A large caisson attitude monitoring system and excavation control system

Abstract

The present invention discloses a large caisson attitude monitoring system and an excavation control system. The large caisson attitude monitoring system includes a first GNSS monitoring device, a second GNSS monitoring device, an inclination sensor, and an attitude monitoring device. The excavation control system is further provided with a positioning device, an angle measuring instrument, and an excavation control device in cooperation with the large caisson attitude monitoring system. The caisson monitoring system provided by the present invention can monitor the sinking amount of each control point of the caisson, and according to the built-in algorithm, solve the position and attitude of the caisson in real time. The monitoring system is stable, has high precision, and fast monitoring efficiency. In addition, the excavation control system provided by the present invention, in cooperation with the results of the monitoring system, adjusts the soil extraction area and soil extraction volume in the caisson in real time, comprehensively controls the sinking of the caisson, and can improve the construction quality control level.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent monitoring, and particularly to the attitude monitoring and excavation control technology of large caissons. Background Art

[0002] Large caissons are large in height and diameter, and it is difficult to control the sinking verticality and sinking stability. Due to the large slenderness ratio, it is difficult to control the verticality during the initial sinking of the caisson. The initial sinking stage is a critical moment for the caisson. At this time, the sinking coefficient of the well is large, the center of gravity is high, and the stability is poor. Therefore, when taking soil under the caisson, it should be uniform and symmetrical, and measured every 2 hours to strictly control the deviation. In addition, due to the ultra-deep sinking depth, when the caisson sinks to the later stage, it is necessary to prevent adverse phenomena such as difficult sinking or sudden sinking.

[0003] For the conventional settlement monitoring of caissons, total stations are generally used for monitoring. The operation process of conventional monitoring personnel is complicated, the monitoring time is long, the number of surveying personnel invested is large, and the monitoring frequency is high. The conventional monitoring method no longer meets the on-site monitoring requirements.

[0004] The GNSS system can perform positioning, settlement displacement monitoring, etc. It is generally used for the long-term stability monitoring of structures such as foundation pits, buildings, and bridge piers. The overall settlement displacement is small, and the equipment is less affected by vibration, instantaneous settlement, etc. However, during the construction process of caissons, the settlement displacement per unit hour is generally large, which can reach 1.5 m / h to 2 m / h, and the construction disturbance is large. Therefore, the existing GNSS system cannot be directly applied to the attitude monitoring of caisson construction.

[0005] Furthermore, the attitude of the caisson sinking is an important control parameter for construction. However, the existing monitoring technology cannot obtain the real-time attitude state of the caisson on-site, resulting in corrective measures being taken only when the caisson shows eccentric settlement; this operation is likely to cause eccentric settlement of the caisson and cannot be corrected. It can be seen that how to efficiently and accurately monitor the attitude of the caisson is an urgent problem to be solved in this field.

[0006] Furthermore, the operation of the caisson is to cooperate with the excavator and soil-taking device in the caisson to excavate the soil near the caisson below the caisson and then transport it out, so that the caisson gradually sinks to achieve the construction purpose. However, since the soil-taking in the caisson is a concealed project construction, it is impossible to effectively monitor the soil-taking location and the construction state of the equipment in real time, resulting in high difficulty in project quality control; furthermore, if the soil-taking equipment cannot take soil according to the project requirements, it will lead to the situation of eccentric sinking of the caisson. Therefore, how to effectively control the excavation state in the caisson and ensure the construction quality is an urgent problem to be solved in this field. Summary of the Invention

[0007] Aiming at the problem that the sinking attitude of the existing open caisson cannot be obtained in real time, which easily leads to eccentric settlement of the open caisson and cannot be corrected, the present invention provides a large open caisson attitude monitoring system to realize real-time acquisition of the settlement data of the open caisson and calculate and analyze to obtain the offset angle of the central axis of the open caisson; aiming at the difficult management of the soil extraction equipment in the settlement, the present invention provides an excavation control system for large open caisson construction, which combines the large open caisson attitude monitoring system to control the soil extraction and excavation in the open caisson. The operation is simple and easy, and well overcomes the problems existing in the prior art.

[0008] To achieve the above object, the large open caisson attitude monitoring system provided by the present invention includes a first GNSS monitoring device, a second GNSS monitoring device, an inclination sensor and an attitude monitoring device.

