Automatic positioning method and system for offshore open caisson foundation

Abstract

The invention provides an automatic positioning method and system for an offshore open caisson foundation, and the method comprises the steps: obtaining environment parameters, and calculation parameters of the open caisson foundation and a cable, carrying out the motion response analysis of the open caisson foundation and the cable, and obtaining an environment load borne by the open caisson foundation; a balance equation of the open caisson foundation is established, and the target tension force of each cable is calculated; starting to take up the cable until the cable force of each cable reaches the target tension force; the actual distance Li from the mooring point of each cable to the anchoring point is calculated, Li represents the distance from the mooring point of the current ith cable to the anchoring point, and the difference value delta Li = Li-Li (Goal) between the actual distance Li of each cable and the target distance Li (Goal) is calculated; wherein the target distance Li (Goal) represents the distance from the mooring point of the ith cable to the anchoring point when the open caisson foundation reaches the target position; and the cable is adjusted according to the difference value delta Li till the open caisson foundation reaches the target position. According to the method, high-precision positioning of the open caisson foundation in the complex marine environment is achieved, and the engineering quality is ensured.

Description

Technical Field

[0001] The invention relates to the technical field of caisson foundation positioning, and in particular to an automatic positioning method and system for an offshore caisson foundation. Background Art

[0002] With the development of cross-sea bridge projects, caisson foundations have become a commonly used foundation form in offshore projects due to their huge bearing capacity and good stability. During the construction process, maintaining the stability of the caisson and implementing positioning accuracy are crucial to the safety and quality of the entire project. The traditional caisson foundation positioning method mainly relies on manual operation, using a floating crane or other equipment to move the caisson to a predetermined position, and then sinking it to connect the height. This method has problems such as low positioning accuracy, long construction period and high labor costs. In addition, the offshore environment is complex and changeable, and factors such as wind, waves, and tides pose greater challenges to the positioning of the caisson.

[0003] At present, some automated positioning technologies have been proposed, such as positioning the caisson by combining the GPS positioning system with automated control technology. However, the existing automated positioning system still has shortcomings in cable control, which are mainly reflected in the following aspects:

[0004] Insufficient positioning accuracy: The existing system is difficult to ensure high-precision positioning of the caisson in complex offshore environments, which can easily lead to deviations;

[0005] Real-time control is difficult: The offshore environment changes rapidly, and existing systems are difficult to adjust the cable tension and position in real time, resulting in an unstable positioning process;

[0006] High system complexity: The current automatic positioning system has a complex structure, high installation and maintenance costs, and is difficult to operate.

[0007] Therefore, there is an urgent need for a new cable control method that can achieve high-precision automatic positioning of the caisson foundation in a complex offshore environment, simplify the operation and maintenance process, improve construction efficiency and reduce costs. Summary of the invention

[0008] The purpose of the present invention is to address the defects of the prior art and provide an automatic positioning method and system for an offshore caisson foundation. According to the actual environmental parameters and the calculated parameters of the caisson foundation and the cable, the target tension of each cable when the caisson foundation is balanced is calculated, and the target tension of each cable is used as a control indicator for preliminary cable winding. After the preliminary cable winding is completed, the difference between the actual distance and the target distance of each cable is used as a control indicator to adjust each cable (winding in or releasing the cable) to ensure that the caisson foundation is stable while accurately reaching the target position, thereby achieving high-precision positioning of the caisson foundation in a complex offshore environment and ensuring the quality of the project.

[0009] In order to solve the above technical problems, the present invention provides an automatic positioning method for an offshore caisson foundation, comprising:

[0010] Obtain environmental parameters and calculation parameters of caisson foundation and cables, perform motion response analysis on caisson foundation and cables, and obtain environmental loads on caisson foundation;

[0011] Establish the equilibrium equation of the caisson foundation and calculate the target tension of each cable;

[0012] Start to reel in the cables until the cable force of each cable reaches the target tension;

[0013] Calculate the actual distance L from the mooring point to the anchor point of each cable i , L i Indicates the distance from the mooring point of the current i-th cable to the anchor point, and calculates the actual distance L of each cable i Distance to target L i (Goal) difference ΔL i =L i -L i (Goal); where the target distance L i (Goal) represents the distance from the mooring point of the i-th cable to the anchor point when the caisson foundation reaches the target position;

[0014] According to the difference ΔL i Adjust the cables until the caisson foundation reaches the target position.

