Anchor cable regulation and control method and device and intelligent decision-making system for positioning, sinking and implantation of open caisson

Abstract

The invention provides an anchor cable regulation and control method and device and an intelligent decision-making system for open caisson positioning sinking implantation, relates to the technical field of open caisson positioning, and is used for adjusting the positions of a plurality of anchor cables to target positions, and the method comprises the following steps: obtaining detection parameters in a current open caisson state; the actual lengths of the anchor cables are determined based on the detection parameters; determining cable winding and unwinding actions of each anchor cable based on the actual length and predetermined target lengths of the plurality of anchor cables; the anchor cables are adjusted based on cable take-up and pay-off actions; determining the size relationship between the anchor cable force of the adjusted anchor cable and a preset control value; and adjusting and controlling the position of the anchor cable based on the size relationship. In the mode, the positioning difficulty is reduced, the control stability is improved, and the risk of cable breakage is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of caisson positioning, and in particular to an anchor cable control method and device and an intelligent decision-making system for caisson positioning sinking and landing. Background Art

[0002] A caisson is a special underground structure. It is a shaft structure that is prefabricated or cast in sections and has a certain rigidity and strength. It is composed of shaft walls, blade angles, and internal partition walls. It is commonly used in deep foundation projects such as bridge piers, dams, underground pumping stations, underground passages, and underground warehouses. Usually, the base bed can be excavated first, and then the prefabricated caisson can be lowered to the designated position on the base bed.

[0003] In the related technology, positioning sensors and inclination sensors are usually installed on the caisson, and the control method of the anchor cable is determined through human intervention and judgment based on the deviation between the actual coordinates and the theoretical coordinates. However, the coupling of wind, current and waves on the water has a great influence on the cable force, making positioning difficult; the center of gravity of the caisson is higher than the center of buoyancy during the sinking phase, and the caisson tilts during the sinking phase, making stability control difficult; the anchor cable force is highly sensitive to wind and waves. If it fails to be lowered normally, there is a high risk of cable breakage when encountering adverse conditions. These are all problems that cannot be solved by related technologies. Summary of the invention

[0004] In view of this, the object of the present invention is to provide an anchor cable control method, device and caisson positioning sinking bed intelligent decision-making system to reduce the positioning difficulty, improve the stability of control and reduce the risk of cable breakage.

[0005] In a first aspect, an embodiment of the present invention provides an anchor cable control method for adjusting the positions of multiple anchor cables to a target position, the method comprising: obtaining detection parameters under a current caisson state; determining the actual length of each of the multiple anchor cables based on the detection parameters; determining the cable-winding and -releasing action of each anchor cable based on the actual length and the predetermined target length of each of the multiple anchor cables; adjusting each anchor cable separately based on the cable-winding and -releasing action; determining the size relationship between the anchor cable force of the adjusted anchor cable and a preset control value; and controlling the position of the anchor cable based on the size relationship.

[0006] In a preferred embodiment of the present invention, the detection parameters include: the span, height difference, sagitta, angle of the cable along the arc length direction, elastic modulus of the cable, effective area of ​​the cable and horizontal inclination of the caisson end; the actual length of each of the multiple anchor cables is determined based on the detection parameters, including: constructing a curve formula of the anchor cable in the xoy plane based on the span, height difference and sagitta; determining the horizontal component of the anchor cable based on the angle of the cable along the arc length direction, span, sagitta and horizontal inclination of the caisson end; determining the anchor cable length based on the span, sagitta and height difference; determining the elastic elongation of the anchor cable based on the horizontal component of the anchor cable, span, elastic modulus of the cable, effective area of ​​the cable, sagitta, span and height difference; determining the actual length based on the elastic elongation of the anchor cable and the anchor cable length.

[0007] In a preferred embodiment of the present invention, the target length of the anchor cable is determined by: obtaining the target length based on historical hydrological and meteorological data of the caisson positioning, sinking and implantation area, combined with finite element analysis of the caisson itself.

[0008] In a preferred embodiment of the present invention, the above-mentioned determination of the cable-retracting and -releasing action of each anchor cable based on the actual length and the respective target lengths of a plurality of anchor cables determined in advance comprises: performing subtraction processing on the target length of each anchor cable and the corresponding actual length respectively to obtain the deviation value of each anchor cable; sorting the plurality of deviations by absolute values ​​to obtain the maximum deviation value; and performing the cable-retracting and -releasing action on the anchor cable corresponding to the maximum deviation value based on a preset cable-retracting and -releasing threshold.

[0009] In a preferred embodiment of the present invention, the above-mentioned cable retracting and releasing action of the anchor cable corresponding to the maximum deviation value based on the pre-set cable retracting and releasing threshold includes: comparing the maximum deviation value with the cable retracting and releasing threshold; if the maximum deviation value is less than the cable retracting and releasing threshold, the anchor cable corresponding to the maximum deviation value performs a cable retracting action; if the maximum deviation value is greater than the cable retracting and releasing threshold, the anchor cable corresponding to the maximum deviation value performs a cable release action.

