Jacking and Loading Construction System, Design Method and Control Method for Immersed Tube Jacking and Loading Vehicle

Abstract

The present invention relates to a construction system, design method and control method for the ro-ro loading of a immersed tube section trolley onto a barge. The construction system for the ro-ro loading of the immersed tube section trolley onto the barge relies on a monitoring module to conduct information-based monitoring on the construction process of the ro-ro loading of the immersed tube section trolley onto the barge to obtain monitoring data. The early warning module compares and analyzes the control indexes of the required control parameters with the real-time monitoring results of the monitoring parameters to determine whether there are safety risks in the barge transportation of the immersed tube section. The decision-making module uses the control module to achieve regulation according to the judgment result of the early warning module, so that the real-time monitoring results of the monitoring parameters meet the relevant requirements of the control indexes of the required control parameters. It can realize the real-time evaluation of the safety of the construction of the ro-ro loading of the immersed tube section trolley onto the barge, and guide the real-time regulation of the load adjustment control system of the semi-submersible barge, the independent control system of the trolley system and the hydraulic support structure control system of the on-board pier. The control accuracy is higher, and while greatly improving the loading efficiency of the immersed tube section onto the barge, the construction safety is guaranteed.

Description

Technical Field

[0001] The present invention relates to the technical field of safety control construction technology for the roll-on / roll-off of immersed tube segments by trolley, in particular to a construction system, a design method, and a control method for the roll-on / roll-off of immersed tube segments by trolley. Background Art

[0002] At present, large components are often roll-on / roll-off by airbags, such as caissons. The degree of automation and informatization is relatively low, the roll-on / roll-off efficiency is slow, and the construction safety risk is relatively large. Projects such as the Shenzhen-Zhongshan Passage have started to use a hydraulic trolley system to transport long and large immersed tube segments, which greatly improves the construction efficiency and reduces the construction safety risk.

[0003] The immersed tube segment has poor adaptability to deformation. The hydraulic trolley system can be controlled by oil pressure and has the ability of deformation self-adaptation, but it is restricted by the stroke of the jack, and the speed of deformation self-adaptation is restricted by the speed of oil return in the oil pipe. Compared with the airbag, the hydraulic trolley system is a rigid support, and the deformation control is not timely, which is easy to cause damage to the immersed tube segment. Therefore, when using the hydraulic trolley system for the roll-on / roll-off construction of the immersed tube segment, it is necessary to monitor the safety of the immersed tube segment in real time and be able to make a quick decision on the process regulation requirements. At present, there is a lack of corresponding construction safety control methods.

[0004] Using the hydraulic trolley system for the roll-on / roll-off construction of the immersed tube segment can greatly improve the roll-on / roll-off efficiency and reduce the construction safety risk, but it puts forward high requirements for construction control, such as high precision, real-time feedback, and quick decision-making. Traditional construction control methods mainly focus on the safety control of the structure body itself and cannot meet the control requirements for the roll-on / roll-off of the immersed tube segment by trolley. Summary of the Invention

[0005] The purpose of the present invention is to: in view of the problem that in the prior art, the method for controlling the safety of the roll-on / roll-off of the immersed tube segment mainly focuses on the safety control of the structure body and cannot control the roll-on / roll-off process of the immersed tube segment, and thus cannot meet the control requirements for the roll-on / roll-off of the immersed tube segment by trolley, provide a construction system, a design method, and a control method for the roll-on / roll-off of the immersed tube segment by trolley.

[0006] To achieve the above purpose, the technical solution adopted by the present invention is as follows:

[0007] A construction system for the roll-on / roll-off of an immersed tube segment by trolley realizes the control of the safety of the roll-on / roll-off construction of the immersed tube segment by using the control system of an automated device or equipment, and includes a monitoring module, an early warning module, a decision-making module, and a control module;

[0008] The monitoring module uses information technology to collect and analyze the required monitoring parameters in real time. The monitoring parameters are parameters that can reflect control parameters and regulation parameters, and the regulation parameters are parameters from automated devices or equipment;

[0009] The warning module is used to compare and analyze the control indicators of the control parameters to be required with the real-time monitoring results of the monitoring parameters, and determine whether there is a safety risk in the upending construction of the immersed tube segment. When there is a safety risk in the upending construction of the immersed tube segment, a warning is issued.

[0010] The control module performs real-time regulation on the regulation parameters according to the quantitative relationship between the control parameters and the regulation parameters. The control module includes a ballast control system for the semi-submersible barge of the automation equipment or device, an independent control system for the trolley system, and a hydraulic support structure control system for the on-board pier. The ballast control system can accept the regulation instructions of the decision-making module to regulate the ballast water of each cabin in real time. The independent control system accepts the regulation instructions of the decision-making module to regulate the jack stroke and oil pressure of the trolley system in real time. The hydraulic support structure control system accepts the regulation instructions of the decision-making module to regulate the hydraulic support stroke in real time.

[0011] The decision-making module uses the control module to achieve regulation according to the judgment result of the warning module, so that the real-time monitoring result of the monitoring parameter meets the relevant requirements of the control index of the control parameter to be required.

[0012] The upending construction system for the trolley of the immersed tube segment of the present invention mainly involves the monitoring, warning, decision-making and control of the upending construction process of the trolley of the immersed tube segment. Relying on the monitoring module, the monitoring parameters in the upending construction process of the trolley of the immersed tube segment are monitored informatization to obtain monitoring data. The warning module compares and analyzes the control indicators of the control parameters to be required with the real-time monitoring results of the monitoring parameters, and determines whether there is a safety risk in the barge transportation of the immersed tube segment. The decision-making module uses the control module to achieve regulation according to the judgment result of the warning module, so that the real-time monitoring result of the monitoring parameter meets the relevant requirements of the control index of the control parameter to be required. It can realize the real-time evaluation of the safety of the upending construction of the trolley of the immersed tube segment, and guide the real-time regulation of the ballast control system for the semi-submersible barge, the independent control system for the trolley system, and the hydraulic support structure control system for the on-board pier, and control the safety of the upending construction of the trolley of the immersed tube segment in real time, with higher control accuracy. While greatly improving the upending efficiency of the immersed tube segment, the construction safety is guaranteed.

[0013] Preferably, the control parameters to be required include structural control parameters and process control parameters, the monitoring parameters include structural monitoring parameters, process monitoring parameters, regulation monitoring parameters and environmental monitoring parameters, and the regulation parameters include environmental control parameters, prior regulation parameters and real-time regulation parameters.

[0014] The structural control parameters include the asynchronous displacement of the support surface and the concrete stress of the immersed tube segment. The process control parameters include the height difference between the stern deck surface of the semi-submersible barge and the wharf surface, the ship deformation of the semi-submersible barge, and the ship attitude of the semi-submersible barge.

[0015] The structural monitoring parameters include the displacement of the monitoring points on the pipe section and the stress of the monitoring points on the pipe section. The process monitoring parameters include the displacement of the monitoring points on the semi-submersible barge and the inclination angle of the monitoring points on the semi-submersible barge. The regulation monitoring parameters include the oil pressure of the trolley jacks, the water level of the ship's ballast water, and the real-time height of the on-board supports. The environmental monitoring parameters include wind speed, wind direction, wave height, wave length, wave period, flow velocity, and flow direction.