[0009] The first GNSS monitoring device and the second GNSS monitoring device are symmetrically arranged on the top of the open caisson to be monitored and sink synchronously with the open caisson; the first GNSS monitoring device and the second GNSS monitoring device are respectively used to measure the spatial coordinate positions at the installation positions of the open caisson in real time.

[0010] The inclination sensor is installed on the top of the open caisson to be monitored, and the connection line between the inclination sensor and the center of the open caisson to be monitored is perpendicular to the connection line between the first GNSS monitoring device and the second GNSS monitoring device. The inclination sensor measures the inclination angles of the open caisson in the X direction and the Y direction in real time.

[0011] The attitude monitoring device is connected to the first GNSS monitoring device, the second GNSS monitoring device and the inclination sensor for data, and calculates and determines the angle change of the central axis of the open caisson in the connection line direction of the first GNSS monitoring device and the second GNSS monitoring device according to the vertical displacements measured at their respective installation positions by the first GNSS monitoring device and the second GNSS monitoring device, and verifies it with the inclination angle in the X direction measured by the inclination sensor; at the same time, the settlement amount at the intersection of the Y direction and the open caisson is inversely calculated through the inclination angle in the Y direction measured by the inclination sensor.

[0012] Further, the attitude monitoring device calculates and analyzes the angle change of the central axis of the open caisson in the connection line direction of the two GNSS monitoring devices by constructing a trigonometric function module according to the settlement displacement data of the two installation points monitored by the symmetrically distributed first GNSS monitoring device and the second GNSS monitoring device.

[0013] Further, the attitude monitoring device first establishes the relationship between the inclination angle value measured by the inclination sensor in the X direction and the angle of the central axis of the open caisson calculated by the first GNSS monitoring device and the second GNSS monitoring device; then, based on the inverse trigonometric function, the settlement displacement difference in the Y direction of the open caisson is calculated and determined through the inclination data in the Y direction.

[0014] To achieve the above object, the excavation control system for large caisson construction provided by the present invention includes a large caisson attitude monitoring system, a positioning device, an angle measuring instrument, and an excavation control device.

[0015] The positioning device is arranged on the excavation equipment for caisson construction to monitor the soil-taking range of the excavation equipment.

[0016] The angle measuring instrument is arranged on the soil-taking equipment for caisson construction to measure the rotation angle of the soil-taking equipment in real time.

[0017] The excavation control device is connected to the large caisson attitude monitoring system, the positioning device, and the angle measuring instrument for data. The excavation control device obtains the offset quadrant of the caisson center according to the angle change values of the caisson central axis in the X and Y directions measured by the large caisson attitude monitoring system, and further determines the soil-taking operation quadrant to be taken according to the offset quadrant. The excavation control device calculates the excavation soil-taking amount for the soil-taking operation quadrant to be taken according to the angle change values of the caisson central axis in the X and Y directions measured by the large caisson attitude monitoring system. The excavation control device forms an excavation control instruction according to the determined soil-taking operation quadrant and the excavated soil-taking amount and transmits it to the excavation equipment and the soil-taking equipment at the construction site, and dynamically adjusts the soil-taking area and the soil-taking amount of the excavation equipment and the soil-taking equipment in the caisson in real time in combination with the data measured by the positioning device and the angle measuring instrument according to the offset quadrant of the caisson center.

[0018] Further, the excavation control device and the attitude monitoring device in the large caisson attitude monitoring system can be composed of the same device.

[0019] The caisson monitoring system provided by the present invention can monitor the sinking amounts of each control point of the caisson, and according to the built-in algorithm, solve the position and attitude of the caisson in real time. The monitoring system is stable, has high precision, and fast monitoring efficiency.

[0020] In addition, the excavation control system provided by the present invention, in cooperation with the results of the monitoring system, adjusts the soil-taking area and the soil-taking amount in the caisson in real time, comprehensively controls the sinking of the caisson, improves the efficiency and safety of large caisson construction, and thus can improve the construction quality control level. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The present invention will be further described below in conjunction with the drawings and specific embodiments.

