Data shelter auxiliary construction positioning method

Abstract

The invention provides a data shelter auxiliary construction positioning method, which belongs to the field of ocean engineering, and comprises the following steps: selecting a data shelter; checking, debugging and data of the square cabin, the immersed tube ship and related equipment; determining the optimal arrangement position of the data shelter; transporting the data square cabin to a preset position to accurately determine the position; a plurality of anchor chains are arranged around the data square cabin; connecting the data square cabin with the immersed tube ship; the device can adapt to different sea conditions and construction environments, accurate positioning and real-time data processing are provided, and the precision, efficiency and safety of offshore construction and mooring operation are remarkably improved.

Description

Technical Field

[0001] The present invention relates to the field of marine engineering, and in particular to a data cabin-assisted construction positioning method. Background Art

[0002] With the rapid development of modern engineering construction, offshore construction and mooring operations are becoming increasingly frequent and complex. Traditional mooring methods mainly rely on manual operation and conventional navigation systems. However, the positioning accuracy of traditional navigation systems in complex offshore environments is low, and they are easily affected by external factors such as weather and sea conditions. It is difficult to meet the needs of high-precision construction and mooring. Manual operation takes up a lot of time and human resources, and there is a risk of human error during the operation, resulting in low overall operation efficiency. At the same time, under severe sea conditions, manual operation poses a great safety risk, especially at night or in low visibility. The safety of mooring operations is difficult to guarantee. In addition, in traditional methods, data transmission and processing processes are cumbersome and have poor real-time performance, which affects the timeliness of construction decisions and operations. Summary of the invention

[0003] The purpose of the present invention is to provide a data cabin assisted construction positioning method to solve the problems that the prior art proposed in the above background technology adopts conventional navigation systems and manual operations, is easily affected by external factors, resulting in low positioning accuracy, cumbersome data transmission and processing processes, and poor real-time performance.

[0004] To achieve the above object, the present invention provides the following technical solutions:

[0005] A data cabin assisted construction positioning method comprises the following steps:

[0006] S100, select data shelter: according to the water depth, wave conditions and expected mooring load of the construction area, select a data shelter with good wind and wave resistance, load-bearing capacity and size that meets the design requirements;

[0007] S200, inspect and debug the data cube, immersed tube ship and related equipment: inspect the external structure, mooring points and connection devices of the data cube, test the generator and power distribution system of the data cube, debug the dynamic positioning system, various sensors and data processing units, calibrate relevant parameters, and inspect satellite communication and radio communication equipment;

[0008] S300, determining the optimal layout position of the data cabin: selecting a water depth range and regional layout suitable for anchoring the data cabin according to the hydrological conditions of the immersed tube construction area, the limiting factors of the waterway and the fishery area;

[0009] S400, transport the data cube to a predetermined location for precise positioning: select a tugboat that matches the size and weight of the data cube for transportation according to the size and weight of the data cube, and continuously monitor the state of the data cube and the surrounding sea conditions during the towing process, and adjust the route or speed when necessary; accurately position the data cube using a differential GPS system, and the differential GPS corrects the positioning error of the data cube by comparing the pseudo-range measurement values ​​of the reference station and the data cube. The corrected pseudo-range equation of the data cube is as follows:

[0010]

[0011] Wherein, n represents n satellites. By using an iterative algorithm such as the least square method to solve the equation, the precise coordinates Xm, Ym, and Zm of the data cube can be obtained. The calculated precise coordinates are the predetermined coordinate points.

[0012] ensuring that the data cube reaches the predetermined coordinate point, and using the dynamic positioning system to keep the data cube at the predetermined coordinate point;

[0013] S500, arranging a number of anchor chains around the data cube: designing an anchor position layout according to the survey results of the anchoring area, selecting suitable anchor chains according to the water depth and expected load, using an anchor handling vessel to drop anchors in sequence according to the predetermined coordinate points, and connecting the anchor chains to the mooring points on the data cube;

[0014] S600, connecting the data cube with the immersed tube vessel: bringing the immersed tube vessel close to the predetermined coordinate point of the data cube, and then using the dynamic positioning system to make the immersed tube vessel reach the connection point of the data cube, deploying a connection device according to a predetermined connection design scheme, and gradually applying tension to the connection device until the design value is reached, and using a monitoring device to monitor the connection device in real time;

[0015] S700, recover the anchor chains around the data shelter: gradually release the tension of each anchor chain until it is completely unloaded, recover each anchor chain in a predetermined order, and check the seabed to ensure that there are no residual anchor chains or obstacles.

