A data shelter auxiliary construction positioning method

Abstract

The application provides a data cabin auxiliary construction positioning method, and belongs to the field of ocean engineering, and comprises the following steps: selecting a data cabin; checking and debugging the data cabin, a pipe-laying ship and related equipment; determining an optimal arrangement position of the data cabin; transporting the data cabin to a predetermined position for accurate positioning; arranging a plurality of anchor chains around the data cabin; connecting the data cabin with the pipe-laying ship; and recovering the anchor chains around the data cabin. The application 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.

Description

Technical Field

[0001] This invention relates to the field of marine engineering, and more specifically, to a data container-assisted construction positioning method. Background Technology

[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, traditional navigation systems have low positioning accuracy in complex marine environments and are easily affected by external factors such as weather and sea conditions, making it difficult to meet the needs of high-precision construction and mooring. Manual operation consumes a lot of time and human resources, and there is a risk of human error during the operation, resulting in low overall operational efficiency. At the same time, manual operation poses significant safety risks in adverse sea conditions, especially at night or in low visibility conditions, making it difficult to guarantee the safety of mooring operations. In addition, in traditional methods, data transmission and processing are cumbersome and lack real-time performance, affecting the timeliness of construction decisions and operations. Summary of the Invention

[0003] The purpose of this invention is to provide a data container-assisted construction positioning method to solve the problems mentioned in the background art, which use conventional navigation systems and manual operation, are easily affected by external factors, resulting in low positioning accuracy, cumbersome data transmission and processing, and poor real-time performance.

[0004] To achieve the above objectives, the present invention provides the following technical solution:

[0005] A data-assisted construction positioning method includes the following steps:

[0006] S100. Select a data container: Based on the water depth, wave conditions and expected mooring load of the construction area, select a data container with good wind and wave resistance, load-bearing capacity and dimensions that meet the design requirements.

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

[0008] S300. Determine the optimal location for the data container: Based on the hydrological conditions of the immersed tunnel construction area, the limiting factors of the waterway and fishing area, select a suitable water depth range and area for anchoring the data container;

[0009] S400. Transport the data container to the predetermined location for precise positioning: Select a tugboat suitable for the size and weight of the data container for transportation, and continuously monitor the status of the data container and the surrounding sea conditions during towing, adjusting the route or speed as necessary; use a differential GPS system to precisely position the data container. The differential GPS system corrects the positioning error of the data container by comparing the pseudorange measurements of the base station and the data container. The corrected pseudorange equation for the data container is as follows:

[0010]

[0011] Where n represents n satellites, the equations are solved using iterative algorithms such as the least squares method to obtain the precise coordinates Xm, Ym, Zm of the data cabin, and the calculated precise coordinates are the predetermined coordinate points.

[0012] Ensure that the data container reaches the predetermined coordinate point, and use the dynamic positioning system to maintain the data container at the predetermined coordinate point;

[0013] S500. Arrange several anchor chains around the data container: Design the anchor layout based on the survey results of the anchoring area, select suitable anchor chains according to the water depth and expected load, use the anchor handling vessel to sequentially drop anchors according to the predetermined coordinate points, and connect the anchor chains to the mooring points on the data container.

[0014] S600. Connect the data container to the immersed tunnel vessel: bring the immersed tunnel vessel close to the predetermined coordinate point of the data container, and then use the dynamic positioning system to make the immersed tunnel vessel reach the connection point of the data container. Deploy the connection device according to the predetermined connection design scheme, and gradually apply tension to the connection device until the design value is reached. At the same time, use monitoring equipment to monitor the connection device in real time.

[0015] S700, Recover anchor chains around the data container: 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 remaining anchor chains or obstacles.

[0016] Further, in step S500, the tension of the anchor chain is adjusted using a tension adjustment device: the initial tension value of each anchor chain is set according to the weight of the data container and the expected environmental load, the tension monitoring system monitors the tension change of each anchor chain in real time, and automatically starts the tension adjustment device to adjust when the tension of the anchor chain exceeds the preset range.

[0017] Furthermore, in step S600, when the immersed tunnel vessel approaches the predetermined coordinate point of the data container, an approach path is designed for the immersed tunnel vessel according to the wind direction and current direction. When approaching the data container, the immersed tunnel vessel gradually reduces its speed to prevent collision. The radar reflector and optical markers on the data container are used to assist the immersed tunnel vessel in accurate positioning.