[0015] Furthermore, the equilibrium equation of the caisson foundation is established, and the method for calculating the target tension force of each cable includes:

[0016] The equilibrium equation of the caisson foundation includes the equilibrium in three translational directions and three rotational directions:

[0017]

[0018] Where N is the number of cables, F xi ,F yi ,F zi are the components of each cable in the X, Y, and Z directions respectively; M ox ,M oy ,M oz are the moments of each cable about the X, Y, and Z axes respectively;

[0019] Determine the tension range T of the cable construction process min ≤T i ≤T max , linear programming solution technology is used to determine the feasible solution and obtain the target tension of each cable.

[0020] Furthermore, the equilibrium equation of the caisson foundation is:

[0021]

[0022] Where, T i is the target tension of the i-th cable; α i is the angle between the projection of the ith cable on the XY plane and the Y axis; β i is the angle between the ith cable and the Z axis; F cx is the component of the environmental load on the X-axis, F cx =F c cos(α c )+F wave cos(α wave )+F w cos(α w ), F cy is the component F of the environmental load on the Y axis cy =F c cos(β c )+F wave cos(β wave )+F w cos(β w ), where α c ,α wave ,α w are the angles between the flow velocity, wave speed and wind speed and the X-axis, β c ,β wave ,β w are the angles between the flow velocity, wave speed and wind speed and the Y axis respectively; F f is the buoyancy of the caisson; m is the total mass of the caisson foundation and its ancillary facilities; B is the width of the caisson foundation; L is the length of the caisson foundation; is the coordinate of the mooring point of the ith cable.

[0023] In some embodiments, according to the difference ΔL i The method for adjusting the cable includes: adjusting the cable t times until the caisson foundation reaches the target position, wherein t≥1, and during the t times of adjustment, each time the difference ΔL is adjusted. i The largest cable is adjusted, and each adjustment length is the difference ΔL corresponding to the cable i Each time an adjustment is made, the cable force of each cable is determined. If the force on a cable exceeds the limit, it will be loosened, and the amount of relaxation is determined based on the determined tension range.

[0024] In some embodiments, according to the difference ΔL i The method for adjusting the cables comprises: when the difference ΔL of at least three cables i When it is less than the allowable error value, it is considered that the caisson foundation has reached the target position.

[0025] In some embodiments, each time according to the difference ΔL i After adjusting the cables, the position of the caisson foundation is reviewed: multiple measuring points are set on the caisson foundation, and the distance between the actual coordinates of the measuring points and the theoretical coordinates of the measuring points when the caisson foundation reaches the target position is calculated.

[0026] In some embodiments, the environmental parameters include the average flow rate U of the construction site during the construction period. c , average wind speed U w , irregular wave spectrum S(ω0), where ω0 is the circular frequency.

[0027] In some embodiments, the calculation parameters of the caisson foundation and cables include:

[0028] The width B and length L of the caisson foundation, the water entry depth d of the caisson foundation, the center of mass position of the caisson foundation at the target position, and the moment of inertia Ixx, Iyy, Izz of the caisson foundation in three directions around the local coordinate axis centered on the center of mass;

[0029] The elastic modulus E, density ρ, linear weight γ of the cable, coordinates of the mooring point and anchoring point of the cable, the mooring point is the connection point between one end of the cable and the caisson foundation, and the anchoring point is the fixed point of the other end of the cable.

[0030] In some embodiments, the method of starting to wind up the cables until the cable force of each cable reaches the target tension includes:

[0031] Each cable is reeled in cyclically in turn, and each reeling in is performed according to a certain reeling amount until each cable force reaches the target tension.

[0032] In a second aspect, the present invention provides an automatic positioning system for an offshore caisson foundation, including a caisson positioning monitoring system, a jack control computing system, and a caisson positioning execution system;

[0033] The caisson positioning execution system includes a plurality of cables and a plurality of anchors and a plurality of jacks corresponding to the plurality of cables one by one. The jacks are arranged on the caisson foundation. The caisson positioning execution system is used to receive and execute the cable adjustment command generated by the jack control computing system;

[0034] The caisson positioning monitoring system includes multiple positioners, multiple inclinometers and multiple pressure rings. The multiple positioners are used to monitor the three-dimensional geometric coordinates of key points of the caisson foundation in real time. The multiple inclinometers are used to monitor the inclination angles of the caisson foundation in the transverse and longitudinal directions of the bridge in real time. The multiple pressure rings are arranged on the reaction seat of the jack and are used to monitor the cable force in real time.

