it is powered on for testing, and the dual-axis inclinometer 7 measures the initial measurement inclination angle of the pipe section 1 to be sunk.

[0114] Specifically, after the dual-axis inclinometer 7 is installed, it is powered on for testing, and the initial roll and pitch angles (roll0, pitch0) displayed by the inclinometer are recorded. Roll0 represents the initial roll angle; pitch0 represents the initial pitch angle.

[0115] like Figure 3 As shown, the monitoring data (including the roll angle and pitch angle) of the dual-axis inclinometer 7 is transmitted by wire, and is connected upward to the monitoring data analysis and display module 10 on the main measurement and control tower 2 through the cable 13 through the manhole 12.

[0116] Mobile station monitoring data acquisition step: The mobile station group obtains the coordinate monitoring data of the mobile station installation location.

[0117] Specifically, Figure 1 As shown, two RTK sensors (RTK mobile stations) are mounted atop the main and auxiliary survey and control towers, respectively. The first RTK mobile station 8 is mounted atop the main survey and control tower 2, and the second RTK mobile station 9 is mounted atop the auxiliary survey and control tower (auxiliary survey and control tower 3). The RTK mobile stations are mounted vertically and securely to prevent vibration caused by pipe movement during monitoring. A combination of bolting and welding ensures the RTK mobile stations are vertically and securely secured.

[0118] like Figure 2 As shown, the first RTK mobile station 8 and the second RTK mobile station 9 are installed on the longitudinal axis 11 of the pipe segment as much as possible (the first RTK mobile station 8 and the second RTK mobile station 9 are arranged on the axis 11 as much as possible) to reduce the deformation of the main measurement control tower 2 and the auxiliary measurement control tower 3 structures caused by water pressure, wind load, etc. during the sinking and docking process, thereby reducing the impact on monitoring accuracy.

[0119] After the first RTK mobile station 8 and the second RTK mobile station 9 are installed, a total station is set up on the top surface of the pipe segment 1 to be sunk, and the backsight orientation method is used to establish an independent coordinate system for the pipe segment. The three-dimensional local coordinates (x 01 ,y 01 , z 01 )、(x 02 ,y02 , z 02 ), determine the precise position of the RTK mobile station relative to the pipe joint. 01 represents the local coordinate of the first RTK mobile station 8 on the x-axis in the independent coordinate system of the pipe joint; 01 represents the local coordinate of the first RTK mobile station 8 on the y-axis in the independent coordinate system of the pipe joint, z 01 x represents the local coordinate of the first RTK mobile station 8 on the z-axis in the pipe-joint independent coordinate system. 02 represents the local coordinate of the second RTK mobile station 9 on the x-axis in the independent coordinate system of the pipe joint; 02 represents the local coordinate of the second RTK mobile station 9 on the y-axis in the independent coordinate system of the pipe joint, z 02 It represents the local coordinate of the second RTK mobile station 9 on the z-axis in the pipe-joint independent coordinate system.

[0120] The first and second RTK mobile stations 8 and 9 on the survey control tower are connected to their respective wireless transmitters via data cables. The RTK mobile station monitoring data (including longitude, latitude, geodetic height, and time) is wirelessly transmitted to the monitoring system. Once this data is transmitted to the monitoring system, the longitude and latitude are transformed through coordinate projection to obtain the project plane coordinates (X and Y). The geodetic height is then fitted to obtain the project elevation (Z). Time information is used to calculate the pipe segment placement velocity for early warning purposes.

[0121] Data processing steps: The monitoring data analysis and display module 10 obtains the coordinates of characteristic points on the pipe segment 1 to be sunk based on the inclinometer monitoring data, the mobile station monitoring data, and the data of the pipe segment 1 to be sunk. The coordinates of the characteristic points on the pipe segment to be sunk are used to display the posture of the pipe segment to be sunk in real time.