[0022] Figure 1 It is a schematic diagram of the attitude monitoring system of a single caisson in the present invention;

[0023] Figure 2 It is a schematic diagram for solving the eccentric attitude of the caisson;

[0024] Figure 3 It is a schematic diagram of the excavation control system in the present invention;

[0025] Figure 4 It is a schematic diagram of the caisson cross-section;

[0026] Figure 5 It is a flow chart of the excavation control method in the present invention.

[0027] The following is the component annotation description in the attached drawings:

[0028] 1 Caisson attitude monitoring system, 11 GNSS-1 monitoring device, 12 GNSS-2 monitoring device, 13 Inclinometer, 14 Attitude monitoring device;

[0029] 2 Excavation control system, 22 Positioning device, 21 Angle measuring instrument;

[0030] 3 Excavator, 4 Soil extraction equipment, 5 Soil body, 6 Caisson. Specific implementation mode

[0031] In order to make the technical means, creative features, achieved purposes and effects realized by the present invention easy to understand, the present invention will be further elaborated below with reference to specific drawings.

[0032] Aiming at the problems faced in the settlement monitoring of large caissons, the present invention provides a set of large caisson attitude monitoring solutions, which are based on GNSS monitoring devices and inclinometers to achieve real-time and accurate monitoring of the caisson attitude.

[0033] Specifically, this solution uses two groups of GNSS monitoring devices to cooperate synchronously to achieve the settlement monitoring of large caissons. Among them, the first GNSS monitoring device and the second GNSS monitoring device are symmetrically arranged on the top of the caisson to be monitored and sink synchronously with the caisson. The first GNSS monitoring device and the second GNSS monitoring device are respectively used to measure the spatial coordinate positions at the installation position of the caisson in real time and transmit them to the remote computer in real time for real-time monitoring during the sinking process of the caisson.

[0034] See Figure 1 , which shows an example of the composition of a large caisson attitude monitoring system constructed according to this solution.

[0035] As can be seen from the figure, the large caisson attitude monitoring system 1 given in this example mainly includes the first GNSS monitoring device 11, the second GNSS monitoring device 12, the inclinometer 13 and the attitude monitoring device 14.

[0036] Among them, the first GNSS monitoring device 11 and the second GNSS monitoring device 12 are symmetrically installed on the top of the caisson 6, used to measure the displacement of the caisson sinking in real time and transmit the data to the attitude monitoring device 14 in real time.

[0037] The first GNSS monitoring device 11 and the second GNSS monitoring device 12 here are symmetrically distributed along the diameter direction of the caisson. Additionally, an inclination sensor is installed at the caisson position in the direction perpendicular to the line connecting the two, thereby cooperating to achieve 360-degree all-round monitoring of the caisson's position and attitude state.

[0038] The first GNSS monitoring device 11 set in this way will sink synchronously with the caisson, and real-time monitor the sinking displacement of this point caused by soil excavation at the bottom of the caisson.

[0039] Cooperating with it, the second GNSS monitoring device 12 sinks synchronously with the caisson, and real-time monitors the sinking displacement of this point caused by soil excavation at the bottom of the caisson.

[0040] On this basis, the inclination sensor 13 in the large caisson attitude monitoring system 1 is installed at the upper part of the caisson 6, and the line connecting it with the center of the caisson is vertically distributed with the line connecting the first GNSS monitoring device 11 and the second GNSS monitoring device 12.

[0041] The inclination sensor 13 distributed and set in this way is used to measure the inclination of the caisson in the X direction and Y direction, and transmit the data to the attitude monitoring device 14 in real time.

[0042] The X direction here is the distribution direction of the line connecting the first GNSS monitoring device 11 and the second GNSS monitoring device 12.

[0043] The Y direction here is the direction perpendicular to the line direction between the first GNSS monitoring device 11 and the second GNSS monitoring device 12.

[0044] The attitude monitoring device 14 in the large caisson attitude monitoring system 1 conducts data interaction with the first GNSS monitoring device 11, the second GNSS monitoring device 12, and the inclination sensor 13.

[0045] The way of data interaction here can be a wired interaction mode or a wireless interaction mode, which can be determined according to actual requirements.

[0046] Based on the sinking displacement of the caisson real-time monitored by the first GNSS monitoring device 11 and the second GNSS monitoring device 12, and the inclination data of the caisson real-time monitored by the inclination sensor 13, this attitude monitoring device 14 calculates the settlement data of the caisson in real time, and calculates and analyzes to obtain the offset angle of the central axis of the caisson, so as to realize real-time monitoring of the position and attitude of the caisson.

