Mobile control method of floating ship towed by steel trestle track based on Beidou system

Abstract

A floating ship movement control method towed by a steel trestle track based on the Beidou system, the floating ship movement control method is implemented based on the floating ship movement control system towed by the steel trestle track of the Beidou system, comprising: a positioning system comprising a Beidou differential positioning system, a Beidou positioning terminal, an IMU inertial measurement unit and a Beidou ground reference station; a control system comprising a PID controller, which identifies the actual value of the floating ship position and compares it with the expected value of the position, and uses the deviation between the actual value and the expected value of the position to correct the response of the system and perform position adjustment control; a hoisting system comprising hoisting equipment installed on the bridge deck; a power system comprising a winch; a floating system for transporting components on the water surface; the present invention can realize automated and intelligent surface transportation of components, and dynamically correct the position to achieve precise positioning, thereby ensuring vertical lifting and hoisting safety of the components.

Description

Technical Field

[0001] The present invention relates to the technical field of bridge construction, and in particular to a Beidou system-based floating ship movement control method towed by a steel trestle track. Background Art

[0002] The corrugated steel web PC composite box girder bridge is a new type of steel-concrete composite beam bridge, which is characterized by replacing the 30-80cm thick concrete web with a 10-30mm thick steel plate. When the hanging basket cantilever casting construction is adopted, the corrugated steel web of the small and medium span corrugated steel web PC composite box girder bridge is generally installed by a tower crane installed near the bridge block 0.

[0003] With the increase of the main span of the bridge, especially the bridge with extra-large span, the tower crane needs to cover a wider range and has higher lifting capacity requirements. The common tower cranes on the market cannot meet the requirements of the lifting operation radius. When building a bridge on the water, a steel trestle is generally built as a channel for transporting components. After the steel trestle is erected, the erected steel trestle is used to set a longitudinal bridge lock sliding track on the steel pipe pile on the downstream side of the steel trestle. The two locks on the sliding track upstream of the floating ship and the two locks on the steel pipe piles on both sides of the longitudinal bridge of the floating ship are connected to the winch on the floating ship with a steel wire rope. This power traction method does not require the installation of a power system on the floating ship, nor does it require the installation of additional anchors within the river range. It can make full use of the strength, stiffness and other material properties of the erected steel trestle. This system can realize the precise positioning of components and correct the position to ensure the vertical lifting of components and ensure the safety of the lifting process. Summary of the invention

[0004] In view of the problems existing in the prior art, the present invention provides a floating vessel movement control method towed by a steel trestle track based on the Beidou system.

[0005] The present invention provides the following technical solutions:

[0006] A floating ship movement control method based on a steel trestle track towed by a Beidou system, the floating ship movement control method is implemented based on a floating ship movement control system towed by a steel trestle track of a Beidou system, the system includes a positioning system, a control system, a hoisting system, a power system, a floating system, a locking track system and a display system;

[0007] The positioning system includes a Beidou differential positioning system, a Beidou positioning terminal, an IMU inertial measurement unit and a Beidou ground reference station. The Beidou positioning terminal is installed on the floating vessel, and the IMU inertial measurement unit is installed on the lifting point of the suspended component to obtain the real-time position of the floating vessel and the component;

[0008] The control system includes a PID controller, which performs position regulation control by identifying the actual value of the position of the floating vessel and comparing it with the expected value of the position, and using the deviation between the actual value and the expected value of the position to correct the response of the system;

[0009] The lifting system includes lifting equipment installed on the bridge deck, which can rotate in a plane and lift the components below the bridge deck vertically through the hook;

[0010] The floating system includes a floating vessel;

[0011] The power system includes four winches arranged on the floating vessel;

[0012] The locking track system includes the trestle locking track and the track locking;

[0013] The display system is used to display the working status of the lifting equipment, winch and floating vessel; and to display the real-time position and driving track of the floating vessel;

[0014] The PID controller is installed in a control room on land and is respectively connected to the Beidou differential positioning system, Beidou positioning terminal, IMU inertial measurement unit, and floating vessel power system to dynamically correct the position to achieve vertical lifting of components and safe lifting.

[0015] It should be further explained that the hoisting equipment includes a crane and a crane.