[0122] Specifically, according to the design data and the local coordinates (x 01 ,y 01 , z 01 )、(x 02 ,y 02 , z 02 ), calculate the engineering coordinates (X 01 , Y 01 , Z 01 )、(X 02 , Y 02 , Z 02) (In actual monitoring, the engineering coordinate system is used, and the local coordinate system is self-built), which is input into the monitoring data analysis and display module 10 as the basic data for monitoring and early warning of the sinking docking. The two RTK coordinates after the pipe segment is sunk are derived ((X 01 , Y 01 , Z 01 )、(X 02 , Y 02 , Z 02 )), the horizontal distance, height difference and axis deviation between the pipe section to be sunk 1 and the sunken pipe section 15 can be calculated by comparing the two RTK coordinates during the sinking process with the coordinates after the sinking is completed. 01 represents the engineering coordinate of the first RTK mobile station 8 on the X axis of the engineering coordinate system; 01 represents the engineering coordinates of the first RTK mobile station 8 on the Y axis of the engineering coordinate system, Z 01 X represents the engineering coordinates of the first RTK mobile station 8 on the engineering coordinate Z axis. 02 represents the engineering coordinates of the second RTK mobile station 9 on the X axis of the engineering coordinate system; Y 02 represents the engineering coordinates of the second RTK mobile station 9 on the Y axis of the engineering coordinate system, Z 02 It represents the engineering coordinates of the second RTK mobile station 9 on the Z axis of the engineering coordinate system.

[0123] The data processing step includes a step of obtaining actual data of the pipe segment: the monitoring data analysis software subtracts the initial measured inclination angle from the real-time measured inclination angle of the pipe segment 1 to be sunk to obtain the real-time inclination angle of the pipe segment 1 to be sunk.

[0124] Specifically, the monitoring system (monitoring data analysis and display software) receives monitoring data from the dual-axis inclinometer 7 and then removes the initial angle (roll0, pitch0) to obtain the real-time tilt angle (roll, pitch) (real-time actual tilt angle) of the pipe segment 1 to be sunk. By measuring the tilt angle, the posture of the pipe segment during sinking and docking can be determined. When the pipe segment tilts during sinking and docking, the RTK measurement values ​​at the top of the measuring tower after tilting do not represent the actual values ​​and contain projection errors. Therefore, the actual coordinates of each point on the pipe segment must be calculated in combination with the tilt angle. The real-time monitoring data (X1, Y1, Z1) and (X2, Y2, Z2) of two RTK mobile stations (a first RTK mobile station 8 and a second RTK mobile station 9) are then combined with the pipe segment's length (L), width (W), and height (H) to calculate the real-time three-dimensional coordinates of the feature points on the pipe segment. The RTK data ((X1, Y1, Z1), (X2, Y2, Z2)) is calculated by coordinate conversion using satellite data (longitude, latitude, and geodetic height) automatically received by the mobile stations. Roll represents the real-time roll angle, and pitch represents the real-time pitch angle. X1 represents the real-time coordinate of the first RTK mobile station 8 on the X-axis in the pipe joint engineering coordinate system; Y1 represents the real-time coordinate of the first RTK mobile station 8 on the Y-axis in the pipe joint engineering coordinate system; and Z1 represents the real-time coordinate of the first RTK mobile station 8 on the Z-axis in the pipe joint engineering coordinate system. X2 represents the real-time coordinate of the second RTK mobile station 9 on the X-axis in the pipe joint engineering coordinate system; Y2 represents the real-time coordinate of the second RTK mobile station 9 on the Y-axis in the pipe joint engineering coordinate system; and Z2 represents the real-time coordinate of the second RTK mobile station 9 on the Z-axis in the pipe joint engineering coordinate system.

[0125] Step for obtaining the coordinates of the sunken pipe segment 15: the monitoring data analysis and display module 10 obtains the coordinates of the end of the sunken pipe segment 15.

[0126] Specifically, the spatial coordinates (end face coordinates or engineering coordinates) of the end of the sunken pipe segment 15 are determined based on the field measurement data and input into the monitoring system (monitoring data analysis and display module 10) as basic data for monitoring and early warning. The spatial coordinates of the end of the sunken pipe segment 15 are in the engineering coordinate system.

[0127] Steps for obtaining the distance between the ends: the monitoring data analysis software 9 obtains the distance between the pipe segment to be sunk 1 and the sunken pipe segment 15 based on the coordinates of the end of the sunken pipe segment 15 and the coordinates of the characteristic points of the end of the pipe segment to be sunk 1.