[0047] This attitude monitoring device 14 calculates and determines the angular change of the central axis of the caisson in the connection direction between the first GNSS monitoring device and the second GNSS monitoring device based on the vertical displacements measured at their respective installation positions by the first GNSS monitoring device 11 and the second GNSS monitoring device 12, and verifies it with the inclination angle in the X direction measured by the inclination sensor 13; meanwhile, the settlement amount at the intersection of the Y direction and the caisson is inversely calculated through the inclination angle in the Y direction measured by the inclination sensor.

[0048] This attitude monitoring device 14 specifically cooperates with the first GNSS monitoring device 11 and the second GNSS monitoring device 12 to complete the real-time monitoring of the caisson attitude.

[0049] Here, the attitude monitoring device 14 calculates and analyzes the angular change of the central axis of the caisson in the connection direction between the two GNSS monitoring devices by constructing a trigonometric function module according to the settlement displacement data of the two installation points monitored by the symmetrically distributed first GNSS monitoring device 11 and the second GNSS monitoring device 12.

[0050] On this basis, this attitude monitoring device 14 further cooperates with the inclination sensor 13 to complete the real-time monitoring of the uneven settlement difference in the Y direction of the caisson.

[0051] Here, the attitude monitoring device 14 first establishes the relationship between the inclination angle value measured by the inclination sensor in the X direction and the angle of the central axis of the caisson calculated by the first GNSS monitoring device 11 and the second GNSS monitoring device 12; then, based on the inclination data in the Y direction, the settlement displacement difference in the Y direction of the caisson is calculated and determined through the inverse trigonometric function.

[0052] The following is an example to illustrate the process of this large caisson attitude monitoring system for realizing the real-time monitoring of the position and attitude of the caisson.

[0053] First, the first GNSS monitoring device 11, the second GNSS monitoring device 12, the inclination sensor 13, and the attitude monitoring device 14 in this large caisson attitude monitoring system are deployed on the caisson 6 according to the foregoing scheme.

[0054] On this basis, the straight-line distance d between the first GNSS monitoring device 11 and the second GNSS monitoring device 12 is further obtained and stored in the attitude monitoring device 14 for subsequent monitoring calculations.

[0055] Here, the specific compositions of the first GNSS monitoring device 11, the second GNSS monitoring device 12, the inclination sensor 13, and the attitude monitoring device 14 are not limited and can be determined according to actual requirements.

[0056] To further improve the practicality of this solution, the first GNSS monitoring device 11, the second GNSS monitoring device 12, the inclination sensor 13, etc. are preferably powered by photovoltaic panels.

[0057] Furthermore, the attitude monitoring device 14 can maintain real-time data interaction with the first GNSS monitoring device 11, the second GNSS monitoring device 12, and the inclination sensor 13 through the corresponding communication base station.

[0058] On this basis, there is a linear correspondence between the inclination angle in the X direction of the inclination sensor and the axis offset angle β calculated from the settlement data of the two GNSS monitoring devices in the attitude monitoring device 14.

[0059] Specifically, the attitude monitoring device 14 is based on the attributes of the inclination angle values measured by the inclination sensor 13 (including the inclination angle in the X direction and the inclination angle in the Y direction); on this basis, the attitude monitoring device 14 simultaneously combines the distribution position relationship of the inclination sensor 13 relative to the first GNSS monitoring device 11 and the second GNSS monitoring device 12 to construct a linear correspondence calculation module between the inclination angle in the X direction and the axis offset angle β calculated from the settlement data of the two GNSS monitoring devices.

[0060] Furthermore, based on the constructed linear correspondence calculation module, the attitude monitoring device 14 can calculate the inclination angle in the X direction according to the settlement data of the GNSS monitoring device, and vice versa, the differential settlement data in the Y direction (the relative settlement displacement between the two monitoring points) can also be obtained according to the inclination angle in the Y direction.

[0061] Further, if the attitude monitoring device 14 obtains the settlement amount X1 monitored by the first GNSS monitoring device 11 and the settlement amount X2 monitored by the second GNSS monitoring device 12 through data interaction with the first GNSS monitoring device 11 and the second GNSS monitoring device 12.