[0016] The environmental control parameters include the construction operation ship opening. The prior regulation parameters include the load adjustment capacity of the semi-submersible barge, the anti-deformation capacity of the semi-submersible barge, the adjustable amount of the jack stroke, the performance curve of the on-board supports, and the adjustable amount of the on-board support height. The real-time regulation parameters include the load adjustment plan of the semi-submersible barge, the oil pressure of the jacks, and the real-time height of the on-board supports.

[0017] The monitoring of the environmental monitoring parameters is mainly to judge whether the current environment meets the corresponding construction safety and is used to judge whether the operation conditions are met.

[0018] The immersed tube pipe section is placed on the ground or the semi-submersible barge through the trolley system or the on-board supports in a multi-support form. The uneven ground, the deformation of the semi-submersible barge, and the attitude deformation of the semi-submersible barge affect the force characteristics of the immersed tube pipe section by influencing the displacement at the multi-supports. Therefore, the core of controlling the structural safety of the immersed tube pipe section lies in controlling the displacement at the multi-supports. The elevation difference between the support points of the immersed tube pipe section and the initial elevation before construction is called the support displacement. The plane formed by all the support displacements is called the support plane. Fit a plane with the support displacements to ensure that as many support points as possible are within the plane. This plane is called the support plane. When there are support points not in the support plane, it indicates that the support plane has asynchronous displacements. The distance between this support point and the support plane is called the asynchronous displacement of the support plane. By monitoring the displacement of the monitoring points on the pipe section, the stress of the monitoring points on the pipe section, the displacement of the monitoring points on the semi-submersible barge, the inclination angle of the monitoring points on the semi-submersible barge, the oil pressure of the trolley jacks, the water level of the ship's ballast water, and the real-time height of the on-board supports, it is possible to obtain the asynchronous displacement of the support plane of the immersed tube pipe section, the concrete stress of the immersed tube pipe section, the height difference between the stern deck surface and the wharf surface of the semi-submersible barge, the ship deformation of the semi-submersible barge, and the ship attitude of the semi-submersible barge, so that the early warning module can quickly determine whether there are safety risks in the barge transportation of the immersed tube pipe section, and the decision-making module can quickly make decisions based on the judgment results of the early warning module and the monitoring data on how to achieve regulation through the control module, so that the real-time monitoring results of the monitoring parameters meet the relevant requirements of the control indicators of the required control parameters.

[0019] Preferably, the monitoring module includes the first vertical displacement monitoring points evenly distributed on the immersed tube pipe section, the stress monitoring points arranged on the immersed tube pipe section, the second vertical displacement monitoring points arranged on the semi-submersible barge, the inclination angle monitoring points arranged on the semi-submersible barge, the automatic acquisition equipment for the jacks of the trolley system, the automatic acquisition equipment for the water level of the ship's ballast water, and the automatic acquisition equipment for the height of the on-board supports.

[0020] The first vertical displacement monitoring points evenly distributed on the immersed tube segment are used to judge the asynchronous displacement of the support surface of the immersed tube segment; the stress monitoring points arranged on the immersed tube segment are used to obtain the concrete stress condition of the immersed tube segment; the second vertical displacement monitoring points arranged on the semi-submersible barge and the inclination monitoring points arranged on the semi-submersible barge are used to obtain the vertical displacement and inclination of the semi-submersible barge, and then obtain the height difference between the stern deck surface of the semi-submersible barge and the wharf surface, the ship deformation amount of the semi-submersible barge and the ship attitude of the semi-submersible barge; the jack automatic acquisition equipment of the trolley system is used to obtain the oil pressure of the trolley jacks, and then can judge the support height of the trolley jacks and the adjustable amount of the trolley jacks; the automatic acquisition equipment for the water level of the ship's ballast water is used to obtain the water level of the ship's ballast water, and can be used to judge the adjustable amount of the vertical displacement and inclination of the semi-submersible barge, that is, obtain the adjustable amount of the ship attitude of the semi-submersible barge, and then adjust the height difference between the stern deck surface of the semi-submersible barge and the wharf surface and the ship deformation amount of the semi-submersible barge; the automatic acquisition equipment for the height of the on-board pier can obtain the height of the on-board pier, and then obtain the adjustable amount of the height of the on-board pier, which is used to adjust the asynchronous displacement of the support surface of the immersed tube segment.

[0021] Preferably, the first vertical displacement monitoring points on the immersed tube segment are arranged adjacent to the bottom plate of the immersed tube segment;

[0022] The stress monitoring points on the immersed tube segment are arranged on the mid-span section, 1 / 4-span and 3 / 4-span sections and the pipe end section of the immersed tube segment;

[0023] The second vertical displacement monitoring points and inclination monitoring points on the semi-submersible barge are arranged on the deck surface of the semi-submersible barge.

[0024] Adopting the above layout method, the layout is convenient, and the corresponding parameters can be obtained more intuitively, and the obtained corresponding parameters can better reflect the force and deformation state of the immersed tube segment when it is loaded onto the barge, which is convenient for controlling the safety of the immersed tube segment.

[0025] Preferably, the trolley system includes several trolleys arranged in an array. Each trolley has a jack. The jacks of all trolleys are divided into at least three groups. The oil pressures of the jacks in each group of trolleys are connected, and the oil pressures of the jacks in different groups of trolleys are disconnected.

[0026] The oil pressure difference in different areas will affect the deformation and force of the immersed tube segment. By controlling the oil pressure difference between different areas of the trolley system jacks in real time, the control effect on the deformation and force of the immersed tube segment is better.

[0027] Preferably, the jacks of all trolleys are divided into three groups. The first group is located in the latter half of the array formed by all trolleys, and the second group and the third group are located in the front half of the array formed by all trolleys and are symmetric about the left and right, so that the deformation and force of the immersed tube segment can be better controlled during the process of loading onto the barge.

[0028] A design method for the roll-on / roll-off construction system of a immersed tube segment trolley, which is used to design the roll-on / roll-off construction system of the immersed tube segment trolley, includes the following design steps:

[0029] S1. Obtain the deformation difference between the semi-submersible barge and the immersed tube segment as the deformation coordination amount according to the stiffness and force models of the semi-submersible barge and the immersed tube segment;

[0030] S2. Through theoretical analysis, considering the requirements of construction safety and quality control for the roll-on / roll-off of the immersed tube segment, obtain the control indicators of the control parameters, and the quantitative relationships between the control parameters and the regulation parameters;

[0031] S3. Through theoretical analysis, according to the deformation coordination amount, process requirements and equipment performance requirements, clarify the selection requirements for the load adjustment capacity and anti-deformation capacity of the semi-submersible barge, the configuration requirements for the adjustable stroke of the jacks in the trolley system, and the design requirements for the performance curve and adjustable height of the on-board piers;

[0032] S4. Configure an independent oil pressure control system for the jacks in the trolley system, a load adjustment control system for the semi-submersible barge, and a height adjustment control system for the on-board pier system to form a control module;