[0035] The jack control computing system is used to read the monitoring data of the caisson positioning monitoring system, analyze the monitoring data and generate cable adjustment commands

[0036] The beneficial effects of the present invention are:

[0037] 1. The present invention calculates the target tension of each cable when the caisson foundation is balanced according to the actual environmental parameters and the calculated parameters of the caisson foundation and the cable, and performs preliminary cable winding with the target tension of each cable as a control index. After the preliminary cable winding is completed, the difference between the actual distance and the target distance of each cable is used as a control index to adjust each cable (winding or releasing the cable), thereby ensuring that the caisson foundation is stable and the target position is accurately reached, thereby achieving high-precision positioning of the caisson foundation in a complex offshore environment and ensuring the quality of the project.

[0038] 2. The balance equation of the caisson foundation of the present invention includes balances in three translational directions and three rotational directions, taking into account the influence of water flow, wind and waves on the balance of the caisson foundation at the construction site during the construction period, so that the calculated target tension force of each cable is more in line with reality, ensuring that the caisson foundation is in a horizontal and stable posture.

[0039] 3. In the process of adjusting the cable according to the present invention, the difference ΔL i The largest cable starts cable adjustment, which is beneficial to improve the adjustment efficiency, making the difference ΔL of each cable i Reduce as soon as possible.

[0040] 4. The present invention considers the plane positioning of the actual caisson foundation, and only three points are needed to determine its plane position. Therefore, when the difference ΔL of at least three cables i When it is less than the allowable error value, it is considered that the caisson foundation has reached the target position.

[0041] 5. The present invention verifies the position of the caisson foundation by setting measuring points, thereby ensuring the accuracy of the position of the caisson foundation after adjusting the cables, wherein the measuring points can be set at the mooring points of the cables or other positions of the caisson foundation.

[0042] 6. The control method of the present invention is simple, which is conducive to shortening the period of caisson foundation positioning and construction, improving the overall construction efficiency, reducing the structural complexity of the automatic positioning system, making installation and maintenance easier, and reducing the difficulty and cost of operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 It is a structural schematic diagram of the caisson foundation and its ancillary facilities of the present invention;

[0044] Figure 2 This is a cable arrangement diagram of the present invention;

[0045] Figure 3It is a schematic diagram of the force on the caisson foundation of the present invention.

[0046] Reference numerals: jack 1; positioning instrument 2; inclinometer 3; cable 4; anchor 5. DETAILED DESCRIPTION

[0047] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0048] like Figure 1 As shown, the present invention provides an automatic positioning system for offshore caisson foundation, including a caisson positioning monitoring system, a jack control calculation system, and a caisson positioning execution system;

[0049] The caisson positioning execution system includes a plurality of cables 4 and a plurality of anchors 5 and a plurality of jacks 1 corresponding to the plurality of cables 4. In some embodiments, the cables 4, the anchors 5, and the jacks 1 are all provided with eight. Figure 1 As shown, two jacks 1 are arranged on each side of the caisson foundation to ensure the horizontal posture of the caisson foundation. The jacks 1 are continuous jacks, such as Figure 2 As shown, one end of the cable 4 is connected to the jack 1, and the other end of the cable 4 is connected to the anchor 5. The anchor 5 can be a steel pipe pier or an iron anchor, etc. The caisson positioning execution system is used to receive and execute the cable adjustment command generated by the jack control calculation system;

[0050] like Figure 1 As shown, the caisson positioning monitoring system includes multiple positioners 2, multiple inclinometers 3 and multiple pressure rings. The multiple positioners 2 are used to monitor the three-dimensional geometric coordinates of the key points of the caisson foundation in real time. In some embodiments, the key points are the midpoint of each side of the caisson foundation and the center position of the caisson foundation, and a total of five are set. The positioner 2 can be a GPS. The multiple inclinometers 3 are used to monitor the inclination angles of the caisson foundation in the transverse and longitudinal directions of the bridge in real time. The inclinometers 3 are set at the midpoint of each side of the caisson foundation, and a total of four are set. Multiple pressure rings are arranged on the reaction seat of the jack 1 to monitor the cable force in real time;

[0051] The jack control computing system is used to read the monitoring data of the caisson positioning monitoring system, analyze the monitoring data and generate cable adjustment commands.