[0010] In a preferred embodiment of the present invention, the above-mentioned position control of the anchor cable based on the size relationship includes: if the anchor cable force of the adjusted anchor cable is less than or equal to the control value, determining that the adjusted anchor cable is adjusted to the target position; if the anchor cable force of the adjusted anchor cable is greater than the control value, performing a cable release action on the adjusted anchor cable and recalculating

[0011] In a second aspect, an embodiment of the present invention further provides an anchor cable control device for adjusting the positions of multiple anchor cables, the device comprising: a detection parameter acquisition module for acquiring detection parameters under the current caisson state; an actual length determination module for determining the actual length of the anchor cable based on the detection parameters; a cable retracting and releasing action determination module for determining the cable retracting and releasing action of each anchor cable based on the actual length and the respective target lengths of multiple anchor cables determined in advance; an anchor cable adjustment module for adjusting each anchor cable separately based on the cable retracting and releasing action; a size relationship determination module for determining the size relationship between the anchor cable force of the adjusted anchor cable and a preset control value; and a position control module for controlling the position of the anchor cable based on the size relationship.

[0012] In the third aspect, an embodiment of the present invention further provides an intelligent decision-making system for caisson positioning and sinking, the system comprising: a sensing module, an acquisition module, a server and a user end, the server comprising a data solving module, an intelligent decision-making module, a control module, a storage module and an early warning module; the acquisition module is connected to the sensing module in wired and wireless forms; the storage module is connected to the acquisition module through network communication; the sensing module is used to detect the caisson structure and environmental factors affecting the caisson construction operation; the acquisition module is used to collect the detection data detected by the sensing module and send it to the server; the data solving module is used to solve the to-be-processed data transmitted by the storage module into target data; the intelligent decision-making module is used to determine the next step of operation on the data processed by the data solving module; the control module is used to implement the anchor cable control method of the first aspect; the storage module is used to receive the data transmitted by the acquisition module and store the data of each stage; the early warning module is used to issue an early warning during the operation of the system.

[0013] In a preferred embodiment of the present invention, the above-mentioned intelligent decision-making module is also used to receive the target data transmitted by the data solution module, pair the target data under the current working conditions with the case expert library, directly execute the next step of operation for cases whose similarity meets the preset threshold, and for cases where there are no cases whose similarity meets the preset threshold, perform the next step of operation after intervention through a preset intervention method.

[0014] In a preferred embodiment of the present invention, the above-mentioned control module includes two stages of positioning operation, the first stage is the positioning operation, and the second stage is the leveling operation; the positioning operation includes: initial positioning and sinking in the caisson construction link, sinking to a preset distance from the base, and water injection and implantation; the positioning operation is achieved by a positioning unit composed of steel strands, a lifting cylinder cluster, and a hydraulic pump station; the positioning operation is used to move the caisson to within a first preset rule range; the leveling operation is achieved by a leveling unit composed of leveling columns, supports, and a capsule grouting system; the leveling operation is used to adjust the inclination that occurs after the caisson is implanted to reach a second preset rule range.

[0015] The embodiments of the present invention bring the following beneficial effects:

[0016] The embodiment of the present invention provides an anchor cable control method, device and caisson positioning sinking bed intelligent decision system, which obtains the detection parameters under the current caisson state, determines the actual length of each of the multiple anchor cables based on the detection parameters, determines the cable retracting and releasing action of each anchor cable based on the actual length and the predetermined target length of each of the multiple anchor cables, adjusts each anchor cable based on the cable retracting and releasing action, determines the magnitude relationship between the anchor cable force of the adjusted anchor cable and the preset control value, and controls the position of the anchor cable based on the magnitude relationship. In this way, the positioning difficulty is reduced, the control stability is improved, and the risk of cable breakage is reduced.

[0017] Other features and advantages of the present disclosure will be set forth in the following description, or some features and advantages may be inferred or unambiguously determined from the description, or may be learned by implementing the above-mentioned technology of the present disclosure.

[0018] In order to make the above-mentioned objectives, features and advantages of the present disclosure more obvious and easy to understand, preferred embodiments are specifically cited below and described in detail with reference to the attached drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0020] Figure 1a A flow chart of an anchor cable control method provided by an embodiment of the present invention;

[0021] Figure 1b A schematic diagram of the positions of parameters involved in the calculation of the actual length of an anchor cable provided by an embodiment of the present invention;

[0022] Figure 2 A flow chart of another anchor cable control method provided by an embodiment of the present invention;

[0023] Figure 3 A schematic structural diagram of an anchor cable control device provided by an embodiment of the present invention;

[0024] Figure 4 A structural diagram of an intelligent decision-making system for caisson positioning and sinking provided by an embodiment of the present invention;

[0025] Figure 5 A schematic diagram of controlling the positioning and sinking of a caisson by eight anchor cables provided in an embodiment of the present invention;

[0026] Figure 6 A schematic diagram of the structure of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0027] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0028] A caisson is a special underground structure. It is a shaft structure that is prefabricated or cast in sections and has a certain rigidity and strength. It is composed of shaft walls, blade angles, and internal partition walls. It is often used in deep foundation projects such as bridge piers, dams, underground pumping stations, underground passages, and underground warehouses.