[0016] It needs to be further explained that the winch is fixed on the floating vessel through a turntable, and the winch realizes azimuth rotation through the turntable; the power system sets a track on the built steel trestle, and sets two locks that can automatically position on the track, and the locks are moved to the specified position of the track and locked with the track through the control system, and the locks are connected to the winch on the floating vessel through steel wire ropes; two locks are set on the steel pipe piles of the erected steel trestle in the longitudinal direction of the floating vessel, and the locks are connected to the winch on the floating vessel through steel wire ropes, and the movement of the floating vessel is realized by retracting and releasing the steel wire ropes by the winch.

[0017] It should be further explained that the track lock is installed on the trestle steel pipe pile on the downstream side of the longitudinal bridge; the track lock is composed of a walking roller, a Beidou positioning terminal, a roller power system and an automatic locker, and the lock is connected to a steel wire rope.

[0018] It should be further explained that the IMU inertial measurement unit is installed on the lifting point of the suspended component and is used to monitor the verticality of the lifting rope and the lifting height of the component during the lifting process.

[0019] It should be further explained that the floating vessel movement control method comprises the following steps:

[0020] ① On the steel trestle at the river bank, the corrugated steel web is transported to the floating ship by a crane. When the floating ship transports the components to the designated location, the intelligent crane installed on the bridge deck is used to transport the components to the bridge deck;

[0021] ② Four winches are installed on the floating vessel, and steel wire ropes are installed on the winches. A lock rail system is installed on the steel pipe piles on the upstream side of the steel trestle, and a fixed lock is installed on the steel pipe piles of the steel trestle on the longitudinal bridge side. The winch is used as the power device of the floating vessel to transport components, and the Beidou positioning terminal is installed on the floating vessel to obtain the real-time position of the hook and the floating vessel.

[0022] ③The lock is moved to the specified position through the positioner and controller and is self-locked.

[0023] ④ When the floating ship transports the components on the side of the steel trestle, the positions of the two track locks and two fixed locks connected to the steel trestle are M 1 ~M 4 At this time, the lengths of the winch traction ropes are l 1 ~l 4 , point A and point B are two known points on the floating ship, and their coordinates are (X a , Y a )、(X b , Y b ), the coordinate positions of points A and B are input into the PID controller to locate the position of the floating ship when transporting components;

[0024] ⑤When the floating ship is transporting components on the river, the coordinates of the two known points on the floating ship are: A' (X a＇ , Y a＇ )、B'(X b＇ , Y b＇ ), the coordinates of points A' and B' are also input into the PID controller, which controls the winch to provide power to the floating ship. At this time, the lengths of the winch wire ropes are: l 1 '~l 4 ';

[0025] ⑥When the lifting system is lifting the component, the coordinates of the two known points on the floating ship are: A〞(X a〞 , Y a〞 )、B〞(X b〞 , Y b〞), the coordinates of points A″ and B″ are also input into the PID controller to determine the final lifting position of the component; at this time, the IMU inertial measurement unit installed on the hook of the lifting system monitors the verticality and lifting speed of the hook. When the hook tilts before the component is lifted off the transport ship, the PID controller controls the winch to continuously correct the position of the transport ship to ensure that the hook is always in a vertical state when lifting the component.

[0026] The Beidou differential positioning system is based on the Beidou satellite navigation system (BDS). It uses differential technology to compare the results of single-point positioning with the coordinates of the base station to solve the real-time differential correction value. The differential correction value is transmitted to the positioning system by broadcast or data link transmission to correct its positioning and improve the positioning accuracy of users in its local range.

[0027] The Beidou differential positioning system has a positioning accuracy of less than 1 meter, and its performance indicators are ahead of the global positioning system.

[0028] The Beidou differential positioning system can be widely used in marine surveying and mapping, port channel measurement, channel dredging, ship entry and exit and narrow waterway navigation and positioning, maritime traffic safety management, offshore oil exploration, marine resource survey, maritime rescue and fishing, marine fisheries and other maritime fields.

[0029] The Beidou ground base station is a place for data reception, storage and service provision, housing system servers and core network equipment. It is a permanent measurement landmark point and a ground receiving port for obtaining observation data. It includes measurement marks, measurement marks, observation piers, instruments and equipment, power and communication facilities.