[0052] The present invention also provides an automatic positioning method for an offshore caisson foundation, comprising:

[0053] S1, obtaining environmental parameters and calculation parameters of the caisson foundation and the cable 4, performing motion response analysis on the caisson foundation and the cable 4, and obtaining the environmental load on the caisson foundation;

[0054] Step S1 specifically includes:

[0055] S11. Statistical analysis of wave height H and period T at the construction site p and direction, forming an irregular wave spectrum S(ω0), where ω0 is the circular frequency, as the input condition of the wave environment element, according to the historical records of water flow velocity and wind speed at the construction site, the average flow velocity U of the construction site during the construction period is calculated and determined. c , average wind speed U w , the average flow velocity U of the construction site during the construction period c , average wind speed U w , the irregular wave spectrum S(ω0) is the environmental parameter.

[0056] The calculation parameters of the caisson foundation and cable 4 include:

[0057] The width B and length L of the caisson foundation, the water entry depth d of the caisson foundation, the center of mass position of the caisson foundation at the target position, and the moment of inertia Ixx, Iyy, Izz of the caisson foundation in three directions around the local coordinate axis centered on the center of mass;

[0058] The elastic modulus E, density ρ, linear weight γ of cable 4, the coordinates of the mooring point and anchoring point of cable 4, the mooring point is the connection point between one end of cable 4 and the jack 1 of the caisson foundation, and the anchoring point is the connection point between the other end of cable 4 and the anchor 5.

[0059] S12, carry out numerical simulation of the motion response of the caisson foundation, and use self-written programs or commercial software such as ANSYS / AQWA, Seseam to carry out motion response analysis according to the environmental parameters determined in step 11, the calculation parameters of the caisson foundation and the cable 4, and adjust the tension of the cable 4 to achieve the maximum target displacement of the caisson motion response, including the lateral displacement ΔX max , longitudinal displacement ΔY max , angular displacement ΔR max ; At the same time, extract the average wind load F on the caisson foundation c , water flow load F w And the second-order wave force load F wave .

[0060] S2. Establish the equilibrium equation of the caisson foundation and calculate the target tension force of each cable 4;

[0061] Step S2 specifically includes:

[0062] like Figure 3 As shown in the figure, the origin of the global coordinate system is established at the center of gravity of the caisson foundation. The equilibrium equation of the caisson foundation includes the equilibrium in three translation directions and three rotation directions:

[0063]

[0064] Where N is the number of cables 4, F xi ,F yi ,F zi are the components of force of each cable 4 in the X, Y and Z directions respectively; M ox ,M oy ,M oz are the moments of each cable 4 about the X, Y and Z axes respectively;

[0065] according to Figure 3 The cable force direction of each cable 4 can be expanded as follows:

[0066]

[0067] Where, T1, T2, ..., T8 are the target tensions of the eight cables 4; α1, α2, ..., α8 are the angles between the projections of the eight cables 4 on the XY plane and the Y axis (acute angles); β1, β2, ..., β8 are the angles between the eight cables 4 and the Z axis; F cx is the component of the environmental load on the X-axis, F cx =F c cos(α c )+F wave cos(α wave )+F w cos(α w ), F cy is the component F of the environmental load on the Y axis cy =F c cos(β c )+F wave cos(β wave )+F w cos(β w ), where α c ,α wave ,α w are the angles between the flow velocity, wave speed and wind speed and the X-axis, β c ,β wave ,β w are the angles between the flow velocity, wave speed and wind speed and the Y axis respectively; F f is the buoyancy of the caisson; m is the total mass of the caisson foundation and its ancillary facilities; B is the width of the caisson foundation; L is the length of the caisson foundation; is the coordinate of the mooring point of the i-th cable 4.

[0068] Determine the tension range T of cable 4 during construction min ≤T i ≤T max, using linear programming solution technology, a feasible solution is determined to obtain the target tension of each cable 4.