[0029] There are two main ways to construct caissons. The first is to dig the soil below the shaft so that the shaft sinks to a predetermined elevation by its own weight. The second is to first excavate the base bed and then lower the prefabricated caisson into a designated position on the base bed. The present invention is proposed for the second method in caisson construction, aiming to improve the efficiency of caisson construction and reduce safety risks.

[0030] The second type of caisson construction method is common in water environment operations. Caissons are mostly prefabricated steel shells welded and assembled, and sinking control and deviation correction are more difficult. They mainly face the following three problems: the coupling of wind, current, and waves on the water has a great influence on the cable force, making positioning difficult; the center of gravity of the caisson is higher than the center of buoyancy during the sinking stage, and it tilts during the sinking stage, making stability control difficult; the anchor cable force is highly sensitive to wind and waves. If it is not lowered normally, there is a high risk of cable breakage when encountering adverse conditions. The existing technical means usually install positioning sensors and inclination sensors on the caisson, and determine the cable adjustment method after human intervention and judgment based on the deviation between the actual coordinates and the theoretical coordinates. In the case of caisson construction with more anchor cable constraints, this cable adjustment method has a ripple effect on the anchor cables, resulting in an extremely complicated cable adjustment process, a strong reliance on the experience of the cable adjustment operator, and poor timeliness of cable adjustment.

[0031] Based on this, the anchor cable control method, device and caisson positioning sinking bed intelligent decision system of the embodiment of the present invention can obtain the detection parameters under the current caisson state, determine the actual length of each of the multiple anchor cables based on the detection parameters, determine the cable retracting and releasing action of each anchor cable based on the actual length and the predetermined target length of each of the multiple anchor cables, adjust each anchor cable based on the cable retracting and releasing action, determine the size relationship between the anchor cable force of the adjusted anchor cable and the preset control value, and control the position of the anchor cable based on the size relationship. In this way, the positioning difficulty is reduced, the control stability is improved, and the risk of cable breakage is reduced.

[0032] To facilitate understanding of this embodiment, a method for controlling an anchor cable disclosed in an embodiment of the present invention is first introduced in detail.

[0033] Example 1

[0034] The embodiment of the present invention provides an anchor cable control method for adjusting the positions of multiple anchor cables to a target position. Figure 1a Flow chart of a method for controlling an anchor cable provided by an embodiment of the present invention. Figure 1a As shown, the anchor cable control method may include the following steps:

[0035] Step S101, obtaining detection parameters under the current caisson state.

[0036] The detection parameters may include: the span, height difference, sagittal height, angle of the cable along the arc length direction, elastic modulus of the cable, effective area of ​​the cable and horizontal inclination of the caisson end and the anchor end.

[0037] Step S102: determining the actual length of each of the plurality of anchor cables based on the detection parameters.

[0038] Among them, the coordinates monitored by the GNSS equipment installed on the caisson can be used for calculation, and the actual length of the anchor cable under the various working conditions of caisson positioning, sinking and implantation can be calculated through the free cable analysis of equivalent unequal height supports.

[0039] For ease of understanding, Figure 1b A schematic diagram of the position of parameters involved in the actual length calculation process of an anchor cable provided by an embodiment of the present invention, such as Figure 1b As shown in the figure, it is assumed that point O is the caisson end, point A is the anchor end, and point O and point A are connected by an anchor cable; q represents the angle of the cable along the arc length direction, including its own weight and other uniformly distributed loads; f represents the sagittal height; E represents the elastic modulus of the cable; L represents the span; A represents the effective area of ​​the cable; β represents the horizontal inclination angle of point O; and C represents the height difference between point O and point A.

[0040] Specifically, determining the actual lengths of the plurality of anchor cables based on the detection parameters includes the following steps A1-A5:

[0041] Step A1, construct the curve formula of the anchor cable in the xoy plane based on the span, height difference and sagittal height.

[0042] Among them, the curve formula of the anchor cable in the xoy plane is:

[0043] Step A2, determining the horizontal component of the anchor cable based on the angle of the cable along the arc length direction, the span, the sagittal height and the horizontal inclination angle of the caisson end.

[0044] The formula for determining the horizontal component of the anchor cable is:

[0045] Step A3, determining the length of the anchor cable based on the span, the rise and the height difference.

[0046] The formula for determining the anchor cable length is:

[0047] Step A4, determining the elastic elongation of the anchor cable based on the horizontal component of the anchor cable, the span, the elastic modulus of the cable, the effective area of ​​the cable, the sagittal height, the span and the height difference.

[0048] The formula for determining the elastic elongation of the anchor cable is: ΔS is the elastic extension of the anchor cable.

[0049] Step A5, determining the actual length based on the elastic extension of the anchor cable and the length of the anchor cable.

[0050] The formula for determining the actual length is: S0 = S-ΔS.

[0051] It should be noted that the calculation performed in this way does not take into account the influence of temperature on the anchor cable.

[0052] Step S103, determining the cable-retracting and -releasing action of each anchor cable based on the actual length and the predetermined target lengths of each of the plurality of anchor cables.

[0053] The target length of the anchor cable can be determined by: obtaining the target length based on the historical hydrological and meteorological data of the caisson positioning, sinking and landing area, combined with the finite element analysis of the caisson itself.