[0033] Adopt intelligent sensing devices, automatic acquisition devices and wireless transmission technologies to form a monitoring module based on the Internet of Things;

[0034] And construct a real-time early warning module for the safety risks of the roll-on / roll-off construction of the immersed tube segment trolley. When the real-time monitoring result of the monitoring parameter is greater than or equal to the control indicator of the control parameter, an alarm signal is sent, and it can automatically enter the decision-making module;

[0035] And construct a hierarchical regulation decision-making mechanism for real-time regulation parameters. According to the principle of maximizing regulation efficiency, the first-level regulates the oil pressure of the jacks, and the regulation ability depends on the adjustable stroke of the jacks; the second-level regulates the ship load adjustment plan, and the regulation ability depends on the ship load adjustment capacity; the third-level regulates the height of the on-board piers, and the regulation ability depends on the adjustable height of the on-board piers. Each level enters the next-level regulation when the maximum regulation ability is reached, until the real-time monitoring result of the monitoring parameter meets the relevant requirements of the control indicator of the required control parameter. And when the early warning module sends an alarm signal, a regulation instruction can be sent through the decision-making module and the regulation can be realized by using the control module, and the regulation result is compared with the real-time monitoring result of the monitoring module to determine whether to end the regulation.

[0036] The deformation coordination amount refers to the difference in deformation between the semi-submersible barge and the immersed tube due to the different stiffness and force models of the pipe sections. It needs to be adjusted by the jack stroke of the trolley system or the height of the pier on the ship. It refers to the final control indicator in the barge process; the process requirement refers to the limitation on the adjustable range in the process specification, which will affect the selection of equipment performance; and the equipment performance itself will also affect the selection. For example, the adjustable amount of a single trolley system jack or the adjustable amount of the support height of the pier on the ship cannot be too large.

[0037] By adopting the above-mentioned design method of the immersed tube segment trolley roll-on / roll-off barge construction system, it is possible to consider the immersed tube segment barge construction safety and quality control requirements according to the deformation coordination amount, obtain the control index of the control parameter, the quantitative relationship between the control parameter and the regulation parameter, and clarify the selection requirements of the semi-submersible barge's loading capacity and the semi-submersible barge's anti-deformation capacity, the configuration requirements of the trolley system's jack stroke adjustable amount, the design requirements of the shipboard pier performance curve and the shipboard pier height adjustable amount according to the deformation coordination amount, process requirements and equipment performance requirements, so as to ensure that the control module can meet the corresponding regulation requirements; and then it is possible to form a immersed tube segment trolley roll-on / roll-off barge construction system integrating the monitoring module, the early warning module, the decision-making module and the control module to meet the regulation of the deformation coordination amount.

[0038] A control method for the construction of a roll-on / roll-off transfer of a immersed tube segment trolley, using the roll-on / roll-off transfer of a immersed tube segment trolley construction system;

[0039] During the construction of the immersed tube segment trolley for roll-on / roll-off loading:

[0040] The early warning module compares and analyzes the control indicators of the required control parameters and the real-time monitoring results of the monitoring parameters in real time, and determines whether there is a safety risk in the transshipment of the immersed tube sections. If the early warning module determines that there is a safety risk in the transshipment of the immersed tube sections, it sends out an early warning signal and automatically enters the control decision module. The decision module uses the control module to implement control according to the judgment result of the early warning module, so that the real-time monitoring results of the monitoring parameters meet the relevant requirements of the control indicators of the required control parameters, and then the safety warning of the transshipment construction is lifted.

[0041] By adopting the above-mentioned control method for the roll-on / roll-off barge construction of the immersed tube segment trolley, a real-time evaluation of the construction safety of the roll-on / roll-off barge construction of the immersed tube segment trolley can be realized, and the real-time regulation and control of the semi-submersible barge's load adjustment control system, the independent control system of the trolley system and the hydraulic support structure control system of the onboard pier can be guided, so as to control the safety of the roll-on / roll-off barge construction of the immersed tube segment trolley in real time, with higher control accuracy, which greatly improves the efficiency of the barge of the immersed tube segment and ensures the construction safety.

[0042] Preferably, the decision module uses the control module to implement regulation according to the judgment result of the early warning module, including the following control steps:

[0043] S01. Perform the first-level regulation: According to the actual measured data of the jack stroke and oil pressure of the trolley system monitored by the monitoring module, obtain the target oil pressure and stroke for jack regulation based on the actual measured data of the jack stroke and oil pressure to judge the adjustable amount of the jack stroke of the trolley system. When the adjustable amount of the jack stroke of the trolley system is greater than 0, regulate the jack stroke and oil pressure of the trolley system through the independent control system; when the adjustable amount of the jack stroke of the trolley system is equal to 0, the warning module judges whether there is a safety risk in the barge transportation of the immersed tube section. If it is judged that there is no safety risk in the barge transportation of the immersed tube section, the regulation is completed and the safety warning for barge transportation construction is lifted; if it is judged that there is a safety risk in the barge transportation of the immersed tube section, enter the next-level regulation;

[0044] S02. Perform the second-level regulation: According to the actual measured data of each ballast water of the semi-submersible barge monitored by the monitoring module, obtain the adjustable amount of the ballast water based on the actual measured data of each ballast water. When the adjustable amount of the ballast water is greater than 0, regulate the ballast water of each cabin through the load adjustment control system; when the adjustable amount of the ballast water is equal to 0, the warning module judges whether there is a safety risk in the barge transportation of the immersed tube section. If it is judged that there is no safety risk in the barge transportation of the immersed tube section, the regulation is completed and the safety warning for barge transportation construction is lifted; if it is judged that there is a safety risk in the barge transportation of the immersed tube section, enter the next-level regulation;

[0045] S03. Perform the third-level regulation: According to the actual measured data of the hydraulic support stroke of the hydraulic support structure control system of the ship's pier monitored by the monitoring module, obtain the adjustable amount of the hydraulic support stroke based on the actual measured data of the hydraulic support stroke, and regulate the hydraulic support stroke through the hydraulic support structure control system to achieve regulation, and then lift the safety warning for barge transportation construction.

[0046] In actual control, the difficulty of adjusting the jack of the trolley system, the difficulty of regulating the ballast water of each cabin by the load adjustment control system, and the difficulty of regulating the hydraulic support stroke through the hydraulic support structure control system to achieve regulation increase in turn. That is, the difficulty of the first-level regulation is less than the difficulty of the second-level regulation, and the difficulty of the second-level regulation is less than the difficulty of the third-level regulation. By controlling the lower-difficulty ones first and then the higher-difficulty ones, the operation is simpler, which is beneficial to improving the efficiency and safety of loading onto the barge.

[0047] Preferably, in steps S01 - S03, when the current-level regulation has satisfied the safety of the barge transportation of the immersed tube section and the adjustable amount of the current-level regulation is less than 50% of the adjustable amount, the end condition of the current-level regulation is: the actual measured data of the monitoring parameter is 50% of the control index of the control parameter.