[0062] The attitude monitoring device 14 retrieves the straight-line distance d between the first GNSS monitoring device 11 and the second GNSS monitoring device 12 stored, and calculates the differential uneven settlement through the calculation module constructed by formula (1) as

[0063]

[0064] On this basis, further calculate through the calculation module constructed by formula (2):

[0065]

[0066] Thus, the attitude monitoring device 14 can calculate the X-direction inclination angle based on the linear correspondence between the X-direction inclination angle and the shaft offset angle β calculated from the settlement data of the two GNSS monitoring devices, and then calculate the X-direction inclination angle based on the settlement data of the GNSS monitoring devices.

[0067] Furthermore, the attitude monitoring device 14 calculates the X-direction shaft offset angle β according to the calculation module constructed by formulas (3) and (4):

[0068] α = β (3);

[0069]

[0070] On this basis, the attitude monitoring device 14 will further calculate the uneven settlement difference in the Y direction of the caisson according to the inclination angle data.

[0071] The attitude monitoring device 14 obtains the angle value a measured by the inclination sensor 13 through data interaction with the inclination sensor 13; the attitude monitoring device 14 further constructs the following calculation module based on the calculation module of the above formula (4), and calculates the uneven settlement difference m in the Y direction of the caisson accordingly:

[0072] m = d × sin a (5).

[0073] Accordingly, the attitude monitoring device 14 can also obtain the settlement data difference in the Y direction (relative settlement displacement between two monitoring points) according to the Y-direction inclination angle.

[0074] In view of the problems faced by large caissons in the control of soil excavation, based on the large caisson attitude monitoring scheme given above, the present invention further provides a set of excavation control schemes for large caisson construction, which can effectively control the soil excavation in the caisson.

[0075] See Figure 2 , which shows an example of the composition of an excavation control system for large caisson construction constructed accordingly.

[0076] As can be seen from the figure, the excavation control system 2 for large caisson construction mainly includes an angle measuring instrument 21, a positioning device 22, and an excavation control device in terms of composition.

[0077] To better illustrate the excavation control system, the excavation equipment 3, the soil extraction equipment 4, and the soil mass 5 are introduced here.

[0078] The specific composition of the excavation equipment 3 and the soil extraction equipment 4 is not limited and depends on actual needs.

[0079] The positioning device 22 in this system is arranged on the excavation equipment 3 for caisson construction, monitors the soil extraction range of the excavation equipment 3, and wirelessly transmits the detected data to the excavation control device.

[0080] The angle measuring instrument 21 in this system is arranged on the soil extraction equipment 4 during the caisson construction, measures the rotation angle of the soil extraction equipment 4 in real time, and wirelessly transmits the detected data to the excavation control device.

[0081] The excavation control device in this system can calculate and judge the movement trajectory of the excavation equipment 3 at the excavation construction site in real time according to the data transmitted by the positioning device 22 and present it; at the same time, the excavation control device also calculates and judges the working state of the soil extraction equipment 4 in real time according to the data transmitted by the angle measuring instrument 21, and judges the area and scope of soil extraction.

[0082] On this basis, the excavation control device specifically obtains the angle change values of the caisson central axis in the X and Y directions measured by the large caisson attitude monitoring system, obtains the offset quadrant of the caisson center, and forms an excavation control instruction to increase the excavation soil volume for the symmetric quadrant of the determined offset quadrant.

[0083] Specifically, the excavation control device in this system obtains the large caisson size data and constructs a data model corresponding to the large caisson based on the large caisson size data.

[0084] Preferably, the data model here can be a 3D data model or a plane data model, so that the overall shape of the large caisson can be intuitively and correspondingly displayed.

[0085] At the same time, this excavation control device can combine the angle change values of the caisson central axis in the X and Y directions measured by the large caisson attitude monitoring system to dynamically correct the data model corresponding to the large caisson in real time, so that the data model can dynamically and real-time display the shape change of the large caisson.

[0086] This excavation control device establishes a corresponding coordinate system on the basis of the data model of the large caisson formed, and then divides the area corresponding to the bottom cross-section of the large caisson into corresponding quadrant areas based on the established coordinate system.