[0054] The cable-retracting and releasing action of each anchor cable may be determined by determining the maximum difference between each actual length and the corresponding target length and a preset cable-retracting and releasing threshold.

[0055] Step S104, adjusting each anchor cable separately based on the cable retracting and releasing action.

[0056] Among them, when the cable-retracting and releasing action is determined to be a retrieval action, the anchor cable is adaptively retracted, and when the cable-retracting and releasing action is determined to be a releasing action, the anchor cable is adaptively released.

[0057] Step S105, determining the magnitude relationship between the adjusted anchor cable force and the preset control value.

[0058] The corresponding magnitude relationship is obtained by comparing the adjusted anchor cable force with the control value, and the magnitude relationship includes less than or equal to, and greater than or equal to.

[0059] Step S106, adjusting the position of the anchor cable based on the size relationship.

[0060] Specifically, the position control of the anchor cable based on the size relationship may include: if the anchor cable force of the adjusted anchor cable is less than or equal to the control value, determining that the adjusted anchor cable is adjusted to the target position; if the anchor cable force of the adjusted anchor cable is greater than the control value, releasing the adjusted anchor cable and recalculating the actual length of the adjusted anchor cable.

[0061] Among them, in the process of adjusting the anchor cable, the main focus is on adjusting the anchor cable length deviation, and the tension of the anchor cable, namely the anchor cable force, is used as an auxiliary control indicator. For the anchor cable whose anchor cable force exceeds the control value, appropriate cable release operations are performed.

[0062] The anchor cable control method provided by the embodiment of the present invention can obtain the detection parameters in the current caisson state, determine the actual length of each of the multiple anchor cables based on the detection parameters, determine the cable retracting and releasing action of each anchor cable based on the actual length and the predetermined target length of each of the multiple anchor cables, adjust each anchor cable based on the cable retracting and releasing action, determine the magnitude relationship between the anchor cable force of the adjusted anchor cable and the preset control value, and control the position of the anchor cable based on the magnitude relationship. In this way, the positioning difficulty is reduced, the control stability is improved, and the risk of cable breakage is reduced.

[0063] Example 2

[0064] The embodiment of the present invention also provides another anchor cable control method; this method is implemented on the basis of the method in the above embodiment; this method focuses on describing the specific implementation method of determining the cable retracting and releasing action of each anchor cable based on the actual length and the predetermined target lengths of multiple anchor cables.

[0065] Figure 2 A flowchart of another anchor cable control method provided by an embodiment of the present invention is as follows: Figure 2 As shown, the cable-retracting and -releasing action of each anchor cable is determined based on the actual length and the predetermined target lengths of each of the plurality of anchor cables, and may include the following steps:

[0066] Step S201: Subtract the target length of each anchor cable from the corresponding actual length to obtain the deviation value of each anchor cable.

[0067] The reference for collecting or releasing the cable is determined by the absolute value of the deviation value, so the deviation value of each anchor cable needs to be determined.

[0068] Step S202, sorting the multiple deviations by absolute values ​​to obtain the maximum deviation value.

[0069] Step S203, performing cable retracting and releasing actions on the anchor cable corresponding to the maximum deviation value based on the preset cable retracting and releasing threshold.

[0070] Among them, in the process of the anchor cable being retracted and released, the status of the other anchor cables may be affected. For example, the absolute value order of anchor cable 1, anchor cable 2 and anchor cable 3 from high to low is anchor cable 1, anchor cable 2 and anchor cable 3. At this time, it can be determined that the anchor cable 1 is retracted and released first, but when the anchor cable 1 is retracted and released, the status of anchor cable 2 and anchor cable 3 may be affected, so that after the anchor cable 1 is retracted and released, the absolute value order of the three from high to low becomes anchor cable 3, anchor cable 2 and anchor cable 1, and the anchor cable 3 is retracted and released at this time.

[0071] Specifically, performing a cable retracting and releasing action on the anchor cable corresponding to the maximum deviation value based on a preset cable retracting and releasing threshold value may include: comparing the maximum deviation value with the cable retracting and releasing threshold value; if the maximum deviation value is less than the cable retracting and releasing threshold value, performing a cable retracting action on the anchor cable corresponding to the maximum deviation value; if the maximum deviation value is greater than the cable retracting and releasing threshold value, performing a cable releasing action on the anchor cable corresponding to the maximum deviation value.

[0072] It should be noted that the deviation value between the target length L1 of each anchor cable and the actual length L2 of the anchor cable can be calculated respectively, the absolute values ​​of the length deviations of all anchor cables are sorted, the maximum deviation ΔLmax is obtained, and the anchor cable with the largest absolute value of deviation is used as a reference for cable collection or cable release. If ΔLmax < 0, the cable is collected; if ΔLmax > 0, the cable is released. Each time, only one action is adjusted for the anchor cable with the maximum deviation value.

[0073] Example 3

[0074] Corresponding to the above method embodiment, the embodiment of the present invention provides an anchor cable control device for adjusting the positions of multiple anchor cables. Figure 3 A structural diagram of an anchor cable control device provided by an embodiment of the present invention is shown in FIG. Figure 3 As shown, the anchor cable control device may include:

[0075] The detection parameter acquisition module 301 is used to obtain the detection parameters under the current caisson state.