[0048] Each level of regulation is linearly variable. When the current level of regulation has met the safety requirements for the barge transportation of the immersed tube segment and the adjustable amount of the current level of regulation is less than 50% of the adjustable amount, the end condition of the current level of regulation is that the measured data of the monitoring parameter is 50% of the control index of the control parameter, which can avoid frequent subsequent regulation and reduce the operation difficulty.

[0049] In summary, due to the adoption of the above technical solutions, the beneficial effects of the present invention are as follows:

[0050] 1. The immersed tube segment trolley roll-on / roll-off barge construction system of the present invention relies on the monitoring module to perform information monitoring on the monitoring parameters during the immersed tube segment trolley roll-on / roll-off barge construction process to obtain monitoring data. The early warning module compares and analyzes the control index of the required control parameter and the real-time monitoring result of the monitoring parameter to determine whether there is a safety risk in the barge transportation of the immersed tube segment. The decision-making module uses the control module to implement regulation according to the judgment result of the early warning module, so that the real-time monitoring result of the monitoring parameter meets the relevant requirements of the control index of the required control parameter. It can realize the real-time evaluation of the safety of the immersed tube segment trolley roll-on / roll-off barge construction, and guide the real-time regulation of the load adjustment control system of the semi-submersible barge, the independent control system of the trolley system, and the hydraulic support structure control system of the on-board pier, and can control the safety of the immersed tube segment trolley roll-on / roll-off barge construction in real time, with higher control accuracy. While greatly improving the barge loading efficiency of the immersed tube segment, the construction safety is guaranteed.

[0051] 2. The design method of the immersed tube segment trolley roll-on / roll-off barge construction system of the present invention can consider the safety and quality control requirements of the immersed tube segment roll-on / roll-off barge construction according to the deformation coordination amount, obtain the control index of the control parameter, and the quantitative relationship between the control parameter and the regulation parameter. It can clarify the selection requirements of the load adjustment capacity of the semi-submersible barge and the anti-deformation capacity of the semi-submersible barge, the configuration requirements of the adjustable stroke of the jack of the trolley system, and the design requirements of the performance curve of the on-board pier and the adjustable height of the on-board pier according to the deformation coordination amount, process requirements, and equipment performance requirements, so as to ensure that the control module can meet the corresponding regulation requirements. Furthermore, it can form an immersed tube segment trolley roll-on / roll-off barge construction system integrating the monitoring module, the early warning module, the decision-making module, and the control module to meet the regulation of the deformation coordination amount.

[0052] 3. The control method of the immersed tube segment trolley roll-on / roll-off barge construction of the present invention can realize the real-time evaluation of the safety of the immersed tube segment trolley roll-on / roll-off barge construction, and guide the real-time regulation of the load adjustment control system of the semi-submersible barge, the independent control system of the trolley system, and the hydraulic support structure control system of the on-board pier, and can control the safety of the immersed tube segment trolley roll-on / roll-off barge construction in real time, with higher control accuracy. While greatly improving the barge loading efficiency of the immersed tube segment, the construction safety is guaranteed. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] Figure 1 It is a schematic diagram of the immersed tube segment trolley roll-on / roll-off barge construction;

[0054] Figure 2 Schematic diagram for the differential deformation coordination of the immersed tube section and the semi-submersible barge by the on-board pier

[0055] Figure 3 Schematic diagram of the on-board pier structure

[0056] Figure 4 Performance curve of the on-board pier

[0057] Figure 5 Schematic diagram of the zoning of the immersed tube section transportation trolley system

[0058] Figure 6 Schematic diagram of the asynchronous displacement of the support surface

[0059] Figure 7 Layout plan of the displacement monitoring points of the immersed tube section

[0060] Figure 8 Layout plan of the stress monitoring points of the immersed tube section

[0061] Figure 9 Layout plan of the displacement and inclination monitoring points of the semi-submersible barge

[0062] Figure 10 Schematic diagram of the composition of the construction system for the roll-on / roll-off of the immersed tube section trolley onto the barge

[0063] Figure 11 Relationship between the automated equipment or device and the control module

[0064] Figure 12 Hierarchical control mechanism of the decision-making module

[0065] Figure 13 Relationship between the monitoring parameters, control parameters and regulation parameters

[0066] Icons: 1 - Immersed tube section; 2 - Semi-submersible barge; 3 - Wharf; 4 - Trolley system; 5 - On-board pier; 51 - Hydraulic support structure; 52 - Rubber bearing; 61 - Support plane; 62 - Support point; 63 - Asynchronous displacement of the support surface; 71 - First vertical displacement monitoring point; 72 - Stress monitoring point; 81 - Second vertical displacement monitoring point; 82 - Inclination monitoring point Specific implementation manners

[0067] The present invention will be described in detail below with reference to the accompanying drawings

[0068] In order to make the purpose, technical solutions and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention

[0069] Example 1

[0070] This embodiment provides a construction system for the roll-on and roll-off of a immersed tube segment trolley onto a barge, which uses the control system of automated equipment or devices to control the safety of the construction of the roll-on and roll-off of the immersed tube segment. Refer to Figures 10 - 13 , and includes a monitoring module, a warning module, a decision-making module, and a control module;

[0071] The monitoring module uses information technology to collect and analyze the required monitoring parameters in real time. The monitoring parameters are parameters that can reflect the control parameters and regulation parameters, and the regulation parameters are parameters derived from automated equipment or devices;

[0072] The warning module is used to compare and analyze the control indicators of the required control parameters with the real-time monitoring results of the monitoring parameters, and determine whether there is a safety risk in the construction of the roll-on and roll-off of the immersed tube segment. When there is a safety risk in the construction of the roll-on and roll-off of the immersed tube segment, a warning is issued;

[0073] The control module performs real-time regulation on the regulation parameters according to the quantitative relationship between the control parameters and the regulation parameters. As Figure 11 shown, the control module includes a load adjustment control system for the semi-submersible barge of the automated equipment or device, an independent control system for the trolley system, and a hydraulic support structure control system for the on-board pier. The load adjustment control system can accept the regulation instructions of the decision-making module and regulate the ballast water of each cabin in real time. The independent control system accepts the regulation instructions of the decision-making module and regulates the jack stroke and oil pressure of the trolley system in real time. The hydraulic support structure control system accepts the regulation instructions of the decision-making module and regulates the hydraulic support stroke in real time;

[0074] The decision-making module uses the control module to perform regulation according to the judgment result of the warning module, so that the real-time monitoring result of the monitoring parameters meets the relevant requirements of the control indicators of the required control parameters.

[0075] In this embodiment, the trolley system 4 includes a number of trolleys arranged in an array, and the trolleys are equipped with jacks; on the deck of the semi-submersible barge 2, there are on-board piers 5 arranged in an array, and the on-board piers 5 are equipped with a hydraulic support structure control system, so that the height of the on-board piers 5 can be regulated. The on-board pier 5 is composed of a lower hydraulic support structure 51 and an upper rubber bearing 52. As Figure 3 shown, the hydraulic support structure 51 adjusts the height through a hydraulic jack, and the rubber bearing 52 adjusts the load height through rubber compression or rebound, and optimizes the control of the height regulation amount through the rubber performance curve. As Figure 4As shown in the figure. Before the ro-ro construction of the immersed tube section trolley onto the barge, the stroke adjustment amount of the jacks of the trolley system 4 and the height adjustment amount of the ship's pier 5 can be designed and selected first, so as to meet the adjustment within the preset range. Since the stiffness and force models of the semi-submersible barge 2 and the immersed tube section 1 are different, it will cause deformation differences between the two. This deformation difference amount is called the deformation coordination amount. As Figure 2 shown, by adjusting the stroke of the jack of the trolley system 4 or the height of the ship's pier 5, the deformation coordination can be achieved.