[0087] As an example, the area corresponding to the bottom cross-section of the large caisson is divided into four quadrant areas, such as Figure 4 shown, along the X-axis direction and Y-axis direction of the coordinate system, the area corresponding to the bottom cross-section of the large caisson is divided into four quadrant areas: Quadrant I, Quadrant II, Quadrant III, and Quadrant IV.

[0088] Accordingly, based on the data model, coordinate system, and four quadrant regions constructed for the large caisson, this excavation control device realizes obtaining the offset quadrant of the caisson center according to the angular change values of the caisson central axis in the X and Y directions measured by the large caisson attitude monitoring system, forming an earth excavation control instruction to increase the earth excavation volume for the symmetric quadrant of the determined offset quadrant, and transmitting the earth excavation control instruction to the excavation equipment and soil extraction equipment. At the same time, combining the data measured by the positioning device and the angle measuring instrument, it dynamically adjusts the soil extraction area and soil extraction volume of the excavation equipment and soil extraction equipment in the caisson according to the offset quadrant of the caisson center in real time, thereby realizing the comprehensive control of the caisson sinking and improving the efficiency and safety of the large caisson construction.

[0089] Specifically, at the initial stage of caisson construction, this excavation control device forms an initial earth excavation control instruction, controls and transmits it to the excavation equipment and soil extraction equipment to control the excavation equipment and soil extraction equipment to carry out earth excavation construction in any quadrant area of the caisson.

[0090] The earth excavation control instruction formed here includes the information of the quadrant area to be excavated, the earth excavation route information for the quadrant area to be excavated, and the rotation angle range of the soil extraction equipment. Accordingly, the excavation equipment moves to the quadrant area to be excavated according to the information of the quadrant area to be excavated, and then excavates soil in the quadrant area to be excavated according to the earth excavation route information. At the same time, the soil extraction equipment calculates and determines the soil extraction position information (i.e., coordinate information) in the quadrant area to be excavated according to the information of the quadrant area to be excavated and the earth excavation route information of the quadrant area to be excavated. Then, it adjusts the soil extraction equipment to move to the corresponding soil extraction position for soil extraction operation. After completing this soil extraction operation, according to the rotation angle information in the earth excavation control instruction, it performs a rotation action to transfer the grabbed soil to the designated area outside the caisson.

[0091] During this soil extraction operation, the positioning device 22 installed on the excavation equipment 3 continuously obtains the position information of the excavation equipment 3 in the caisson and transmits it to the excavation control device in real time. The excavation control device converts the real-time position information of the excavation equipment 3 based on the constructed corresponding coordinate system and displays the converted position coordinate information in the data model of the constructed large caisson. Thus, the movement trajectory of the excavation equipment 3 at the excavation construction site is dynamically and real-time displayed in the data model.

[0092] According to needs, the earth excavation route information in the earth excavation control instruction can be further integrated into the data model of the large caisson to display the corresponding soil extraction range and earth excavation route in the data model of the large caisson. In this way, the movement trajectory of the excavation equipment 3 within the set soil extraction range can be real-time and dynamically displayed in the data model, thereby realizing the real-time and dynamic monitoring of the earth excavation range of the excavation equipment 3.

[0093] On this basis, when the excavation control device monitors that the movement trajectory of the excavation equipment 3 exceeds the excavation range defined by the current excavation control instruction, it will generate an alarm and adjust the movement control instruction for the excavation equipment 3 to control the excavation equipment 3 to move to the soil-taking range for excavation operations.

[0094] It should be noted here that the implementation scheme for the excavation control device to integrate the soil-taking route information in the soil-taking control instruction in the data model of the large caisson is not limited here and can be determined according to actual requirements.

[0095] During the soil-taking operation, the angle measuring instrument 21 installed on the soil-taking equipment 4 obtains the rotation operation angle of the soil-taking equipment 4 in real time and transmits it to the excavation control device in real time. The excavation control device converts the real-time rotation operation angle information of the soil-taking equipment 4 based on the constructed corresponding coordinate system and displays the converted rotation operation angle information in the constructed data model of the large caisson. Thus, the working state of the soil-taking equipment 4 at the excavation construction site is calculated and judged in real time in the data model, and the soil-taking area and range are judged.