[0076] The actual length determination module 302 is used to determine the actual length of the anchor cable based on the detection parameters.

[0077] The cable-retracting and -releasing action determination module 303 is used to determine the cable-retracting and -releasing action of each anchor cable based on the actual length and the predetermined target lengths of each of the plurality of anchor cables.

[0078] The anchor cable adjustment module 304 is used to adjust each anchor cable separately based on the cable retracting and releasing action.

[0079] The magnitude relationship determination module 305 is used to determine the magnitude relationship between the adjusted anchor cable force and the preset control value.

[0080] The position control module 306 is used to control the position of the anchor cable based on the size relationship.

[0081] The anchor cable control device provided by the embodiment of the present invention can obtain the detection parameters in the current caisson state, determine the actual length of each of the multiple anchor cables based on the detection parameters, determine the cable retracting and releasing action of each anchor cable based on the actual length and the predetermined target length of each of the multiple anchor cables, adjust each anchor cable based on the cable retracting and releasing action, determine the magnitude relationship between the anchor cable force of the adjusted anchor cable and the preset control value, and control the position of the anchor cable based on the magnitude relationship. In this way, the positioning difficulty is reduced, the control stability is improved, and the risk of cable breakage is reduced.

[0082] In some embodiments, the detection parameters include: the span, height difference, sagitta, angle of the cable along the arc length direction, elastic modulus of the cable, and effective area of ​​the cable at the caisson end and the anchor end; an actual length determination module is further used to construct a curve formula of the anchor cable in the xoy plane based on the span, the height difference and the sagitta; determine the horizontal component of the anchor cable based on the angle of the cable along the arc length direction, the span, the sagitta and the horizontal inclination angle of the caisson end; determine the anchor cable length based on the span, the sagitta and the height difference; determine the elastic elongation of the anchor cable based on the horizontal component of the anchor cable, the span, the elastic modulus of the cable, the effective area of ​​the cable, the sagitta, the span and the height difference; determine the actual length based on the elastic elongation of the anchor cable and the anchor cable length.

[0083] In some embodiments, the cable-retracting and -releasing action determination module is also used to obtain the target length based on the historical hydrological and meteorological data of the caisson positioning sinking and landing area, combined with the finite element analysis of the caisson itself.

[0084] In some embodiments, the cable retracting and releasing action determination module is further used to perform a cable retracting and releasing action on the anchor cable corresponding to the maximum deviation value based on a preset cable retracting and releasing threshold value by subtracting the target length of each anchor cable from the corresponding actual length to obtain a deviation value of each anchor cable; sorting multiple deviations by absolute values ​​to obtain a maximum deviation value; and performing a cable retracting and releasing action on the anchor cable corresponding to the maximum deviation value based on a preset cable retracting and releasing threshold value.

[0085] In some embodiments, the anchor cable adjustment module is further used to compare the maximum deviation value with the cable retracting and releasing threshold; if the maximum deviation value is less than the cable retracting and releasing threshold, the anchor cable corresponding to the maximum deviation value performs a cable retracting action; if the maximum deviation value is greater than the cable retracting and releasing threshold, the anchor cable corresponding to the maximum deviation value performs a cable releasing action.

[0086] In some embodiments, the position control module is further used to determine that the adjusted anchor cable is adjusted to the target position if the anchor cable force of the adjusted anchor cable is less than or equal to the control value; if the anchor cable force of the adjusted anchor cable is greater than the control value, the adjusted anchor cable is released and the actual length of the adjusted anchor cable is recalculated.

[0087] The device provided in the embodiment of the present invention has the same implementation principle and technical effects as those of the aforementioned method embodiment. For the sake of brief description, for matters not mentioned in the device embodiment, reference may be made to the corresponding contents in the aforementioned method embodiment.

[0088] Example 4

[0089] The embodiment of the present invention also provides an intelligent decision-making system for caisson positioning and sinking. Figure 4 The structure diagram of the intelligent decision-making system for caisson positioning and sinking provided by the embodiment of the present invention is as follows: Figure 4 As shown, the system includes: a sensing module, a collection module, a server and a user end.

[0090] The server includes a data solving module, an intelligent decision-making module, a control module, a storage module and an early warning module; the acquisition module is connected to the sensor module in wired and wireless forms; the storage module is connected to the acquisition module through network communication.

[0091] Among them, the sensor module is used to detect the caisson structure and the environmental factors that affect the caisson construction operation.

[0092] Among them, the acquisition module is used to collect the detection data detected by the sensor module and send it to the storage module of the server.

[0093] The data solving module is used to solve the to-be-processed data transmitted by the storage module into target data.

[0094] Among them, the intelligent decision-making module is used to judge and decide the next step of operation based on the data processed by the data solution module.

[0095] Specifically, the intelligent decision-making module is also used to receive the target data transmitted by the data solution module, match the target data under the current working conditions with the case expert library, directly execute the next operation for cases whose similarity meets the preset threshold, and for cases where there are no cases whose similarity meets the preset threshold, perform the next operation after adding intervention through a pre-set intervention method.

[0096] Among them, the control module is used to implement the anchor cable control method of embodiment 1 or 2.