[0076] In this embodiment, as Figure 13 shown, the control parameters required include structural control parameters and process control parameters.

[0077] The structural control parameters refer to the asynchronous displacement 63 of the support surface of the immersed tube section 1 and the concrete stress of the immersed tube section 1. The immersed tube section 1 is placed on the ground of the wharf 3 in a multi-support form through the trolley system 4, or placed on the semi-submersible barge 2 through the ship's pier 5. The uneven ground, the deformation of the semi-submersible barge and the attitude deformation, etc. affect the displacement at the multi-supports of the immersed tube section 1, and thus affect the mechanical characteristics of the immersed tube section 1. Therefore, the core of controlling the structural safety of the immersed tube section 1 lies in controlling the displacement at the multi-supports. The elevation difference between the support points of the immersed tube section 1 and the initial state elevation before construction is called the support displacement. The plane formed by all the support displacements is called the support surface. A plane is fitted with the support displacements, and as many support points 62 as possible are guaranteed to be within the plane. This plane is called the support plane 61. When there is a support point 62 not in the support plane 61, it indicates that the support surface has an asynchronous displacement. The distance between this support point 62 and the support plane 61 is called the asynchronous displacement 63 of the support surface. As Figure 6 shown, the asynchronous displacement 63 of the support surface is used as the key control parameter for structural safety. The asynchronous displacement 63 of the support surface involves the support heights of different support points 62, that is, it is related to the oil pressure of the trolley jacks and the height of the ship's pier 5. It is controlled through the independent control system of the trolley system 4 and the hydraulic support structure control system of the ship's pier 5, so as to meet the corresponding requirements. After the asynchronous displacement 63 of the support surface is adjusted, the concrete stress of the immersed tube section 1 can also be adjusted accordingly, thereby avoiding damage to the concrete of the immersed tube section 1 due to uneven stress.

[0078] When using the trolley system 4 to transport the immersed tube section 1, generally 3-point zoning is adopted, that is, the hydraulic jacks of the trolley system 4 are divided into three groups, the oil pressure of the jacks within each group is connected, and the oil pressure between groups is cut off. As Figure 5 shown. The oil pressure difference between zones will affect the deformation and force of the immersed tube section 1. It is necessary to control the oil pressure difference between the jacks in different zones of the trolley system 4 in real time to change the support heights of the jacks corresponding to different groups of support points 62.

[0079] The process control parameters refer to the height difference between the stern deck surface of the semi-submersible barge 2 and the surface of the wharf 3, the deformation of the semi-submersible barge 2, and the attitude of the semi-submersible barge 2. The part where the semi-submersible barge 2 contacts the wharf 3 is called the stern. When there is a height difference between the stern deck surface and the surface of the wharf 3, and the semi-submersible barge undergoes deformation and attitude changes, it is necessary to adjust and control through the jack stroke of the trolley system 4 or the height of the on-board pier 5 to reduce the impact on the deformation of the immersed tube segment 1. Due to the limited height control ability of the hydraulic support structure control system of the jack stroke of the trolley system 4 or the on-board pier 5, it is necessary to control the height difference between the semi-submersible barge deck surface and the wharf 3 surface, the deformation and attitude of the semi-submersible barge. Otherwise, it will affect the safety of the immersed tube segment 1 and may cause the trolley system 4 to be unable to board the barge. The height difference between the semi-submersible barge deck surface and the wharf 3 surface, the deformation and attitude of the semi-submersible barge are adjusted and controlled by regulating the ballast water in each cabin through the load regulation control system.

[0080] In this embodiment, as Figure 13 shown, the monitoring parameters include structural monitoring parameters, process monitoring parameters, environmental monitoring parameters, and regulation monitoring parameters. The structural monitoring parameters include the displacement of the monitoring points on the tube segment and the stress of the monitoring points on the tube segment. The process monitoring parameters include the displacement of the monitoring points on the semi-submersible barge and the inclination angle of the monitoring points on the semi-submersible barge. The regulation monitoring parameters include the oil pressure of the trolley jack, the water level of the ballast water in the cabin, and the real-time height of the on-board pier. The environmental monitoring parameters include wind speed, wind direction, wave height, wave length, wave period, flow velocity, and flow direction.

[0081] Specifically, the structural monitoring parameters are the vertical displacement of the immersed tube segment 1 and the stress of the immersed tube segment 1; the process monitoring parameters are the vertical displacement of the deck surface of the semi-submersible barge 2 and the inclination angle of the semi-submersible barge 2; the environmental monitoring parameters are wind speed, wind direction, wave height, wave period, flow velocity, and flow direction. The wave height and period, flow velocity and flow direction will affect the regulation of the structural control parameters and process control parameters. Therefore, it is necessary to monitor the environmental parameters in real time; the regulation monitoring parameters are the oil pressure of the jack of the trolley system 4, the water level of the ballast water in the cabin of the semi-submersible barge 2, and the real-time height of the on-board pier 5. By using information technologies such as sensors, automatic acquisition equipment, and wireless transmission technologies, an information-based monitoring method for the transportation of the immersed tube segment 1 based on the Internet of Things is formed to realize the real-time acquisition, real-time transmission, real-time analysis, and real-time display of the monitoring parameters.

[0082] In this embodiment, the monitoring of the structural monitoring parameters can be realized through sensors. The first vertical displacement monitoring points 71 are evenly and densely arranged on the immersed tube segment 1. The first vertical displacement monitoring points 71 are arranged adjacent to the bottom plate of the immersed tube segment 1. The asynchronous displacement 63 of the support surface is fed back through the real-time vertical displacement of the first vertical displacement monitoring points 71. And stress monitoring points 72 are arranged at the key sections of the immersed tube segment 1. The key sections refer to the mid-span section, 1 / 4-span and 3 / 4-span sections, and the pipe end section of the immersed tube segment. The stress directly reflects the force condition of the immersed tube segment 1, as Figure 7 and Figure 8 shown.

[0083] In this embodiment, the monitoring of process monitoring parameters can also be achieved through sensors. A second vertical displacement monitoring point 81 and an inclination monitoring point 82 are arranged on the deck surface of the semi-submersible barge 2. The vertical displacement and inclination of the deck surface of the semi-submersible barge 2 are fed back through the monitoring points in real time to provide feedback on the height difference between the deck surface of the semi-submersible barge and the surface of the wharf 3, the deformation of the semi-submersible barge, and the posture of the semi-submersible barge. Figure 9 shown.

[0084] In this embodiment, the monitoring of environmental monitoring parameters can also be achieved through sensors, that is, monitoring of wind speed and direction, wave height and period, flow speed and direction.