[0069] S3. When the caisson floats close to the target position, the cables 4 are arranged and the cable reeling is started according to the target tension of each cable 4 determined in step S2. Each cable 4 is reeled in cyclically in turn, and each reeling in is performed according to a certain reeling amount until each cable force reaches the target tension.

[0070] S4. According to the theoretical solution of the equilibrium equation, if there is no error, the target tension force determined in step S3 can make the caisson foundation reach the target position. Due to the measurement error of cable 4 tension and the fluctuation of environmental load, the actual caisson foundation needs to be adjusted several times before it can reach the target position.

[0071] Calculate the actual distance L from the mooring point to the anchor point of each cable 4 i , L i Indicates the distance from the mooring point of the current i-th cable 4 to the anchor point, and calculates the actual distance L of each cable 4 i Distance to target L i (Goal) difference ΔL i =L i -L i (Goal); where the target distance L i (Goal) represents the distance from the mooring point of the i-th cable 4 to the anchor point when the caisson foundation reaches the target position;

[0072] According to the difference ΔL i The cable 4 is adjusted until the caisson foundation reaches the target position.

[0073] In some embodiments, according to the difference ΔL i The method for adjusting the cable 4 includes: adjusting the cable t times until the caisson foundation reaches the target position, wherein t≥1, and during the t times of adjustment, each time the difference ΔL is adjusted. i The largest cable is adjusted, and each adjustment length is the difference ΔL corresponding to the cable i Each time an adjustment is made, the cable force of each cable is determined. If the force on a cable exceeds the limit, it will be loosened, and the amount of relaxation is determined based on the determined tension range.

[0074] Considering the plane positioning of the actual caisson foundation, only three points are needed to determine its plane position. Therefore, when the difference ΔL of at least three cables 4 i When it is less than the allowable error value (the allowable error value can be set to 5cm), it is considered that the caisson foundation has reached the target position.

[0075] In order to ensure the reliability of the adjustment of the cable 4, in some embodiments, each time according to the difference ΔLi After adjusting the cable, the position of the caisson foundation is checked: multiple measuring points are set on the caisson foundation, and the distance between the actual coordinates of the measuring points and the theoretical coordinates of the measuring points when the caisson foundation reaches the target position is calculated. Among them, the measuring points can be selected as the mooring points of the cable 4, and the actual coordinates of the measuring points can be calculated from the coordinates measured by the positioning instrument 2.

[0076] The embodiments described above are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, a person skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. An automatic positioning method for offshore caisson foundation, characterized in that: include: Obtain environmental parameters and calculation parameters of caisson foundation and cables, perform motion response analysis on caisson foundation and cables, and obtain environmental loads on caisson foundation; Establish the equilibrium equation of the caisson foundation and calculate the target tension of each cable; Start to reel in the cables until the cable force of each cable reaches the target tension; Calculate the actual distance L from the mooring point to the anchor point of each cable i , L i Indicates the distance from the mooring point of the current i-th cable to the anchor point, and calculates the actual distance L of each cable i Distance to target L i (Goal) difference ΔL i =L i -L i (Goal); where the target distance L i (Goal) represents the distance from the mooring point of the i-th cable to the anchor point when the caisson foundation reaches the target position; According to the difference ΔL i Adjust the cables until the caisson foundation reaches the target position.

2. The automatic positioning method for offshore caisson foundation according to claim 1, characterized in that: The method of establishing the equilibrium equation of the caisson foundation and calculating the target tension force of each cable includes: The equilibrium equation of the caisson foundation includes the equilibrium in three translational directions and three rotational directions: Where N is the number of cables, F xi ,F yi ,F zi are the components of each cable in the X, Y, and Z directions respectively; M ox ,M oy ,M oz are the moments of each cable about the X, Y, and Z axes respectively; Determine the tension range T of the cable construction process min ≤T i ≤T max , linear programming solution technology is used to determine the feasible solution and obtain the target tension of each cable.