[0097] Specifically, the control module includes two stages of positioning operations, the first stage is the positioning operation, and the second stage is the leveling operation; the positioning operation includes: initial positioning and sinking in the caisson construction link, sinking to a preset distance from the base, and water injection and implantation; the positioning operation is achieved through a positioning unit composed of steel strands, a lifting cylinder cluster, and a hydraulic pump station; the positioning operation is used to move the caisson to within a first preset rule range; the leveling operation is achieved through a leveling unit composed of leveling columns, supports, and a capsule grouting system; the leveling operation is used to adjust the inclination that occurs after the caisson is implanted to reach a second preset rule range.

[0098] Among them, the preset distance can be 2 meters, and the water injection implantation is precise positioning water injection and rapid implantation.

[0099] Among them, before the first stage of regulation, there is also a preparation stage for positioning, sinking and implantation, including: construction preparation, lowering of positioning anchors, removal of caisson buoyancy plates and cable passing.

[0100] Among them, after the second stage of regulation, there is also a completion stage, including: the water head inside and outside the caisson is consistent and the anchor cable is released.

[0101] The storage module is used to receive data transmitted by the acquisition module and store data at each stage.

[0102] Among them, the early warning module is used to issue early warning during the operation of the system.

[0103] In actual application, the precise positioning construction operation process mainly includes: initial positioning, first water injection and sinking, precise positioning, and second water injection and sinking.

[0104] The specific process includes the following steps B1-Step B:

[0105] Step B1, after the fixed anchor is thrown into place, the anchor cable is pre-tensioned and the three-dimensional coordinate position of the anchor cable is measured.

[0106] Step B2: After the caisson is cabled, the initial plane position of the caisson is measured by GNSS to inversely calculate the coordinates of the intersection of the caisson and the anchor cable.

[0107] Step B3, calculate the plane coordinates and design position deviation of the intersection of the caisson and the anchor cable in the initial state, and calculate the retracted and released length of the anchor cable for the initial positioning of the caisson according to the "cable length of unequal height support points" formula.

[0108] Step B4, according to the calculated anchor cable retraction and release length, graded adjustments are made, and the deviation between the caisson plane position and the designed position is verified by real-time GNSS.

[0109] Step B5, according to the change of tide level on the day of sinking and positioning, calculate the water injection volume of the caisson for the first time, the total length of cable collection, and the reasonable anchor cable force.

[0110] Step B6, calculate the water injection volume and anchor cable tightening length for every 2-meter sinking depth of the caisson, and control the plane position deviation of the caisson to complete the first water injection, so that the caisson blade angle is 2 meters away from the base.

[0111] Step B7, calculate the deviation between the plane coordinates of the anchor point on the caisson at the current position and the designed position, and calculate the retracted and released length of the anchor cable for precise positioning of the caisson according to the "cable length formula for unequal height fulcrums".

[0112] Step B8: Accurately adjust the length of each anchor cable to ensure that the caisson plane position, inclination and angle meet the design requirements.

[0113] Step B9, select the low tide time period for water filling and sinking, calculate the change in the sinking cable force, the vector effect of the wind, waves and currents on the caisson when it sinks two meters, and apply them before water filling.

[0114] Step B10: During the water injection and sinking process, GNSS monitors the position changes of the caisson in real time to ensure that the plane position, inclination and rotation angle of the caisson meet the design requirements.

[0115] For ease of understanding, Figure 5 A schematic diagram of controlling the positioning and sinking of a caisson by eight anchor cables provided in an embodiment of the present invention.

[0116] The following is a technical description of the positioning and sinking of a caisson controlled by eight anchor cables:

[0117] According to the target position information of the example: calculate 8 target distances; according to the offset position information of the example: calculate 8 actual distances.

[0118] 8 target distances minus 8 actual distances can be used to obtain 8 anchor cable deviations, thereby determining the actions that each anchor cable needs to perform. The anchor cable deviation is different from the actual amount of anchor cable retraction and release (the influence of anchor cable deformation), which is actually the distance deviation between feature points. As the anchor cable is retracted and released, the distance deviation becomes smaller, and the caisson gradually approaches the target position.

[0119] The calculation example is as follows:

[0120] The data in Table 1 are the target distances between the coordinates of the intersection of the 8 anchor cables and the caisson at time T and the theoretical coordinates of the intersection of the 8 anchor cables and the caisson.

[0121] Table 1:

[0122]

[0123]

[0124] The data in Table 2 are the actual distances between the coordinates of the intersection of the 8 anchor cables and the caisson at time T' and the theoretical coordinates of the intersection of the 8 anchor cables and the caisson.

[0125] Table 2:

[0126]

[0127] The data in Table 3 show the status of each anchor cable that needs to be adjusted at time T'.

[0128] Table 3:

[0129]

[0130]

[0131] Among them, anchor cable deviation = target distance - actual distance. Negative values ​​require tightening the anchor cable, and positive values ​​require loosening the anchor cable.