[0016] Furthermore, in step S500, the tension of the anchor chain is adjusted using a tension adjusting device: an initial tension value of each anchor chain is set according to the weight of the data cabin and the expected environmental load, the tension monitoring system monitors the tension changes of each anchor chain in real time, and automatically starts the tension adjusting device for adjustment when it is detected that the anchor chain tension exceeds a preset range.

[0017] Furthermore, in step S600, when the submerged tube vessel approaches the predetermined coordinate point of the data cube, an approach path is designed for the submerged tube vessel according to wind direction and flow direction, and when approaching the data cube, the submerged tube vessel gradually reduces speed to prevent collision, and the radar reflector and optical markers on the data cube are used to assist the submerged tube vessel in precise positioning.

[0018] Furthermore, in step S600, when the dynamic positioning system is used to make the submerged tube vessel reach the connection point of the data cabin, the GPS system is used to monitor the spatial positions of the data cabin and the submerged tube vessel in real time, and the gyroscope and accelerometer are used to monitor the pitch angle, roll angle and yaw angle of the platform, and the monitoring data is analyzed and evaluated in real time to set the attitude change threshold. When it exceeds the preset range, an alarm is issued in time and adjustments are made.

[0019] Further, in step S600, the connection device between the immersed tube vessel and the data cabin is a steel cable and a hydraulic connector.

[0020] The beneficial effects of the present invention are:

[0021] (1) A differential GPS system is used for precise positioning. The differential GPS corrects the positioning error of the data cube by comparing the pseudo-range measurement values ​​of the base station and the data cube, and obtains the corrected pseudo-range equation of the data cube. The precise coordinates (Xm, Ym, Zm) of the data cube can be calculated. This positioning method can eliminate or reduce the positioning error and achieve centimeter-level high-precision positioning, which can meet the needs of precise construction and mooring and ensure the stability of the data cube and the construction ship in complex sea conditions.

[0022] (2) Introducing the data cube into the construction and mooring system, the intelligent management of the construction and mooring process is realized through the automated control system, which reduces the intervention of manual operations, reduces the risk of human errors, improves work efficiency, and uses sensors on the data cube to monitor environmental parameters in real time and adjust construction strategies in a timely manner.

[0023] (3) Use differential GPS technology for real-time data processing, monitor construction and mooring status in real time, promptly detect and warn of potential safety hazards, and ensure the safety of the operation process. Through data analysis and report generation, optimize the construction process, summarize experience and lessons, and provide reference for subsequent construction.

[0024] The present invention can adapt to different sea conditions and construction environments, provide accurate positioning and real-time data processing, and significantly improve the accuracy, efficiency and safety of offshore construction and mooring operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 Flow chart of the data cabin assisted construction positioning method of the present invention

[0026] Figure 2 Schematic diagram of the data container of the present invention being accurately positioned by the GPS system

[0027] Among them: 10-pipeline corridor, 20-data cabin, 30-reference station, 40-sea level, 50-satellite 1, 60-satellite 2, 70-satellite n. DETAILED DESCRIPTION

[0028] The specific embodiments of the present invention are described in detail below in conjunction with the accompanying drawings; it should be understood that the specific embodiments given here are only used to illustrate and explain the present invention and cannot be used to limit the present invention.

[0029] It should be noted that many specific details are set forth in the following description to facilitate a full understanding of the present invention. However, the present invention may also have other implementations and variations thereof. Therefore, the protection scope of the present invention is not limited to the specific embodiments disclosed below.