[0018] Furthermore, in step S600, when the immersed tunnel vessel arrives at the connection point of the data cabin using the dynamic positioning system, the GPS system is used to monitor the spatial position of the data cabin and the immersed tunnel vessel in real time, and the gyroscope and accelerometer are used to monitor the platform's pitch angle, roll angle and yaw angle. The monitoring data is analyzed and evaluated in real time, and attitude change thresholds are set. When the thresholds are exceeded, an alarm is issued in a timely manner and adjustments are made.

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

[0020] The beneficial effects of this invention are:

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

[0022] (2) Introducing the data container into the construction and mooring system enables intelligent management of the construction and mooring process through an automated control system, reducing manual intervention, lowering the risk of human error, improving work efficiency, and using sensors on the data container to monitor environmental parameters in real time and adjust construction strategies in a timely manner.

[0023] (3) Differential GPS technology is used for real-time data processing to monitor the construction and mooring status in real time, promptly identify and warn of potential safety hazards, and ensure the safety of the operation process. Through data analysis and report generation, the construction process is optimized, lessons learned are summarized, and references are provided for subsequent construction.

[0024] This invention can adapt to different sea conditions and construction environments, providing accurate positioning and real-time data processing, significantly improving the accuracy, efficiency and safety of offshore construction and mooring operations. Attached Figure Description

[0025] Figure 1 Flowchart of the data container-assisted construction positioning method of the present invention

[0026] Figure 2 A schematic diagram of the data container of the present invention using a GPS system for precise positioning.

[0027] Among them: 10-pipe gallery, 20-data cabin, 30-base station, 40-sea level, 50-satellite 1, 60-satellite 2, 70-satellite n. Detailed Implementation

[0028] The specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings; it should be understood that the specific embodiments given herein are only for illustration and explanation of 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 in order to provide a full understanding of the present invention. However, the present invention may have other embodiments and variations thereof. Therefore, the scope of protection of the present invention is not limited to the specific embodiments disclosed below.

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

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

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

[0033] S300. Determine the optimal location for the data container: Based on the hydrological conditions of the immersed tunnel construction area and the limiting factors of the waterway and fishing area, select a suitable water depth range for anchoring the data container 20, avoiding areas that are too shallow or too deep; select a relatively flat area for placement, avoiding seabed obstacles or unstable areas, to facilitate the berthing and operation of the immersed tunnel vessel, while not affecting the installation path of the immersed tunnel; analyze the ocean current characteristics of the construction area, and select a period of time with relatively low current velocity and stable current direction for operation; consider limiting factors such as waterways and fishing areas to ensure that the placement of the data container 20 does not affect other maritime activities, and finally determine the optimal location for the data container 20.

[0034] S400. Transport the data container to the predetermined location for precise positioning: Select a tugboat adapted to the size and weight of the data container 20 for transportation, and continuously monitor the status of the data container 20 and the surrounding sea conditions during towing, adjusting the route or speed as necessary; Precisely position the data container 20 using a differential GPS system. The differential GPS corrects the positioning error of the data container 20 by comparing the pseudorange measurement values ​​of the reference station 30 and the data container 20. In actual construction, the differential GPS system is used for precise positioning in step S400. The differential GPS corrects the positioning error of the data container 20 by comparing the pseudorange measurement values ​​of the reference station 30 and the data container 20. The coordinates of the reference station 30 are known to be (X... r ,Y r Z r The coordinates of the GPS satellite are (X... s ,Y s Z s The pseudorange measured by Data Container 20 is ρ. m The pseudorange equation for the base station at 30° is:

[0035]

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

[0037] The coordinates of Data Container 20 are (X) m ,Y m Z m The pseudorange equation for the data container 20 is:

[0038]

[0039] Where, ε m This is the pseudorange error of Data Container 20.