3. The automatic positioning method for offshore caisson foundation according to claim 2, characterized in that: The equilibrium equation of the caisson foundation is: Where, T i is the target tension of the i-th cable; α i is the angle between the projection of the ith cable on the XY plane and the Y axis; β i is the angle between the ith cable and the Z axis; F cx is the component of the environmental load on the X-axis, F cx =F c cos(α c )+F wave cos(α wave )+F w cos(α w ), F cy is the component F of the environmental load on the Y axis cy =F c cos(β c )+F wave cos(β wave )+F w cos(β w ), where α c ,α wave ,α w are the angles between the flow velocity, wave speed and wind speed and the X-axis, β c ,β wave ,β w are the angles between the flow velocity, wave speed and wind speed and the Y axis respectively; F f is the buoyancy of the caisson; m is the total mass of the caisson foundation and its ancillary facilities; B is the width of the caisson foundation; L is the length of the caisson foundation; is the coordinate of the mooring point of the ith cable.

4. The automatic positioning method for offshore caisson foundation according to any one of claims 1 to 3, characterized in that: According to the difference ΔL i The method for adjusting the cable includes: adjusting the cable t times until the caisson foundation reaches the target position, wherein t≥1, and during the t times of adjustment, each time the difference ΔL is adjusted. i The largest cable is adjusted, and each adjustment length is the difference ΔL corresponding to the cable i Each time an adjustment is made, the cable force of each cable is determined. If the force on a cable exceeds the limit, it will be loosened, and the amount of relaxation is determined based on the determined tension range.

5. The automatic positioning method for offshore caisson foundation according to any one of claims 1 to 3, characterized in that: According to the difference ΔL i The method for adjusting the cables comprises: when the difference ΔL of at least three cables i When it is less than the allowable error value, it is considered that the caisson foundation has reached the target position.

6. The automatic positioning method for offshore caisson foundation according to any one of claims 1 to 3, characterized in that: Each time according to the difference ΔL i After adjusting the cables, the position of the caisson foundation is reviewed: multiple measuring points are set on the caisson foundation, and the distance between the actual coordinates of the measuring points and the theoretical coordinates of the measuring points when the caisson foundation reaches the target position is calculated.

7. The automatic positioning method for offshore caisson foundation according to any one of claims 1 to 3, characterized in that: The environmental parameters include the average flow rate U of the construction site during the construction period. c , average wind speed U w , irregular wave spectrum S(ω0), where ω0 is the circular frequency.

8. The automatic positioning method for offshore caisson foundation according to any one of claims 1 to 3, characterized in that: The calculation parameters of the caisson foundation and cables include: The width B and length L of the caisson foundation, the water entry depth d of the caisson foundation, the center of mass position of the caisson foundation at the target position, and the moment of inertia Ixx, Iyy, Izz of the caisson foundation in three directions around the local coordinate axis centered on the center of mass; The elastic modulus E, density ρ, linear weight γ of the cable, coordinates of the mooring point and anchoring point of the cable, the mooring point is the connection point between one end of the cable and the caisson foundation, and the anchoring point is the fixed point of the other end of the cable.

9. The automatic positioning method for offshore caisson foundation according to any one of claims 1 to 3, characterized in that: Methods for starting to reel in the cables until the cable force of each cable reaches the target tension include: Each cable is reeled in cyclically in turn, and each reeling in is performed according to a certain reeling amount until each cable force reaches the target tension.

10. An automatic positioning system for an offshore caisson foundation according to the automatic positioning method for an offshore caisson foundation according to any one of claims 1 to 9, characterized in that: Including caisson positioning monitoring system, jack control calculation system, caisson positioning execution system; The caisson positioning execution system includes a plurality of cables and a plurality of anchors and a plurality of jacks corresponding to the plurality of cables one by one. The jacks are arranged on the caisson foundation. The caisson positioning execution system is used to receive and execute the cable adjustment command generated by the jack control computing system; The caisson positioning monitoring system includes multiple positioners, multiple inclinometers and multiple pressure rings. The multiple positioners are used to monitor the three-dimensional geometric coordinates of key points of the caisson foundation in real time. The multiple inclinometers are used to monitor the inclination angles of the caisson foundation in the transverse and longitudinal directions of the bridge in real time. The multiple pressure rings are arranged on the reaction seat of the jack and are used to monitor the cable force in real time. The jack control computing system is used to read the monitoring data of the caisson positioning monitoring system, analyze the monitoring data and generate a cable adjustment command.

Images