[0030] like Figure 1 As shown, a data cabin assisted construction positioning method includes the following steps:

[0031] S100, select a data cube: select a data cube 20 with good wind and wave resistance, load-bearing capacity and size that meets the design requirements according to the water depth, wave conditions and expected mooring load of the construction area; the greater the water depth and the more complex the wave conditions, the larger the size of the data cube 20, i.e., the diameter of the tank exceeds 3m, is selected to provide sufficient stability. The data cube 20 that meets the requirements of multi-point mooring is selected, and necessary data acquisition, processing and transmission equipment, such as environmental parameter sensors, communication systems and power systems, is also required;

[0032] S200, inspect and debug the data cabin, immersed tube ship and related equipment: inspect the external structure, mooring points and connection devices of the data cabin 20, test the generator and power distribution system of the data cabin 20 to ensure stable power supply; debug the dynamic positioning system, various sensors and data processing units, calibrate relevant parameters, inspect satellite communication and radio communication equipment to ensure smooth communication with the land command center; inspect the integrity and validity period of life-saving equipment and fire-fighting equipment;

[0033] S300, determine the best layout position of the data cabin: according to the hydrological conditions of the immersed tube construction area, the limiting factors of the waterway and the fishery area, select the water depth range suitable for the anchoring of the data cabin 20 to avoid too shallow or too deep areas; select a relatively flat area for layout, avoid seabed obstacles or unstable areas, facilitate the berthing and operation of the immersed tube ship, and do not affect the installation path of the immersed tube; analyze the characteristics of the ocean current in the construction area, and select the time period with relatively small flow velocity and stable flow direction for operation; consider limiting factors such as waterways and fishery areas to ensure that the layout of the data cabin 20 does not affect other marine activities, and finally determine the best layout position of the data cabin 20;

[0034] S400, transport the data cube to a predetermined location for precise positioning: select a tugboat that matches the size and weight of the data cube 20 for transportation according to the size and weight of the data cube 20, and continuously monitor the status of the data cube 20 and the surrounding sea conditions during the towing process, and adjust the route or speed when necessary; accurately position the data cube 20 using a differential GPS system, and the differential GPS corrects the positioning error of the data cube 20 by comparing the pseudo-range measurement values ​​of the reference station 30 and the data cube 20. In the actual construction process, the differential GPS system is used for precise positioning in step S400, and the differential GPS corrects the positioning error of the data cube 20 by comparing the pseudo-range measurement values ​​of the reference station 30 and the data cube 20. The coordinates of the reference station 30 are (X r ,Y r ,Z r ), the coordinates of the GPS satellite are (X s ,Y s ,Z s ), the pseudorange measured by the data cabin 20 is ρ m , the pseudorange equation of the reference station 30 is:

[0035]

[0036] Where c is the speed of light, t s and t r are the satellite and base station 30 times, ε r is the pseudorange error of the reference station 30;

[0037] The coordinates of the data cube 20 are (X m ,Y m ,Z m ), the pseudo-range equation of the data cabin 20 is:

[0038]

[0039] Among them, ε m is the pseudorange error of the data cube 20.

[0040] Differential GPS corrects the positioning error of the data cube 20 by comparing the pseudo-range measurements of the reference station 30 and the data cube 20; the equation for the reference station 30 error Δr is:

[0041] Δr=(ρ r -ρ′ r ) / ρ r (3)

[0042] For the corrected data cabin 20 pseudorange ρ' m for:

[0043] ρ' m =ρ m (1+Δr) (4)

[0044] Therefore, the corrected pseudo-range equation for the data cube 20 is:

[0045]

[0046] Wherein, n represents n satellites, and the equation is solved by using an iterative algorithm such as the least square method to obtain the precise coordinates (Xm, Ym, Zm) of the data cube 20;

[0047] Ensure that the data cube 20 reaches the predetermined coordinate point, and use the dynamic positioning system to keep the data cube 20 at the predetermined coordinate point;

[0048] S500, arranging a number of anchor chains around the data cube: using a multi-beam depth sounder and a side-scan sonar to survey the anchoring area, understand the seabed topography and geological conditions, design the anchor position layout according to the survey results of the anchoring area, and usually adopt a symmetrically distributed multi-point anchoring method to improve stability; selecting an appropriate anchor chain according to the water depth and expected load, generally the length of the anchor chain is 3 to 5 times the water depth, using an anchor handling ship to drop the anchors in sequence according to the predetermined coordinate points, monitoring the position and state of the anchors in real time during the dropping process, and connecting the anchor chain to the mooring point on the data cube 20;