[0030] Compared with the prior art, the present invention has the following beneficial effects:

[0031] 1. The present invention can realize the automated and intelligent water transportation of components, which is not affected by navigation, can accurately locate the transported components, and correct the positions, so as to ensure the vertical lifting of the components and the safety of the lifting process;

[0032] 2. The present invention controls the winch through the PID controller to continuously correct the position of the floating ship, ensuring that the hook is always in a vertical state when lifting the component;

[0033] 3. The present invention adopts the Beidou differential positioning system and is also compatible with GPS signals, which means that a floating vessel equipped with a Beidou positioning terminal can use Beidou navigation alone or use "Beidou" and GPS "dual-mode" navigation, with a positioning accuracy of less than 1 meter. Its performance indicators are ahead of the global positioning system. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 It is the principle diagram of the present invention;

[0035] Figure 2 It is a schematic diagram of a floating vessel transporting a component to a designated location in an embodiment of the present invention;

[0036] Figure 3 It is a schematic diagram of a floating vessel transporting components on a river surface according to an embodiment of the present invention;

[0037] Figure 4 It is a structural schematic diagram of a locking track system in an embodiment of the present invention;

[0038] Figure 5 It is a plan view of a floating vessel transporting components on the steel trestle side in an embodiment of the present invention;

[0039] Figure 6 It is a plan view of a floating vessel transporting components on a river surface in an embodiment of the present invention;

[0040] Figure 7 It is a schematic diagram of the plane position of the floating vessel when the lifting system lifts the component in the embodiment of the present invention;

[0041] In the figure: 1. Steel trestle; 2. Crane; 3. Corrugated steel web; 4. Floating vessel; 5. Bridge deck; 6. Crane; 7. Winch; 8. Wire rope; 9. Locking track system; 10. Fixed lock; 11. Component; 12. Beidou positioning terminal; 91. Trestle locking track; 92. Track lock. DETAILED DESCRIPTION

[0042] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0043] like Figure 1 As shown, a floating ship movement control method based on the steel trestle track towing of the Beidou system is implemented based on the floating ship movement control system towed by the steel trestle track of the Beidou system, and the system includes a positioning system, a control system, a hoisting system, a power system, a floating system, a locking track system and a display system;

[0044] The positioning system includes a Beidou differential positioning system, a Beidou positioning terminal, an IMU inertial measurement unit and a Beidou ground reference station. The Beidou positioning terminal is installed on the floating vessel, and the IMU inertial measurement unit is installed on the lifting point of the suspended component to obtain the real-time position of the floating vessel and the component;

[0045] The control system includes a PID controller, which performs position regulation control by identifying the actual value of the position of the floating vessel and comparing it with the expected value of the position, and using the deviation between the actual value and the expected value of the position to correct the response of the system;

[0046] The lifting system includes lifting equipment installed on the bridge deck, which can rotate in a plane and lift the components below the bridge deck vertically through the hook;

[0047] The IMU inertial measurement unit uses BW-IMU400C, which is a high-precision strapdown inertial measurement unit that can measure the angular velocity and acceleration parameters of the moving carrier. The raw data is estimated accordingly through a 6-state Kalman filter with appropriate gain, which is suitable for inertial measurement in motion or vibration states. High-reliability MEMS accelerometers and gyroscopes are used, and the measurement accuracy is guaranteed by algorithms. At the same time, the sealed design and strict production process ensure that the product can still accurately measure the carrier's angular velocity, acceleration and other motion parameters in harsh environments. Through various compensations such as nonlinear compensation, orthogonal compensation, temperature compensation and drift compensation, the error sources of BW-IMU400C can be greatly eliminated and the product accuracy level can be improved;

[0048] The IMU inertial measurement unit is installed on the lifting point of the hoisted component to monitor the verticality of the lifting rope and the lifting height of the component during the lifting process.

[0049] The floating system includes a floating vessel;

[0050] The power system includes four winches arranged on the floating vessel;

[0051] The locking track system includes the trestle locking track and the track locking;

[0052] The display system is used to display the working status of the lifting equipment, winch and floating vessel; and to display the real-time position and driving track of the floating vessel;

[0053] The PID controller is installed in a control room on land and is respectively connected to the Beidou differential positioning system, Beidou positioning terminal, IMU inertial measurement unit, and floating vessel power system to dynamically correct the position to achieve vertical lifting of components and safe lifting.

[0054] The hoisting equipment includes a crane and a crane.