[0132] According to the coordinates of the intersections of the eight anchor cables and the caisson at time T', the length of the anchor cables in the stress-free state under the working conditions of the caisson positioning, sinking and implantation is calculated through the free cable analysis of equivalent unequal height supports, as shown in Table 4 below:

[0133] Table 4:

[0134]

[0135] From the table above, we can see that the maximum absolute value of the cable length is anchor cable 1, that is, anchor cable 1 is tightened by 1 meter at time T'. Repeat the above process so that the caisson gradually approaches the target position during the water injection and sinking process, and finally lands after reaching the required accuracy.

[0136] Other notes:

[0137] Selection of wind, wave and current parameters for caisson positioning.

[0138] Flow rate selection: As the caisson is floated to the pier, the cable passing and initial positioning process may take a long time, so it is necessary to consider a less favorable flow rate as the calculation boundary condition. For the precise positioning construction conditions of the caisson, the average flow rate under good weather conditions is taken. The on-site construction party should strictly select a favorable construction window for caisson positioning based on the wind, wave and current data measured at the pier and the weather forecast information.

[0139] Wave selection: Select appropriate wave height based on the weather forecast for the construction area in the past three years and the monthly maximum wave height statistics in the past five years.

[0140] Wind speed selection: In good weather, consider wind speed of level 4; in design conditions, consider wind speed of level 6.

[0141] On-site measurement and prediction: Strictly monitor environmental parameter information such as wave height, wave direction, flow direction, wind speed and wind direction at the pier position on site, and effectively predict the wind, wave and flow conditions in the construction window, and strictly control the caisson positioning and lowering operations under conditions of light wind, small waves and small flow.

[0142] Example 5

[0143] The embodiment of the present invention also provides an electronic device for executing the above anchor cable control method; Figure 6 A structural schematic diagram of an electronic device is shown, the electronic device includes a memory 500 and a processor 501, wherein the memory 500 is used to store one or more computer instructions, and the one or more computer instructions are executed by the processor 501 to implement the above-mentioned anchor cable control method.

[0144] Further, Figure 6 The electronic device shown further includes a bus 502 and a communication interface 503 , and the processor 501 , the communication interface 503 and the memory 500 are connected via the bus 502 .

[0145] The memory 500 may include a high-speed random access memory (RAM), and may also include a non-volatile memory, such as at least one disk storage. The communication connection between the system network element and at least one other network element is realized through at least one communication interface 503 (which may be wired or wireless), and the Internet, wide area network, local area network, metropolitan area network, etc. may be used. The bus 502 may be an ISA bus, a PCI bus, or an EISA bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 6 Only one bidirectional arrow is used in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0146] The processor 501 may be an integrated circuit chip with signal processing capabilities. In the implementation process, each step of the above method can be completed by the hardware integrated logic circuit or software instructions in the processor 501. The above processor 501 can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components. The methods, steps and logic block diagrams disclosed in the embodiments of the present invention can be implemented or executed. The general processor can be a microprocessor or the processor can also be any conventional processor, etc. The steps of the method disclosed in the embodiment of the present invention can be directly embodied as a hardware decoding processor for execution, or a combination of hardware and software modules in the decoding processor for execution. The software module may be located in a storage medium mature in the art, such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory, or an electrically erasable programmable memory, a register, etc. The storage medium is located in the memory 500, and the processor 501 reads the information in the memory 500 and completes the steps of the method of the above embodiment in combination with its hardware.

[0147] An embodiment of the present invention further provides a computer-readable storage medium, which stores computer-executable instructions. When the computer-executable instructions are called and executed by a processor, the computer-executable instructions prompt the processor to implement the above-mentioned anchor cable control method. The specific implementation can be found in the method embodiment, which will not be repeated here.

[0148] The computer program product for the anchor cable control method provided in the embodiment of the present invention includes a computer-readable storage medium storing a non-volatile program code executable by a processor. The instructions included in the program code can be used to execute the method described in the previous method embodiment. The specific implementation can be referred to the method embodiment, which will not be repeated here.

[0149] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0150] In the several embodiments provided by the present invention, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. The device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some communication interfaces, and the indirect coupling or communication connection of devices or units can be electrical, mechanical or other forms.

[0151] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0152] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0153] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a non-volatile computer-readable storage medium that is executable by a processor. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods described in each embodiment of the present invention. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0154] Finally, it should be noted that the above-described embodiments are only specific implementations of the present invention, which are used to illustrate the technical solutions of the present invention, rather than to limit them. The protection scope of the present invention is not limited thereto. Although the present invention is described in detail with reference to the above-mentioned embodiments, ordinary technicians in the field should understand that any technician familiar with the technical field can still modify the technical solutions recorded in the above-mentioned embodiments within the technical scope disclosed by the present invention, or can easily think of changes, or make equivalent replacements for some of the technical features therein; and these modifications, changes or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be based on the protection scope of the claims.

Claims

1. A method for controlling an anchor cable, characterized in that: For adjusting the positions of a plurality of anchor cables to a target position, the method comprises: Get the detection parameters under the current caisson status; determining the actual length of each of the plurality of anchor cables based on the detection parameters; determining a cable-retracting and -releasing action of each of the anchor cables based on the actual length and a predetermined target length of each of the plurality of anchor cables; Adjusting each of the anchor cables separately based on the cable-retracting and -releasing action; Determining the magnitude relationship between the adjusted anchor cable force and a preset control value; The position of the anchor cable is regulated based on the size relationship.