[0040] Differential GPS corrects the positioning error of data container 20 by comparing the pseudorange measurements of base station 30 and data container 20; the equation for the error Δr of base station 30 is:

[0041] Δr=(ρ r -ρ′ r ) / ρ r (3)

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

[0043] ρ' m =ρ m (1+Δr) (4)

[0044] Therefore, the corrected pseudorange equation for Data Container 20 is:

[0045]

[0046] Where n represents n satellites, the precise coordinates (Xm, Ym, Zm) of Data Container 20 can be obtained by using iterative algorithms such as the least squares method to solve the equations.

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

[0048] S500. Several anchor chains are arranged around the data container: a multibeam echo sounder and side-scan sonar are used to survey the anchoring area to understand the seabed topography and geological conditions. The anchor layout is designed based on the survey results, and a symmetrical multi-point anchoring method is usually adopted to improve stability. The appropriate anchor chain is selected according to the water depth and expected load. Generally, the length of the anchor chain is 3 to 5 times the water depth. The anchor handling vessel is used to deploy the anchors in sequence according to the predetermined coordinate points. During the deployment process, the position and status of the anchors are monitored in real time, and the anchor chains are connected to the mooring points on the data container 20.

[0049] S600. Connect the data container to the immersed tube vessel: bring the immersed tube vessel close to the predetermined coordinate point of the data container 20, and then use the dynamic positioning system to make the immersed tube vessel reach the connection point of the data container 20. Deploy the connection device according to the predetermined connection design scheme, and gradually apply tension to the connection device until the design value is reached. At the same time, use monitoring equipment to monitor the connection device in real time.

[0050] S700, Recovering Anchor Chains Around the Data Container: 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 there are no residual anchor chains or obstacles. At the same time, record the usage and recovery status of each anchor chain to form a complete file.

[0051] In actual construction, in step S500, the tension adjustment device is used to adjust the tension of the anchor chain: the initial tension value of each anchor chain is set according to the weight of the data container 20 and the expected environmental load. The tension monitoring system monitors the tension change of each anchor chain in real time. When the tension of the anchor chain is detected to exceed the preset range, the tension adjustment device is automatically activated for adjustment. In extreme cases, the operator manually controls the tension adjustment device to balance the tension of each anchor chain and avoid excessive load on any one anchor chain.

[0052] In the actual construction process, in step S600, when the immersed tunnel vessel approaches the predetermined coordinate point of the data container 20, an approach path is designed for the immersed tunnel vessel according to the wind direction and current direction. When approaching the data container 20, the immersed tunnel vessel gradually reduces its speed to prevent collision. The radar reflector and optical markers on the data container 20 are used to assist the immersed tunnel vessel in accurate positioning. Continuous communication with the immersed tunnel vessel is maintained to transmit key information such as position and speed in a timely manner. At the same time, auxiliary vessels such as tugboats are prepared to deal with possible emergencies.

[0053] In the actual construction process, in step S600, when the immersed tunnel vessel arrives at the connection point of the data container 20 using the dynamic positioning system, the GPS system is used to monitor the spatial position of the data container 20 and the immersed tunnel vessel in real time. Gyroscopes and accelerometers are used to monitor the platform's pitch angle, roll angle, and yaw angle. The monitoring data is analyzed and evaluated in real time, and attitude change thresholds are set. When the thresholds are exceeded, an alarm is issued in a timely manner and adjustments are made.

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

[0055] During actual construction, the data cabin 20 is placed 40 degrees below sea level and connected to the pipe gallery 10, which facilitates real-time maintenance of the data cabin 20.

[0056] During actual construction, the monitoring system on the data container 20 monitors environmental parameters in real time, including: monitoring meteorological parameters such as wind speed, wind direction, air pressure, temperature and humidity; monitoring sea state information such as wave height, wave direction and wave period; monitoring hydrological elements such as water depth, current velocity, current direction, water temperature and salinity; and using acoustic detection equipment to monitor changes in seabed topography and sediment movement. The collected raw data is then preliminarily processed and analyzed to generate real-time reports.

[0057] During actual construction, the data container 20 communication system interacts with the land command center in real time, specifically including: transmitting the collected environmental parameters, equipment status and other data to the land command center in real time; transmitting construction site video footage in real time through a high-definition camera system; allowing the land command center to remotely control certain equipment and systems on the data container 20; equipping a communication system with multiple backups to ensure uninterrupted communication even in extreme situations; and using advanced encryption technology to protect the secure transmission of sensitive data.