[0096] On this basis, when the excavation control device monitors that the soil-taking range of the soil-taking equipment 4 exceeds the excavation range defined by the current excavation control instruction, it will generate an alarm and adjust the movement control instruction for the soil-taking equipment 4 to control the soil-taking equipment 4 to adjust the rotation angle of the soil-taking operation so that it performs the soil-taking operation within the defined excavation range.

[0097] During the soil-taking operation, the large caisson attitude monitoring system also synchronously measures the angle change values of the central axis of the caisson in the X and Y directions in real time. The specific measurement and calculation process is as described above; and the measured angle change values are transmitted to the excavation control device in real time.

[0098] The excavation control device converts the angle change values of the central axis of the large caisson measured by the large caisson attitude monitoring system in the X and Y directions based on the constructed corresponding coordinate system, and dynamically corrects the constructed data model of the large caisson according to the converted angle change values, and dynamically adjusts the display state of the large caisson data model, so as to be able to display the real-time shape of the large caisson in real time and dynamically.

[0099] Meanwhile, the excavation control device also calculates and determines the offset quadrant of the caisson center in real time according to the angular change values of the caisson central axis in the X and Y directions measured by the large caisson attitude monitoring system, and cooperates with the constructed four-quadrant area. On this basis, it further determines that the symmetric quadrant of the offset quadrant is the corresponding quadrant for soil excavation and soil taking; then, based on the real-time position of the current excavation equipment and the working state of the soil-taking equipment, it calculates and plans a new soil-taking route for the excavation equipment and a new range of rotation angles for the soil-taking equipment. At the same time, it calculates and determines the excavation and soil-taking volume for the quadrant for soil excavation and soil taking based on the magnitude of the angular change value, thereby forming an excavation control instruction for the determined quadrant for soil excavation and soil taking. This excavation control instruction contains the corresponding excavation and soil-taking volume, and transmits the excavation control instruction to the excavation equipment and the soil-taking equipment. At the same time, combined with the data measured by the positioning device and the angle measuring instrument, it dynamically adjusts the soil-taking area and soil-taking volume of the excavation equipment and the soil-taking equipment in the caisson according to the offset quadrant of the caisson center in real time (the specific implementation process is as described above), so as to realize the comprehensive control of the sinking of the caisson and improve the efficiency and safety of the large caisson construction.

[0100] Perform such cyclic operations until the large caisson is completely sunk into the soil body.

[0101] The following is an example to illustrate the process of the excavation control system for the large caisson construction in combination with the aforementioned large caisson attitude monitoring system to realize the real-time adjustment of the soil-taking area and soil-taking volume in the caisson and the comprehensive control of the sinking of the caisson.

[0102] In this example, the angle measuring instrument 21 and the positioning device 22 are deployed based on the aforementioned scheme. Here, the specific compositions of the angle measuring instrument 21 and the positioning device 22 are not limited and can be determined according to actual needs.

[0103] The relevant functions of the excavation control device in this example can be realized by the attitude monitoring device 14 in the large caisson attitude monitoring system. That is, the relevant functions of the excavation control device and the attitude monitoring device can be realized through a control computer. The specific implementation method is not limited here and can be determined according to actual needs.

[0104] On this basis, based on the mutual linkage and cooperation between the excavation control system and the attitude monitoring system, to realize the real-time adjustment of the soil-taking area and soil-taking volume in the caisson and the comprehensive control of the sinking of the caisson, the process is as follows (combined with Figure 5 as shown):

[0105] P1: Set the axis offset threshold at the computer end. When the large caisson attitude monitoring system finds that the axis offset angle of the caisson 6 is too large, the computer issues an alarm to prompt the management personnel to perform the next operation;

[0106] P2: Analyze the quadrant of the shaft offset of the open caisson. According to the results of the inclination sensors and the two GNSS monitoring devices, the system calculates and analyzes the direction of the shaft offset of the open caisson center, that is, which quadrant the horizontal projection of the shaft deviates to, as Figure 4 shown.

[0107] P3: Excavation control.