[0055] The winch is fixed on the floating ship through a turntable, and the winch realizes azimuth rotation through the turntable; the power system sets a track on the built steel trestle, and sets two locks that can automatically position on the track. The locks are moved to the specified position of the track and locked with the track through the control system, and the locks are connected to the winch on the floating ship through steel wire ropes; two locks are set on the steel pipe piles of the built steel trestle in the longitudinal direction of the floating ship, and the locks are connected to the winch on the floating ship through steel wire ropes, and the movement of the floating ship is realized by retracting and releasing the steel wire ropes by the winch.

[0056] The track lock is installed on the trestle steel pipe pile on the downstream side of the longitudinal bridge; the track lock is composed of a walking roller, a Beidou positioning terminal, a roller power system and an automatic locker, and the lock is connected to a steel wire rope.

[0057] The floating vessel movement control method comprises the following steps:

[0058] ① Such as Figure 2 As shown, on the steel trestle 1 at the river bank, the corrugated steel web 3 is transported to the floating ship 4 by the crane 2. When the floating ship 4 transports the component to the designated location, the component is transported to the bridge deck 5 by the intelligent crane 6 installed on the bridge deck 5.

[0059] ② If Figure 3 As shown, the floating vessel is equipped with four winches 7, on which steel wire ropes 8 are installed, a locking track system 9 is installed on the steel pipe piles on one side of the upstream steel trestle, and a fixed lock 10 is installed on the steel pipe piles of the steel trestle on the longitudinal bridge side. The winch 7 is used as the power device of the floating vessel to transport components 11, and the Beidou positioning terminal 12 is installed on the floating vessel to obtain the real-time position of the hook and the floating vessel.

[0060] ③If Figure 4 As shown, the locking track system consists of a trestle locking track 91 and a track locking 92. The locking track 91 is installed on the trestle steel pipe pile on the downstream side of the longitudinal bridge. The track locking consists of a walking roller, a Beidou positioning terminal, a roller power system and an automatic locker. The locking 92 is connected to the wire rope 8. Corresponding to the hoisting of components at different positions, the locking is moved to the specified position through the positioner and controller, and is self-locked and fixed.

[0061] ④ Such as Figure 5 As shown, this is a plan view of the floating ship transporting the components on the side of the steel trestle 1. The positions of the two track locks and the two fixed locks connected to the steel trestle are M and 1 ~M 4 At this time, the lengths of the winch traction ropes are l 1 ~l 4 , point A and point B are two known points on the floating ship, and their coordinates are (X a , Ya )、(X b , Y b ), the coordinate positions of points A and B are input into the PID controller to locate the position of the floating vessel when transporting components.

[0062] ⑤ Such as Figure 6 As shown in the figure, this is a plan view of a floating ship transporting components on the river surface. At this time, the coordinates of two known points on the floating ship are: A' (X a＇ , Y a＇ )、B'(X b＇ , Y b＇ ), the coordinates of points A' and B' are also input into the PID controller, which controls the winch to provide power to the floating ship. At this time, the lengths of the winch wire ropes are: l 1 '~l 4 '.

[0063] ⑥ Such as Figure 7 As shown in the figure, this is the plane position of the floating ship when the lifting system is lifting the component. At this time, the coordinates of the two known points on the floating ship are: A〞(X a〞 , Y a〞 )、B〞(X b〞 , Y b〞 ), the coordinates of points A″ and B″ are also input into the PID controller to determine the final lifting position of the component; at this time, the IMU inertial measurement unit installed on the hook of the lifting system monitors the verticality and lifting speed of the hook. When the hook tilts before the component is lifted off the transport ship, the PID controller controls the winch to continuously correct the position of the transport ship to ensure that the hook is always in a vertical state when lifting the component.

[0064] It should be noted that, in this article, the terms "comprises", "includes" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or apparatus that includes a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or apparatus.