[0128] Specifically, Figure 4As shown, during the sinking and docking process of the pipe segment 1 to be sunk, the vertical movement of the pipe segment is controlled by the hoisting cables 14 of the front hoisting barge 4 and the rear hoisting barge 5, and the horizontal movement of the pipe segment is controlled by the main measurement control tower 2, the auxiliary measurement control tower 3 and the anchoring system on the shore and in the water. The sunken pipe segment 15 (or the buried section) is supported on the pad 16. Based on the known end face coordinates of the sunken pipe segment 15 and the coordinates of the characteristic points on the pipe segment 1 to be sunk, the monitoring system (monitoring data analysis and display module 10) displays the distance (first distance 17) between the pipe segment 1 to be sunk and the sunken pipe segment 15 in real time. The purpose is to provide early warning. The distance can be calculated through the spatial coordinates of the characteristic points on the two end faces, thereby achieving early warning during docking.

[0129] The step of acquiring data of the foundation pit topography 17 is as follows: the monitoring data analysis and display module 10 acquires data of the foundation pit topography 18 .

[0130] Specifically, before the pipe segment is sunk, a multi-beam sounding system is used to fully measure the foundation trench topography 18, and the foundation trench topography 18 data is imported into the monitoring system (monitoring data analysis and display module 10) as the basic data for monitoring and early warning of the pipe segment sinking.

[0131] Steps for obtaining the distance between the pipe bottom and the foundation trench: the monitoring data analysis and display module 10 obtains the distance between the pipe section to be sunk 1 and the foundation trench based on the foundation trench topography 18 data and the coordinates of the characteristic points of the pipe bottom of the pipe section to be sunk 1.

[0132] Specifically, Figure 5 As shown, during the sinking and docking process of the pipe segment 1, the distance (second distance 19) between the pipe segment 1 and the trench is displayed in real time based on the trench topography 18 and the coordinates of the characteristic points on the pipe segment 1. Similarly, for early warning purposes, the spatial distance is calculated using the coordinates of the pipe bottom and the trench coordinates, thereby achieving early warning.

[0133] In response to the technical difficulties in monitoring accuracy, real-time transmission and visualization during the monitoring process of pipe segment sinking and docking, the present invention proposes a spatial positioning monitoring system and method for the sinking and docking of pipe segments in immersed tube tunnels. The system can monitor the underwater spatial position of the pipe segments in real time throughout the entire process, ensuring the safety of the immersed tube sinking and docking construction. After the prefabrication of the pipe segment is completed and before the dry dock is filled and the segment is floated, a dual-axis inclinometer 7 is installed inside the pipe. The inclinometer is fixed to the side wall of the segment. The inclinometer data is transmitted to the data analysis software of the main measurement and control tower 2 through a cable 13 and a manhole 12. During the secondary outfitting of the segment, an RTK mobile station is installed on the top of each of the main and auxiliary measurement and control towers 3. An independent coordinate system for the segment is established and the relative positions of the RTK mobile stations are calibrated. The theoretical spatial coordinates of the RTK after the segment is sunk are calculated. The coordinate data is then transmitted wirelessly to the data analysis software of the main measurement and control tower 2. During the monitoring of the segment's sinking and docking, the RTK coordinate data and the inclinometer's inclination angle are combined to calculate in real time the distance between the bottom of the segment to be sunk and the foundation trench, the coordinates of the characteristic points at the end of the segment to be sunk, and the horizontal distance between the segment to be sunk and the already sunk segment 15 through algorithms such as coordinate conversion and rigid body rotation. This invention achieves high-precision, automatic, real-time, and visual monitoring of the sinking and docking of segment segments in immersed tube tunnels.

[0134] In the description of this application, it should be understood that the terms "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on this application.

[0135] Those skilled in the art will appreciate that, in addition to implementing the system, device, and various modules provided by the present invention in purely computer-readable program code, it is entirely possible to implement the same program in the form of logic gates, switches, application-specific integrated circuits, programmable logic controllers, embedded microcontrollers, and the like by logically programming the method steps. Therefore, the system, device, and various modules provided by the present invention can be considered a hardware component, and the modules included therein for implementing various programs can also be considered structures within the hardware component; the modules for implementing various functions can also be considered both software programs for implementing the method and structures within the hardware component.