[0085] In this embodiment, the monitoring of the control monitoring parameters can be collected by automated collection equipment, that is, the oil pressure of the jack of the trolley system 4, the ballast water level in the cabin and the height of the pier 5 on the ship are collected through the collection function of the equipment itself.

[0086] In this embodiment, Figure 13 As shown, the control parameters include environmental control parameters, pre-control parameters and real-time control parameters. The environmental control parameters include the construction operation ship port. The pre-control parameters include the semi-submersible barge loading adjustment capacity, the semi-submersible barge anti-deformation capacity, the adjustable jack stroke, the performance curve of the ship's piers, and the adjustable height of the ship's piers. The real-time control parameters include the semi-submersible barge loading adjustment plan, the jack oil pressure and the real-time height of the ship's piers.

[0087] In this embodiment, the early warning module can compare and analyze in real time the control index of the control parameter and the real-time monitoring result of the monitoring parameter to determine whether there is a safety risk in the barge of the immersed tube segment 1; when the real-time monitoring result of the monitoring parameter is less than the control index of the control parameter, it indicates that the barge construction of the immersed tube segment 1 is safe and controllable; when the real-time monitoring result of the monitoring parameter is greater than or equal to the control index of the control parameter, it indicates that there is a safety risk in the barge of the immersed tube segment 1, and an alarm signal can be issued at this time, and the control decision-making mechanism can be automatically entered.

[0088] In this embodiment, the decision module includes three levels of regulation, such as Figure 12 As shown:

[0089] First-level control: jack oil pressure and stroke control of the trolley system 4; determine the jack oil pressure control amount based on the quantitative relationship of theoretical analysis, and obtain the jack control target oil pressure and stroke based on the real-time monitoring data of the jack stroke and oil pressure. Determine whether the control is completed based on the adjustable amount of the jack stroke. If the control can be completed, issue a command to guide the trolley system 4 to control. If the control cannot be completed, complete the adjustable amount and enter the next level of control.

[0090] Secondary-level regulation: Ship load regulation of the semi-submersible barge 2. According to the quantitative relationship analyzed theoretically, determine the regulation amount of the ballast water of the semi-submersible barge. Based on the measured data of each ballast water, obtain the target load regulation amount of the semi-submersible barge. According to the load regulation capacity of the semi-submersible barge, determine whether the regulation is completed. When the regulation can be completed, issue an instruction to guide the regulation of the semi-submersible barge. When the regulation cannot be completed, complete the adjustable amount, and the remaining enters the next-level regulation.

[0091] Tertiary-level regulation: Regulation of the height of the on-board pier 5. According to the quantitative relationship analyzed theoretically, determine the regulation amount of the on-board pier 5, and issue an instruction to complete the regulation.

[0092] In the above three-level regulation, when the current-level regulation has satisfied the safety of the barge transportation of the immersed tube segment and the adjustable amount of the current-level regulation is less than 50% of the adjustable amount, the end condition of the current-level regulation is: the measured data of the monitoring parameter is 50% of the control index of the control parameter.

[0093] By using the construction system for the ro-ro loading of the immersed tube segment trolley described in this embodiment and relying on the information-based monitoring data, it is possible to realize the real-time assessment of the safety of the ro-ro loading construction of the immersed tube segment trolley, and guide the real-time regulation of the semi-submersible barge 2, the trolley system 4, and the on-board pier 5, and control the safety of the ro-ro loading construction of the immersed tube segment trolley in real time. While greatly improving the loading efficiency of the immersed tube segment 1, the construction safety is guaranteed.

[0094] Embodiment 2

[0095] A design method for a construction system for the ro-ro loading of an immersed tube segment trolley includes the following design steps:

[0096] S1. Obtain the deformation difference between the semi-submersible barge and the immersed tube segment as the deformation coordination amount according to the stiffness and force models of the semi-submersible barge and the immersed tube segment; the deformation coordination amount needs to be regulated through the stroke of the jack of the trolley system or the height of the on-board pier, and it refers to the final control index during the loading process.

[0097] S2. Through theoretical analysis, considering the safety and quality control requirements of the loading construction of the immersed tube segment, obtain the control index of the control parameter and the quantitative relationship between the control parameter and the regulation parameter.

[0098] S3. Through theoretical analysis, according to the deformation coordination amount, process requirements, and equipment performance requirements, clarify the selection requirements for the load regulation capacity and anti-deformation capacity of the semi-submersible barge, the configuration requirements for the adjustable amount of the jack stroke of the trolley system, and the design requirements for the performance curve and adjustable amount of the on-board pier height; the process requirements refer to the range that can be adjusted in the process specification, which will affect the selection of equipment performance; and the equipment performance itself will also affect the selection, such as the adjustable amount of a single trolley system jack or the adjustable amount of the support height of the on-board pier cannot be too large.

[0099] S4. An independent oil pressure control system is configured for the jack of the trolley system, a load adjustment control system is configured for the semi-submersible barge, and a height adjustment control system is configured for the on-board pier system to form a control module;

[0100] An intelligent sensing device, an automatic acquisition device, and wireless transmission technology are used to form a monitoring module based on the Internet of Things;

[0101] And a real-time early warning module for the safety risk of the construction of the immersed tube section trolley onto the barge is constructed. When the real-time monitoring result of the monitoring parameter is greater than or equal to the control index of the control parameter, an alarm signal is sent and it can automatically enter the decision-making module;

[0102] And a hierarchical control decision-making mechanism for real-time control parameters is constructed. According to the principle of maximizing control efficiency, the oil pressure of the jack is controlled at the first level, and the control ability depends on the adjustable stroke of the jack. The ship load adjustment plan is controlled at the second level, and the control ability depends on the ship load adjustment ability. The height of the on-board pier is controlled at the third level, and the control ability depends on the adjustable height of the on-board pier. When the maximum control ability of each level is reached, it enters the next level of control until the real-time monitoring result of the monitoring parameter meets the relevant requirements of the control index of the required control parameter. And when the early warning module sends an alarm signal, a control instruction can be sent through the decision-making module and the control module is used to achieve the control, and the control result is compared with the real-time monitoring result of the monitoring module to determine whether to end the control.

[0103] In this embodiment, relying on the construction control theory, with the help of the means of process digitization and equipment intelligence, a monitoring platform is developed from six aspects: theoretical basis, multi-parameter control system, information-based monitoring method, automatic equipment or device, real-time early warning mechanism, and control decision-making mechanism, as Figure 10 shown.

[0104] Using the design method of the construction system for the immersed tube section trolley to roll onto the barge described in this embodiment, the safety and quality control requirements of the construction of the immersed tube section onto the barge can be considered according to the deformation coordination amount, and the control index of the control parameter, the quantitative relationship between the control parameter and the control parameter can be obtained. The selection requirements of the load adjustment ability of the semi-submersible barge and the anti-deformation ability of the semi-submersible barge, the configuration requirements of the adjustable stroke of the jack of the trolley system, and the design requirements of the performance curve of the on-board pier and the adjustable height of the on-board pier can be clarified according to the deformation coordination amount, process requirements, and equipment performance requirements, ensuring that the control module can meet the corresponding control requirements; furthermore, a construction system for the immersed tube section trolley to roll onto the barge integrating the monitoring module, early warning module, decision-making module, and control module can be formed to meet the control of the deformation coordination amount.