[0058] During the actual construction process, the data collected during construction is organized and analyzed, including: comprehensively analyzing and evaluating changes in environmental conditions during construction based on environmental parameter monitoring data; compiling 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 lessons learned during the construction process and proposing optimization suggestions; and archiving all data and reports for future reference.

Claims

1. A data-assisted construction positioning method, characterized in that, Includes the following steps: S100. Select a data container: Based on the water depth, wave conditions and expected mooring load of the construction area, select a data container with good wind and wave resistance, load-bearing capacity and dimensions that meet the design requirements. S200. Inspection and commissioning of the data container, immersed tube vessel and related equipment: inspect the external structure, mooring points and connection devices of the data container, test the generator and power distribution system of the data container, commission the dynamic positioning system, various sensors and data processing units, calibrate relevant parameters, and inspect satellite communication and radio communication equipment; S300. Determine the optimal location for the data container: Based on the hydrological conditions of the immersed tunnel construction area, the limiting factors of the waterway and fishing area, select a suitable water depth range and area for anchoring the data container; S400. Transport the data container to the predetermined location for precise positioning: Select a tugboat suitable for the size and weight of the data container for transportation, and continuously monitor the status of the data container and the surrounding sea conditions during towing, adjusting the route or speed as necessary; use a differential GPS system to precisely position the data container. The differential GPS system corrects the positioning error of the data container by comparing the pseudorange measurements of the base station and the data container. The corrected pseudorange equation for the data container is as follows: in, This is the corrected pseudorange of the data container. n express n One satellite, It is the first n The spatial coordinates of the satellite Spatial coordinates of the data container It's the speed of light. It is the first n The time of a satellite It's the time for the data cabin. It is the pseudorange error of the data container. It is the pseudorange error correction coefficient of the base station; by using iterative algorithms such as the least squares method to solve the equation, the precise coordinates of the data cabin can be obtained, and the calculated precise coordinates are the predetermined coordinate points; Ensure that the data container reaches the predetermined coordinate point, and use the dynamic positioning system to maintain the data container at the predetermined coordinate point; S500. Arrange several anchor chains around the data container: Design the anchor layout based on the survey results of the anchoring area, select suitable anchor chains according to the water depth and expected load, use the anchor handling vessel to sequentially drop anchors according to the predetermined coordinate points, and connect the anchor chains to the mooring points on the data container. S600. Connect the data container to the immersed tunnel vessel: bring the immersed tunnel vessel close to the predetermined coordinate point of the data container, and then use the dynamic positioning system to make the immersed tunnel vessel reach the connection point of the data container. Deploy the connection device according to the predetermined connection design scheme, and gradually apply tension to the connection device until the design value is reached. At the same time, use monitoring equipment to monitor the connection device in real time. S700, Recover anchor chains around the data container: 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 remaining anchor chains or obstacles.

2. The data container-assisted construction positioning method according to claim 1, characterized in that, In step S500, the tension of the anchor chain is adjusted using a tension adjustment device: the initial tension value of each anchor chain is set according to the weight of the data container and the expected environmental load, the tension monitoring system monitors the tension change of each anchor chain in real time, and the tension adjustment device is automatically activated to adjust the tension when the anchor chain tension is detected to exceed the preset range.

3. The data container-assisted construction positioning method according to claim 1, characterized in that, In step S600, when the immersed tunnel vessel approaches the predetermined coordinate point of the data container, an approach path is designed for the immersed tunnel vessel according to the wind direction and current direction. When approaching the data container, the immersed tunnel vessel gradually reduces its speed to prevent collision. The radar reflector and optical markers on the data container are used to assist the immersed tunnel vessel in accurate positioning.

4. The data container-assisted construction positioning method according to claim 3, characterized in that, In step S600, when the immersed tunnel vessel arrives at the connection point of the data container using the dynamic positioning system, the GPS system is used to monitor the spatial position of the data container and the immersed tunnel vessel in real time. The gyroscope and accelerometer are used to monitor the platform's pitch angle, roll angle and yaw angle. The monitoring data is analyzed and evaluated in real time, and attitude change thresholds are set. When the thresholds are exceeded, an alarm is issued in a timely manner and adjustments are made.

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

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