[0136] The above describes specific embodiments of the present invention. It should be understood that the present invention is not limited to the specific embodiments described above, and those skilled in the art may make various changes or modifications within the scope of the claims, which do not affect the essence of the present invention. The embodiments of this application and the features in the embodiments may be combined with each other in any manner unless there is a conflict.

Claims

1. An underwater spatial positioning system for sinking and docking immersed tube segments, characterized in that: include: Inclinometer, mobile station group, multi-beam sonar and monitoring data analysis and display module (10); The inclinometer is used to obtain monitoring data of the inclination angle of the pipe section (1) to be sunk; The mobile station group is used to obtain coordinate monitoring data of the mobile stations; The multi-beam sonar is used to obtain underwater topographic data of the foundation trench in the area where the pipe segment (1) is to be sunk; The monitoring data analysis and display module (10) is used to obtain the coordinates of the characteristic points of the pipe section to be sunk (1) based on the tilt angle monitoring data of the pipe section to be sunk (1), the coordinate monitoring data of the mobile station, and the structural dimension data of the pipe section to be sunk (1), and obtain the posture of the pipe section to be sunk (1) based on the characteristic point coordinates; It is used to obtain the vertical minimum distance between the pipe section to be sunk (1) and the base trench based on the underwater topographic data of the base trench in the sinking area of ​​the pipe section to be sunk (1) and the characteristic point coordinates of the pipe section to be sunk (1); at the same time, it is used to obtain the relative height difference, axis deviation and longitudinal distance between the pipe section to be sunk (1) and the sunken pipe section (15) based on the characteristic point coordinates of the sunken pipe section (15) and the characteristic point coordinates of the pipe section to be sunk (1).

2. The underwater spatial positioning system for sinking and docking immersed tube segments according to claim 1 is characterized in that: The mobile station group includes a first RTK mobile station (8) and a second RTK mobile station (9); The first RTK mobile station (8) is installed on the main measurement control tower (2) of the pipe section (1) to be sunk, and is used to obtain coordinate monitoring data of the first RTK mobile station (8); The second RTK mobile station (9) is installed on the auxiliary survey control tower (3) of the pipe section (1) to be sunk, and is used to obtain coordinate monitoring data of the second RTK mobile station (9).

3. The underwater spatial positioning system for sinking and docking immersed tube segments according to claim 1 is characterized in that: The inclinometer is a dual-axis inclinometer (7) including transverse and longitudinal axes; The dual-axis inclinometer (7) is installed on the middle partition wall (20) at the lower part of the main measurement control tower (2) near the pipe section (1) to be sunk inside the pipe section (1); Obtaining the heel and pitch angles of the pipe section (1) to be sunk by means of the dual-axis inclinometer (7); Based on the initial measured inclination angle of the pipe section to be sunk and the real-time measured inclination angle obtained by the dual-axis inclinometer (7), the actual inclination angle of the pipe section to be sunk is obtained.

4. The underwater spatial positioning system for sinking and docking immersed tube segments according to claim 1 is characterized in that: The monitoring data analysis and display module (10) is arranged on the main measurement control tower (2) of the pipe section (1) to be sunk; The inclinometer is connected to the monitoring data analysis and display module (10) through a cable (13) passing through the main measurement control tower (2) of the pipe section to be sunk (1), so that the monitoring data analysis and display module (10) obtains the inclination angle monitoring data of the pipe section to be sunk (1); The mobile station group is connected to the monitoring data analysis and display module (10) by wireless transmission, so that the monitoring data analysis and display module (10) obtains the coordinate monitoring data of the mobile station.

5. The underwater spatial positioning system for sinking and docking immersed tube segments according to claim 1 is characterized in that: The system further comprises: a tide gauge (21); the tide gauge (21) is installed on the shore of the buried section of the immersed tube tunnel; The tide level data of the area where the pipe section (1) is to be sunk is obtained by using the tide level meter (21); and the data is imported into the monitoring data analysis and display module (10) through wireless transmission; the monitoring data analysis and display module (10) warns of low tide and high tide conditions during the pipe section sinking and docking period based on the tide level data of the area where the pipe section (1) is to be sunk.