[0065] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A floating ship movement control method based on the steel trestle track towing of the Beidou system, characterized in that: The floating ship movement control method is implemented based on the floating ship movement control system towed by the steel trestle track of the Beidou system, and the system includes a positioning system, a control system, a hoisting system, a power system, a floating system, a locking track system and a display system; The positioning system includes a Beidou differential positioning system, a Beidou positioning terminal, an IMU inertial measurement unit and a Beidou ground reference station. The Beidou positioning terminal is installed on the floating vessel, and the IMU inertial measurement unit is installed on the lifting point of the suspended component to obtain the real-time position of the floating vessel and the component; The control system includes a PID controller, which performs position regulation control by identifying the actual value of the position of the floating vessel and comparing it with the expected value of the position, and using the deviation between the actual value and the expected value of the position to correct the response of the system; The lifting system includes lifting equipment installed on the bridge deck, which can rotate in a plane and lift the components below the bridge deck vertically through the hook; The floating system includes a floating vessel; The power system includes four winches arranged on the floating vessel; The locking track system includes the trestle locking track and the track locking; The display system is used to display the working status of the lifting equipment, winch and floating vessel; and to display the real-time position and driving track of the floating vessel; The PID controller is installed in the control room on land and is respectively connected to the Beidou differential positioning system, Beidou positioning terminal, IMU inertial measurement unit, and floating ship power system to dynamically correct the position to achieve vertical lifting and hoisting safety of components; The winch is fixed on the floating ship through a turntable, and the winch realizes azimuth rotation through the turntable; the power system sets a track on the built steel trestle, and sets two track locks that can automatically position on the track. The track lock is moved to a specified position of the track and locked with the track through a control system, and the track lock is connected to the winch on the floating ship through a steel wire rope; two fixed locks are set on the steel pipe piles of the built steel trestle in the longitudinal direction of the floating ship, and the fixed locks are connected to the winch on the floating ship through a steel wire rope, and the movement of the floating ship is realized by retracting and releasing the steel wire rope by the winch.

2. According to the Beidou system-based steel trestle rail towing floating ship movement control method of claim 1, it is characterized by: The hoisting equipment includes a crane and a crane.

3. According to the Beidou system-based steel trestle rail towing floating ship movement control method of claim 1, it is characterized by: The rail buckle lock is installed on the trestle steel pipe pile on the downstream side of the longitudinal bridge; The track lock consists of a walking roller, a Beidou positioning terminal, a roller power system and an automatic locker, and the lock is connected to a steel wire rope.

4. According to the Beidou system-based steel trestle rail towing floating ship movement control method of claim 1, it is characterized by: The IMU inertial measurement unit is installed on the lifting point of the suspended component and is used to monitor the verticality of the lifting rope and the lifting height of the component during the lifting process.

5. According to the Beidou system-based steel trestle rail towing floating ship movement control method of claim 1, it is characterized by: The floating vessel movement control method comprises the following steps: ① On the steel trestle at the river bank, the corrugated steel web is transported to the floating ship by a crane. When the floating ship transports the components to the designated location, the intelligent crane installed on the bridge deck is used to transport the components to the bridge deck; ② Four winches are installed on the floating ship, and steel wire ropes are installed on the winches. A lock rail system is installed on the steel pipe piles on the upstream side of the steel trestle, and a fixed lock is installed on the steel pipe piles of the steel trestle on the longitudinal bridge side. The winch is used as the power device of the floating ship to transport components, and the Beidou positioning terminal is installed on the floating ship to obtain the real-time position of the floating ship; ③The track lock moves to the specified position through the positioner and controller and is self-locked; ④ When the floating ship transports the components on the side of the steel trestle, the positions of the two track locks and the two fixed locks connected to the steel trestle are M1~M4 respectively. At this time, the lengths of the winch traction ropes are l1~l4 respectively. Point A and Point B are two known points on the floating ship, and their coordinates are (X a , Y a )、(X b , Y b ), the coordinate positions of points A and B are input into the PID controller to locate the position of the floating ship when transporting components; ⑤When the floating ship is transporting components on the river, the coordinates of the two known points on the floating ship are: A' (X a＇ , Y a＇ )、B'(X b＇ , Y b＇ ), the coordinates of points A' and B' are also input into the PID controller, and the winch is controlled by the PID controller to provide power to the floating ship. At this time, the lengths of the winch wire rope are: l1'~l4'; ⑥When the lifting system is lifting the component, the coordinates of the two known points on the floating ship are: A〞(X a〞 , Y a〞 )、B〞(X b〞 , Y b〞 ), the coordinates of points A″ and B″ are also input into the PID controller to determine the final lifting position of the component; at this time, the IMU inertial measurement unit installed on the hook of the lifting system monitors the verticality and lifting speed of the hook. When the hook tilts before the component is lifted off the floating ship, the PID controller controls the winch to continuously correct the position of the floating ship to ensure that the hook is always in a vertical state when lifting the component.

Images