[0105] Embodiment 3

[0106] This embodiment provides a control method for the construction of a roll-on / roll-off installation of a immersed tube segment trolley. The roll-on / roll-off installation system for an immersed tube segment trolley described in Embodiment 1 is used. During the process of the roll-on / roll-off installation of an immersed tube segment trolley, Figure 1 As shown, under the transportation of the trolley system 4, the immersed tube segment 1 moves on the dock 3 toward the semi-submersible barge 2 and gradually enters the semi-submersible barge 2. The immersed tube segment 1 entering the semi-submersible barge 2 is supported on the pier 5 on the ship. The early warning module compares and analyzes the control indicators of the required control parameters and the real-time monitoring results of the monitoring parameters in real time, and determines whether there is a safety risk in the barge transportation of the immersed tube segment 1. If the early warning module determines that there is a safety risk in the barge transportation of the immersed tube segment 1, it sends out a warning signal and automatically enters the control decision module. The decision module uses the control module to implement control according to the judgment result of the early warning module, so that the real-time monitoring results of the monitoring parameters meet the relevant requirements of the control indicators of the required control parameters, and then the safety warning of the barge construction is released.

[0107] The decision module uses the control module to implement regulation according to the judgment result of the early warning module, including the following control steps: Figure 12 As shown:

[0108] S01, perform the first level control: obtain the measured data of the jack stroke and oil pressure of the trolley system 4 according to the monitoring module, obtain the target oil pressure and stroke of the jack control according to the measured data of the jack stroke and oil pressure to determine the adjustable amount of the jack stroke of the trolley system 4, when the adjustable amount of the jack stroke of the trolley system 4 is greater than 0, control the jack stroke and oil pressure of the trolley system 4 through the independent control system; when the adjustable amount of the jack stroke of the trolley system 4 is equal to 0, the early warning module determines whether there is a safety risk in the barge of the immersed tube segment 1, if it is determined that there is no safety risk in the barge of the immersed tube segment 1, the control is completed, and the safety warning of the barge construction is lifted; if it is determined that there is a safety risk in the barge of the immersed tube segment 1, enter the next level of control;

[0109] S02, perform the second level control: obtain the measured data of each ballast water of the semi-submersible barge 2 according to the monitoring module, obtain the adjustable amount of ballast water according to the measured data of each ballast water, and when the adjustable amount of ballast water is greater than 0, adjust the ballast water of each cabin through the load adjustment control system; when the adjustable amount of ballast water is equal to 0, the early warning module determines whether there is a safety risk in the barge of the immersed tube segment 1. If it is determined that there is no safety risk in the barge of the immersed tube segment 1, the control is completed and the safety warning of the barge construction is lifted; if it is determined that there is a safety risk in the barge of the immersed tube segment 1, enter the next level of control;

[0110] S03, perform the third level control: obtain the measured data of the hydraulic support stroke of the hydraulic support structure control system of the pier 5 on board the ship according to the monitoring module, obtain the adjustable amount of the hydraulic support stroke according to the measured data of the hydraulic support stroke, adjust the hydraulic support stroke through the hydraulic support structure control system to achieve control, and then release the safety warning for the lightering construction.

[0111] In step S01-step S03, when the current level of regulation has satisfied the safety of immersed tube section transportation and the adjustable amount of the current level of regulation is less than 50% of the adjustable amount, the termination condition of the current level of regulation is: the measured data of the monitoring parameter is 50% of the control parameter control index.

[0112] Each level of regulation changes linearly. When the current level regulation has satisfied the safety of the submerged tube section transportation and the adjustable amount of the current level regulation is less than 50% of the adjustable amount, the end condition of the current level regulation is: the measured data of the monitoring parameter is 50% of the control parameter control index, which can avoid subsequent frequent regulation and reduce the difficulty of operation. For example, in the first level of regulation, the jack stroke and oil pressure of the trolley system 4 are regulated by the independent control system, so that there is no safety risk in the transportation of the submerged tube section 1, but the jack stroke and oil pressure of the trolley system 4 regulated by the independent control system are less than 50% of the adjustable amount, then the jack stroke and oil pressure of the trolley system 4 regulated by the independent control system will continue to be adjusted to 50% of the adjustable amount, so that the current regulation has redundancy, which can avoid subsequent frequent regulation and reduce the difficulty of operation.

[0113] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A construction system for rolling on and off the immersed tube segment trolley, characterized in that: The control system of automated equipment or devices is used to realize the safety control of the construction of submerged tube segments, including monitoring module, early warning module, decision module and control module; The monitoring module uses information technology to collect and analyze the required monitoring parameters in real time. The monitoring parameters are parameters that can provide feedback control parameters and regulation parameters. The regulation parameters are parameters derived from automated equipment or devices. The early warning module is used to compare and analyze the control index of the required control parameter and the real-time monitoring result of the monitoring parameter, and determine whether there is a safety risk in the construction of the immersed tube segment, and issue an early warning when there is a safety risk in the construction of the immersed tube segment; The control module performs real-time control of the control parameters according to the quantitative relationship between the control parameters and the control parameters. The control module includes a load adjustment control system for a semi-submersible barge of an automated device or equipment, an independent control system for a trolley system, and a hydraulic support structure control system for a pier on board. The load adjustment control system can receive control instructions from a decision-making module to adjust the ballast water in each cabin in real time. The independent control system receives control instructions from the decision-making module to adjust the jack stroke and oil pressure of the trolley system in real time. The hydraulic support structure control system receives control instructions from the decision-making module to adjust the hydraulic support stroke in real time. The decision module uses the control module to implement regulation according to the judgment result of the early warning module, so that the real-time monitoring result of the monitoring parameter meets the relevant requirements of the control index of the required control parameter; The required control parameters include structural control parameters and process control parameters, and the control parameters include environmental control parameters, pre-control parameters and real-time control parameters; The structural control parameters include the asynchronous displacement of the support surface and the concrete stress of the immersed tube segment. The process control parameters include the height difference between the stern deck and the dock surface of the semi-submersible barge, the ship deformation and the ship attitude of the semi-submersible barge. Environmental control parameters include the construction operation window, pre-control parameters include the semi-submersible barge loading capacity, semi-submersible barge anti-deformation capacity, adjustable jack stroke, onboard pier performance curve and adjustable onboard pier height, and real-time control parameters include the semi-submersible barge loading plan, jack oil pressure and real-time height of onboard piers.

2. The immersed tube segment trolley roll-on / roll-off construction system according to claim 1 is characterized in that: Monitoring parameters include structural monitoring parameters, process monitoring parameters, control monitoring parameters and environmental monitoring parameters; Structural monitoring parameters include the displacement and stress of pipe joint monitoring points; process monitoring parameters include the displacement and inclination of semi-submersible barge monitoring points; control monitoring parameters include the oil pressure of the trolley jack, the ballast water level in the cabin and the real-time height of the piers on board; environmental monitoring parameters include wind speed, wind direction, wave height, wavelength, wave period, flow velocity and flow direction.