2. The method according to claim 1, characterized in that The detection parameters include: the span, height difference, sagittal height, angle of the cable along the arc length direction, elastic modulus of the cable, effective area of ​​the cable and horizontal inclination angle of the caisson end and the anchor end; The determining the actual length of each of the plurality of anchor cables based on the detection parameters comprises: Constructing a curve formula of the anchor cable in the xoy plane based on the span, the height difference and the sagittal height; Determine the horizontal component of the anchor cable based on the angle of the cable along the arc length direction, the span, the sagittal height and the horizontal inclination angle of the caisson end; Determine the length of the anchor cable based on the span, the sagittal height and the height difference; determining the elastic elongation of the anchor cable based on the horizontal component of the anchor cable, the span, the elastic modulus of the cable, the effective area of ​​the cable, the sagittal height, the span and the height difference; The actual length is determined based on the elastic extension of the anchor cable and the length of the anchor cable.

3. The method according to claim 1, characterized in that The target length of the anchor cable is determined as follows: The target length is obtained based on the historical hydrological and meteorological data of the caisson positioning, sinking and implantation area, combined with the finite element analysis of the caisson itself.

4. The method according to claim 1, characterized in that The determining of the cable-retracting and -releasing action of each anchor cable based on the actual length and the predetermined target lengths of each of the plurality of anchor cables comprises: Subtract the target length of each anchor cable from the corresponding actual length to obtain a deviation value of each anchor cable; Sort the multiple deviations by absolute value to obtain the maximum deviation value; The anchor cable corresponding to the maximum deviation value is subjected to cable retracting and releasing actions based on a preset cable retracting and releasing threshold.

5. The method according to claim 4, characterized in that The performing the cable retracting and releasing action on the anchor cable corresponding to the maximum deviation value based on the preset cable retracting and releasing threshold value includes: Comparing the maximum deviation value with the cable retracting and releasing threshold value; If the maximum deviation value is less than the cable retracting and releasing threshold value, the anchor cable corresponding to the maximum deviation value performs a cable retracting action; If the maximum deviation value is greater than the cable retracting and releasing threshold, the anchor cable corresponding to the maximum deviation value performs a cable releasing action.

6. The method according to claim 1, characterized in that The controlling the position of the anchor cable based on the size relationship includes: If the adjusted anchor cable force of the anchor cable is less than or equal to the control value, determining that the adjusted anchor cable is adjusted to the target position; If the adjusted anchor cable force is greater than the control value, the adjusted anchor cable is released and the actual length of the adjusted anchor cable is recalculated.

7. An anchor cable control device, characterized in that: Used to adjust the positions of multiple anchor cables, the device comprises: A detection parameter acquisition module is used to obtain the detection parameters under the current caisson state; an actual length determination module, configured to determine the actual length of the anchor cable based on the detection parameters; a cable-retracting and -releasing action determination module, configured to determine the cable-retracting and -releasing action of each of the anchor cables based on the actual length and the predetermined target lengths of each of the plurality of anchor cables; An anchor cable adjustment module, used to adjust each of the anchor cables based on the cable retracting and releasing action; A size relationship determination module, used to determine the size relationship between the adjusted anchor cable force and a preset control value; A position control module is used to control the position of the anchor cable based on the size relationship.

8. An intelligent decision-making system for caisson positioning and sinking, characterized in that: The system comprises: a sensing module, a collection module, a server and a user end, wherein the server comprises a data solving module, an intelligent decision-making module, a control module, a storage module and an early warning module; the collection module is connected to the sensing module in wired and wireless forms; the storage module is connected to the collection module in network communication; The sensor module is used to detect the caisson structure and environmental factors that affect the caisson construction operation; The acquisition module is used to collect the detection data detected by the sensor module and send it to the server; The data solving module is used to solve the to-be-processed data transmitted by the storage module into target data; The intelligent decision-making module is used to determine the next operation of the data processed by the data solution module; The control module is used to implement the anchor cable control method according to any one of claims 1 to 6; The storage module is used to receive the data transmitted by the acquisition module and store the data at each stage; The early warning module is used to issue an early warning during the operation of the system.

9. The system according to claim 8, characterized in that The intelligent decision-making module is also used to receive the target data transmitted by the data solution module, match the target data under the current working conditions with the case expert library, directly execute the next step of operation for cases whose similarity meets the preset threshold, and for cases where the similarity does not meet the preset threshold, perform the next step of operation after intervention through a preset intervention method.

10. The system according to claim 8, characterized in that The control module includes two stages of position adjustment operation, the first stage is the position adjustment operation, and the second stage is the leveling operation; The positioning operation includes: initial positioning and sinking in the caisson construction link, sinking to a preset distance from the base, and water injection and implantation; the positioning operation is realized by a positioning unit composed of a steel strand, a lifting cylinder cluster, and a hydraulic pump station; The positioning operation is used to move the caisson into a first preset rule range; The leveling operation is achieved by a leveling unit consisting of a leveling column, a support pad, and a capsule grouting system; The leveling operation is used to adjust the inclination that occurs after the caisson is placed in the bed to reach a second preset rule range.

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