6. A method for underwater spatial positioning of immersed tube segments during sinking and docking, characterized in that: include: Step S1: Obtaining monitoring data of the tilt angle of the pipe section to be sunk (1) by means of an inclinometer installed on the pipe section to be sunk (1); Step S2: obtaining the coordinate monitoring data of the mobile station through the mobile station; Step S3: Acquiring underwater topographic data of the foundation trench in the area where the pipe segment (1) is to be sunk by multi-beam sonar; Step S4: obtaining the characteristic point coordinates of the pipe section to be sunk (1) through the monitoring data analysis and display module (10) based on the tilt angle monitoring data of the pipe section to be sunk (1), the coordinate monitoring data of the mobile station, and the structural dimension data of the pipe section to be sunk (1), and obtaining the posture of the pipe section to be sunk (1) based on the characteristic point coordinates; Step S5: obtaining the vertical minimum distance between the pipe section to be sunk (1) and the foundation trench according to the underwater topographic data of the foundation trench in the sinking area of ​​the pipe section to be sunk (1) and the coordinates of the characteristic points of the pipe section to be sunk (1) through the monitoring data analysis and display module (10); Step S6: The monitoring data analysis and display module (10) obtains the relative height difference, axis deviation and longitudinal distance between the joint to be sunk (1) and the sunken pipe section (15) based on the characteristic point coordinates of the sunken pipe section (15) and the characteristic point coordinates of the pipe section to be sunk (1).

7. The underwater spatial positioning method for sinking and docking immersed tube segments according to claim 6 is characterized in that: The step S1 comprises: Step S1.1: After the prefabrication of the pipe section to be sunk (1) is completed, the inclinometer is passed from the top of the pipe through the manhole (12) into the middle partition gallery of the pipe section to be sunk (1); the inclinometer is installed on the middle partition wall (20) of the pipe section to be sunk (1) close to the main measurement control tower (2), and the inclinometer is kept level with the top of the pipe section to be sunk (1); Step S1.2: After the inclinometer is installed, it is powered on for testing, and the inclinometer measures the initial measurement inclination angle and the real-time measurement inclination angle of the joint to be sunk; and transmits the measured initial measurement inclination angle and the real-time measurement inclination angle of the joint to be sunk to the monitoring data analysis and display module (10), and the monitoring data analysis and display module (10) calculates the real-time inclination angle of the joint to be sunk based on the initial measurement inclination angle and the real-time measurement inclination angle of the joint to be sunk; The inclinometer is a dual-axis inclinometer (7) including a transverse axis and a longitudinal axis.

8. The underwater spatial positioning method for sinking and docking immersed tube segments according to claim 6 is characterized in that: The step S5 comprises: Step S5.1: using the multi-beam sonar to fully scan the underwater foundation trench topography (18) data of the pipe segment sinking and docking area at preset intervals, including the coordinate data of the underwater foundation trench topography (18) of the pipe segment sinking and docking area; Step S5.2: The acquired coordinate data of the underwater foundation trench topography (18) of the pipe segment sinking and docking area is transmitted to the monitoring data analysis and display module (10), and the monitoring data analysis and display module (10) obtains the vertical minimum distance between the pipe segment to be sunk (1) and the foundation trench based on the coordinate data of the underwater foundation trench topography (18) of the pipe segment sinking and docking area and the coordinates of the bottom feature points of the pipe segment to be sunk (1).

9. The underwater spatial positioning method for sinking and docking immersed tube segments according to claim 6 is characterized in that: The step S6 comprises: Step S6.1: The monitoring data analysis and display module (10) obtains the coordinates of the characteristic points of the tail end of the sunken pipe section (15) or the head end of the buried section; Step S6.2: The monitoring data analysis and display module (10) obtains the relative height difference, axis deviation and longitudinal distance between the pipe section to be sunk (1) and the sunken pipe section (15) based on the coordinates of the characteristic points of the end of the sunken pipe section (15) and the coordinates of the characteristic points of the end of the pipe section to be sunk (1).

10. The underwater spatial positioning method for sinking and docking immersed tube segments according to claim 6 is characterized in that: The method further comprises: using a tide gauge (21) installed on the shore of the buried section of the immersed tube tunnel to obtain tide level data of the area where the pipe section (1) to be sunk is placed; and importing the data into the monitoring data analysis and display module (10) via wireless transmission; the monitoring data analysis and display module (10) warns of low tide and high tide conditions during the pipe section sinking and docking period based on the tide level data of the area where the pipe section (1) to be sunk is placed.

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