[0049] S600, connecting the data cube with the immersed tube vessel: the immersed tube vessel is brought close to the predetermined coordinate point of the data cube 20, and the dynamic positioning system is used to make the immersed tube vessel reach the connection point of the data cube 20, a connection device is deployed according to a predetermined connection design scheme, and tension is gradually applied to the connection device until the design value is reached, and a monitoring device is used to monitor the connection device in real time;

[0050] S700. Recover the anchor chains around the data shelter: gradually release the tension of each anchor chain until it is completely unloaded, use the anchor chain recovery equipment to recover each anchor chain in a predetermined order, use an underwater robot to check the seabed to ensure that there are no residual anchor chains or obstacles, and record the use and recovery status of each anchor chain to form a complete file.

[0051] During the actual construction process, in step S500, the tension of the anchor chain is adjusted using a tension adjusting device: the initial tension value of each anchor chain is set according to the weight of the data cabin 20 and the expected environmental load, the tension monitoring system monitors the tension changes of each anchor chain in real time, and automatically starts the tension adjusting device to adjust when it is detected that the tension of the anchor chain exceeds the preset range. In extreme cases, the operator manually controls the tension adjusting device to balance the tension of each anchor chain through adjustment to prevent one of the anchor chains from being subjected to excessive load.

[0052] During the actual construction process, in step S600, when the immersed tube ship approaches the predetermined coordinate point of the data cabin 20, an approach path is designed for the immersed tube ship according to the wind direction and flow direction. When approaching the data cabin 20, the immersed tube ship gradually reduces its speed to prevent collision. The radar reflector and optical markers on the data cabin 20 are used to assist the immersed tube ship in precise positioning, and continuous communication with the immersed tube ship is maintained to timely transmit key information such as position and speed. At the same time, auxiliary ships such as tugboats are prepared to deal with possible emergencies.

[0053] During the actual construction process, in step S600, when the dynamic positioning system is used to make the immersed tube ship reach the connection point of the data cabin 20, the GPS system is used to monitor the spatial positions of the data cabin 20 and the immersed tube ship in real time, and the gyroscope and accelerometer are used to monitor the pitch angle, roll angle and yaw angle of the platform. The monitoring data is analyzed and evaluated in real time to set the attitude change threshold. When it exceeds the preset range, an alarm is issued in time and adjustments are made.

[0054] During the actual construction process, in step S600, the connection device between the submerged tube vessel and the data cabin 20 is a steel cable and a hydraulic connector.

[0055] During the actual construction process, the data cube 20 is placed below the sea level 40 and connected to the pipe gallery 10 , so as to facilitate real-time maintenance of the data cube 20 .

[0056] During the actual construction process, the environmental parameters are monitored in real time through the monitoring system on the data cabin 20, including: monitoring of meteorological parameters such as wind speed, wind direction, air pressure, temperature and humidity; monitoring of sea conditions such as wave height, wave direction and wave period; monitoring of hydrological elements such as water depth, flow velocity, flow direction, water temperature and salinity; and using acoustic detection equipment to monitor changes in seabed topography and sediment movement; and preliminarily processing and analyzing the collected raw data to generate real-time reports.

[0057] During the actual construction process, the data cube 20 communication system interacts with the land command center in real time, including: transmitting the environmental parameters, equipment status and other data collected in the above real-time report to the land command center in real time; transmitting the construction site video images in real time through the high-definition camera system; allowing the land command center to remotely control certain equipment and systems on the data cube 20; equipping with a multiple backup communication system to ensure that communication can remain unimpeded under extreme circumstances; and using advanced encryption technology to protect the secure transmission of sensitive data.

[0058] During the actual construction process, the data collected during the construction period are collated and analyzed, including: comprehensive analysis of environmental parameter monitoring data to evaluate changes in environmental conditions during construction; collating construction logs, equipment operation records and other data to form a complete construction report; comparing planned and actual construction data to evaluate the implementation of the construction plan; summarizing the lessons learned during the construction process and proposing optimization suggestions; and archiving all data and reports for future reference.