3. The immersed tube segment trolley roll-on / roll-off construction system according to claim 2 is characterized in that: The monitoring module includes the first vertical displacement monitoring points evenly distributed on the immersed tube segments, the stress monitoring points arranged on the immersed tube segments, the second vertical displacement monitoring points arranged on the semi-submersible barge, the inclination monitoring points arranged on the semi-submersible barge, the jack automatic data collection equipment of the trolley system, the cabin ballast water level automatic data collection equipment and the ship's pier height automatic data collection equipment.

4. The immersed tube segment trolley roll-on / roll-off construction system according to claim 3 is characterized in that: The first vertical displacement monitoring point on the immersed tube segment is arranged near the bottom plate of the immersed tube segment; The stress monitoring points on the immersed tube segment are arranged on the cross-span section, 1 / 4 span section, 3 / 4 span section and tube end section of the immersed tube segment; The second vertical displacement monitoring point and inclination monitoring point on the semi-submersible barge are arranged on the deck surface of the semi-submersible barge.

5. The immersed tube segment trolley roll-on / roll-off construction system according to any one of claims 1 to 4, characterized in that: The trolley system includes a number of trolleys arranged in an array. The trolleys have jacks. The jacks of all trolleys are divided into at least three groups. The oil pressure of the jacks of each group of trolleys is connected, and the oil pressure of the jacks of trolleys in different groups is disconnected.

6. The immersed tube segment trolley roll-on / roll-off construction system according to claim 5 is characterized in that: The jacks of all the trolleys are divided into three groups. The first group is located at the rear half of the array formed by all the trolleys, and the second and third groups are located at the front half of the array formed by all the trolleys and are symmetrical on the left and right.

7. A design method for a construction system for rolling on and off a immersed tube segment trolley, characterized in that: The design of the roll-on / roll-off construction system for immersed tube segment trolleys as claimed in any one of claims 1 to 6 comprises the following design steps: S1. Obtain the deformation difference between the semi-submersible barge and the immersed tube segment as the deformation coordination amount according to the stiffness and force model of the semi-submersible barge and the immersed tube segment; S2. Through theoretical analysis, considering the safety and quality control requirements of the immersed tube segment barge construction, obtain the control index of the control parameters and the quantitative relationship between the control parameters and the regulation parameters; S3. Through theoretical analysis, according to the deformation coordination amount, process requirements and equipment performance requirements, clarify the selection requirements of the semi-submersible barge's load adjustment capacity and semi-submersible barge's anti-deformation capacity, the configuration requirements of the jack stroke adjustable amount of the trolley system, the performance curve of the ship's piers and the design requirements of the ship's pier height adjustable amount; S4. An independent hydraulic control system is provided for the jack of the trolley system, a load adjustment control system is provided for the semi-submersible barge, and a height adjustment control system is provided for the pier system on board, forming a control module; Adopt intelligent sensor equipment, automated collection equipment and wireless transmission technology to form a monitoring module based on the Internet of Things; A real-time early warning module for safety risks in the construction of immersed tube segment trolleys is constructed. When the real-time monitoring result of the monitoring parameter is greater than or equal to the control index of the control parameter, an alarm signal is issued and the decision-making module can be automatically entered; A hierarchical control decision mechanism for real-time control parameters is constructed. According to the principle of maximizing control efficiency, the first level controls the jack oil pressure, and the control ability depends on the adjustable amount of the jack stroke. The second level controls the ship loading adjustment plan, and the control ability depends on the ship loading adjustment capacity. The third level controls the height of the piers on the ship, and the control ability depends on the adjustable amount of the pier height on the ship. Each level reaches the maximum control ability and enters the next level of control until the real-time monitoring results of the monitoring parameters meet the relevant requirements of the control indicators of the required control parameters. When the early warning module sends an alarm signal, the decision-making module can issue a control instruction and use the control module to implement control, and the control result is compared with the real-time monitoring result of the monitoring module to determine whether to end the control.

8. A control method for the construction of roll-on / roll-off loading and unloading of immersed tube segment trolleys, characterized in that: Adopting the roll-on / roll-off construction system for immersed tube segment trolleys as described in any one of claims 1 to 6; During the construction of the immersed tube segment trolley for roll-on / roll-off loading: The early warning module compares and analyzes the control indicators of the required control parameters and the real-time monitoring results of the monitoring parameters in real time, and determines whether there is a safety risk in the transshipment of the immersed tube sections. If the early warning module determines that there is a safety risk in the transshipment of the immersed tube sections, it sends out an early warning signal and automatically enters the control decision module. The decision module uses the control module to implement control according to the judgment result of the early warning module, so that the real-time monitoring results of the monitoring parameters meet the relevant requirements of the control indicators of the required control parameters, and then the safety warning of the transshipment construction is lifted.

9. The control method for the construction of roll-on / roll-off loading and unloading of immersed tube segment trolleys according to claim 8 is characterized in that: The decision module uses the control module to implement regulation according to the judgment result of the early warning module, including the following control steps: S01, perform the first level control: obtain the measured data of the jack stroke and oil pressure of the trolley system according to the monitoring module, obtain the target oil pressure and stroke of the jack control according to the measured data of the jack stroke and oil pressure to determine the adjustable amount of the jack stroke of the trolley system, when the adjustable amount of the jack stroke of the trolley system is greater than 0, control the jack stroke and oil pressure of the trolley system through the independent control system; when the adjustable amount of the jack stroke of the trolley system is equal to 0, the early warning module determines whether there is a safety risk in the transshipment of the immersed tube section, if it is determined that there is no safety risk in the transshipment of the immersed tube section, the control is completed, and the safety warning of the transshipment construction is released; If it is judged that there is a safety risk in the transportation of immersed tube sections, the next level of regulation will be entered; S02, perform the second level control: obtain the measured data of each ballast water of the semi-submersible barge according to the monitoring module, obtain the adjustable amount of ballast water according to the measured data of each ballast water, and when the adjustable amount of ballast water is greater than 0, adjust the ballast water of each cabin through the load adjustment control system; when the adjustable amount of ballast water is equal to 0, the early warning module determines whether there is a safety risk in the barge of the immersed tube section. If it is determined that there is no safety risk in the barge of the immersed tube section, the control is completed and the safety warning of the barge construction is lifted; If it is judged that there is a safety risk in the transportation of immersed tube sections, the next level of regulation will be entered; S03, perform the third level control: obtain the measured data of the hydraulic support stroke of the hydraulic support structure control system of the ship's pier according to the monitoring module, obtain the adjustable amount of the hydraulic support stroke according to the measured data of the hydraulic support stroke, adjust the hydraulic support stroke through the hydraulic support structure control system to achieve control, and then release the safety warning for the transshipment construction.

10. The control method for the roll-on / roll-off construction of immersed tube segment trolleys according to claim 9 is characterized in that: In step S01-step S03, when the current level of regulation has satisfied the safety of immersed tube section barge transportation and the controllable amount of the current level of regulation is less than 50% of the controllable amount, the termination condition of the current level of regulation is: the measured data of the monitoring parameter is 50% of the control parameter control index.

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