[0108] The computer sends the soil-taking commands for the corresponding opposite quadrants to the excavation equipment 3 and the soil-taking equipment 4. That is, if the center axis of the open caisson deviates to the first quadrant, the excavation equipment 3 and the soil-taking equipment should increase the soil-taking in the third quadrant to achieve the purpose of correcting the offset of the open caisson;

[0109] P4: Soil-taking excavation in other quadrants of the bottom section of the open caisson;

[0110] P5: Repeat steps P1 to P3 until the open caisson is completely sunk into the soil mass.

[0111] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited by the above embodiments. What is described in the above embodiments and the specification only illustrates the principle of the present invention. Without departing from the spirit and scope of the present invention, the present invention will have various changes and improvements, and these changes and improvements all fall within the scope of the present invention claimed. The scope of protection claimed by the present invention is defined by the appended claims and their equivalents.

Claims

1. Large caisson attitude monitoring system, characterized in that, It includes a first GNSS monitoring device, a second GNSS monitoring device, an inclination sensor, and an excavation control device; The first GNSS monitoring device and the second GNSS monitoring device are symmetrically arranged on the top of the caisson to be monitored and sink synchronously with the caisson; The first GNSS monitoring device and the second GNSS monitoring device are respectively used to measure the spatial coordinate positions at the installation position of the caisson in real time; The inclination sensor is installed on the top of the caisson to be monitored, and the connection line between it and the center of the caisson to be monitored is perpendicular to the connection line between the first GNSS monitoring device and the second GNSS monitoring device. The inclination sensor measures the inclination of the caisson in the X direction and the Y direction in real time; The attitude monitoring device is data-connected to the first GNSS monitoring device, the second GNSS monitoring device, and the inclination sensor. According to the vertical displacements at their respective installation positions measured by the first GNSS monitoring device and the second GNSS monitoring device, it calculates and determines the angular change of the central axis of the caisson in the connection line direction of the first GNSS monitoring device and the second GNSS monitoring device, and verifies it with the inclination in the X direction measured by the inclination sensor; at the same time, it calculates the settlement amount at the intersection of the Y direction and the caisson by inversely calculating the inclination in the Y direction measured by the inclination sensor.

2. The large caisson attitude monitoring system according to claim 1, wherein The attitude monitoring device calculates and analyzes the angular change of the central axis of the caisson in the connection line direction of the two GNSS monitoring devices by constructing a trigonometric function module based on the settlement displacement data of the two installation points monitored by the symmetrically distributed first GNSS monitoring device and the second GNSS monitoring device.

3. The large caisson attitude monitoring system according to claim 1, characterized in that, The attitude monitoring device first establishes the relationship between the inclination value measured by the inclination sensor in the X direction and the angle of the central axis of the caisson calculated by the first GNSS monitoring device and the second GNSS monitoring device; then, based on the inclination data in the Y direction, it calculates and determines the settlement displacement difference in the Y direction of the caisson by using inverse trigonometric functions.

4. Excavation control system for large caisson construction, characterized in that, It includes the large caisson attitude monitoring system, positioning device, angle measuring instrument, and excavation control device described in any one of claims 1-3. The positioning device is arranged on the excavation equipment for caisson construction to monitor the soil-taking range of the excavation equipment; The angle measuring instrument is arranged on the soil-taking equipment for caisson construction to measure the rotation angle of the soil-taking equipment in real time. The excavation control device is connected to the large caisson attitude monitoring system, the positioning device, and the angle measuring instrument for data. The excavation control device obtains the offset quadrant of the caisson center based on the angle change values of the caisson central axis in the X and Y directions measured by the large caisson attitude monitoring system, and further determines the quadrant for the earth-taking operation according to the offset quadrant. The excavation control device calculates the excavation earth-taking volume for the quadrant for the earth-taking operation based on the angle change values of the caisson central axis in the X and Y directions measured by the large caisson attitude monitoring system. The excavation control device forms an earth-excavation control instruction based on the determined quadrant for the earth-taking operation and the earth-taking volume, and transmits it to the excavation equipment and earth-taking equipment at the construction site. Combining the data measured by the positioning device and the angle measuring instrument, it dynamically adjusts the earth-taking area and earth-taking volume of the excavation equipment and the earth-taking equipment in the caisson in real time according to the offset quadrant of the caisson center.

5. The excavation control system for large caisson construction according to claim 4, characterized in that, The excavation control device and the attitude monitoring device in the large caisson attitude monitoring system can be composed of the same device.

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