Claims

1. A data cabin assisted construction positioning method, characterized in that: The following steps are involved: S100, select data shelter: according to the water depth, wave conditions and expected mooring load of the construction area, select a data shelter with good wind and wave resistance, load-bearing capacity and size that meets the design requirements; S200, inspect and debug the data cube, immersed tube ship and related equipment: inspect the external structure, mooring points and connection devices of the data cube, test the generator and power distribution system of the data cube, debug the dynamic positioning system, various sensors and data processing units, calibrate relevant parameters, and inspect satellite communication and radio communication equipment; S300, determining the optimal layout position of the data cabin: selecting a water depth range and regional layout suitable for anchoring the data cabin according to the hydrological conditions of the immersed tube construction area, the limiting factors of the waterway and the fishery area; S400, transport the data cube to a predetermined location for precise positioning: select a tugboat that matches the size and weight of the data cube for transportation according to the size and weight of the data cube, and continuously monitor the state of the data cube and the surrounding sea conditions during the towing process, and adjust the route or speed when necessary; accurately position the data cube using a differential GPS system, and the differential GPS corrects the positioning error of the data cube by comparing the pseudo-range measurement values ​​of the reference station and the data cube. The corrected pseudo-range equation of the data cube is as follows: Wherein, n represents n satellites. By using an iterative algorithm such as the least square method to solve the equation, the precise coordinates Xm, Ym, and Zm of the data cube can be obtained. The calculated precise coordinates are the predetermined coordinate points. ensuring that the data cube reaches the predetermined coordinate point, and using the dynamic positioning system to keep the data cube at the predetermined coordinate point; S500, arranging a number of anchor chains around the data cube: designing an anchor position layout according to the survey results of the anchoring area, selecting suitable anchor chains according to the water depth and expected load, using an anchor handling vessel to drop anchors in sequence according to the predetermined coordinate points, and connecting the anchor chains to the mooring points on the data cube; S600, connecting the data cube with the immersed tube vessel: bringing the immersed tube vessel close to the predetermined coordinate point of the data cube, and then using the dynamic positioning system to make the immersed tube vessel reach the connection point of the data cube, deploying a connection device according to a predetermined connection design scheme, and gradually applying tension to the connection device until the design value is reached, and using a monitoring device to monitor the connection device in real time; S700, recover the anchor chains around the data shelter: gradually release the tension of each anchor chain until it is completely unloaded, recover each anchor chain in a predetermined order, and check the seabed to ensure that there are no residual anchor chains or obstacles.

2. The data cabin assisted construction positioning method according to claim 1 is characterized in that: In step S500, the tension of the anchor chain is adjusted using a tension adjusting device: an initial tension value of each anchor chain is set according to the weight of the data cabin and the expected environmental load, the tension monitoring system monitors the tension changes of each anchor chain in real time, and automatically starts the tension adjusting device for adjustment when it is detected that the anchor chain tension exceeds a preset range.

3. The data cabin assisted construction positioning method according to claim 1 is characterized in that: In step S600, when the submerged tube vessel approaches the predetermined coordinate point of the data cube, an approach path is designed for the submerged tube vessel according to wind direction and flow direction. When approaching the data cube, the submerged tube vessel gradually reduces speed to prevent collision, and the radar reflector and optical markers on the data cube are used to assist the submerged tube vessel in precise positioning.

4. The data cabin assisted construction positioning method according to claim 3 is characterized in that: In step S600, when the dynamic positioning system is used to make the submerged tube ship reach the connection point of the data cabin, the GPS system is used to monitor the spatial positions of the data cabin and the submerged tube ship in real time, and the gyroscope and accelerometer are used to monitor the pitch angle, roll angle and yaw angle of the platform. The monitoring data is analyzed and evaluated in real time to set the attitude change threshold. When the preset range is exceeded, an alarm is issued in time and adjustments are made.

5. The data cabin assisted construction positioning method according to claim 4 is characterized in that: In step S600, the connection device between the submerged tube vessel and the data cabin is a steel cable and a hydraulic connector.

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