Large component underwater butt joint guiding system and butt joint positioning method

Abstract

The invention belongs to the technical field of underwater large building construction, and relates to a large component underwater butt joint guiding system and a butt joint positioning method. The system comprises a guide bracket arranged on the top face of the tail end of an installed component and a guide rod arranged on the top face of the head end of a to-be-installed component, and one end of the guide rod extends out of the head end of the to-be-installed component; a guiding groove and a positioning groove are formed in the guiding bracket, all-directional sonar scanners are arranged on the front side and the rear side of the guiding bracket respectively, a pair of corner instruments are oppositely arranged on the outer sides of the upper portions of the two side walls of the positioning groove in the guiding bracket, each corner instrument comprises a rotary encoder and a measuring rod, and the axis of a rotary shaft of each rotary encoder is parallel to the central axis of the positioning groove. One end of the measuring rod is vertically connected to the rotating shaft of the rotary encoder, and the other end horizontally extends towards the rotary encoder on the opposite side. Through the arrangement of the omni-directional sonar scanner and the corner instrument, accurate alignment of the guide rod and the guide bracket can be achieved when the to-be-mounted component is submerged and mounted, and the mounting precision of the to-be-mounted component is remarkably improved.

Description

Technical Field

[0001] The invention belongs to the technical field of underwater large-scale structure construction, and particularly relates to a large component underwater docking guiding system and a docking positioning method. Background Technique

[0002] During the construction of underwater large-scale structures such as immersed tunnels, the precise underwater docking and positioning of large components such as pipe segments are crucial. Usually, mechanical positioning methods are used to limit and position the docking ends of the components. Currently, a docking guiding device is usually used for the underwater installation and positioning of components to be installed. The docking guiding device includes a guiding bracket arranged on the top surface of the tail end of the installed component and a guiding rod arranged on the top surface of the head end of the component to be installed. A positioning groove adapted to the outer diameter of the guiding rod is formed on the guiding bracket. The positioning groove is a rectangular groove, and the central axis direction of the positioning groove is consistent with the length direction of the installed component. An outwardly expanding guiding groove is provided on the upper part of the positioning groove, that is, the guiding groove is an inverted trapezoidal groove. The axial direction of the guiding rod is consistent with the length direction of the component to be installed, and one end of the guiding rod extends outside the head end of the component to be installed.

[0003] Currently, a component transportation and installation integrated ship is usually used for the underwater sinking and installation of components to be installed. First, a measurement and control system on the ship and a measurement tower arranged on the component to be installed are used to roughly position and preliminarily guide the component to be installed, so that the guiding rod enters the guiding groove of the guiding bracket and the guiding rod is roughly aligned with the guiding bracket. Then, divers enter the water and measure the relative position relationship between the guiding rod and the guiding bracket in real time near the docking end, so as to determine the real-time position of the docking end of the component to be installed, and guide the guiding rod into the positioning groove of the guiding bracket, thereby realizing the docking and positioning between the component to be installed and the installed component. However, this installation and positioning method has the following deficiencies: 1) Low efficiency: During the entire docking process of the component to be installed, divers are required to cooperate underwater for a long time. Limited by the underwater operation time and physical strength of the divers, the installation efficiency is low. Moreover, the process of the divers diving from the water surface to the operation position and rising and returning also takes time, further affecting the overall construction progress; 2) Poor safety: The underwater operation environment is complex, with many uncertain factors such as water flow, water pressure changes, and marine biological interference. When divers operate near the docking end, there is a risk of falling into the component docking gap, and the divers may be squeezed and injured or trapped in the component docking cavity. In addition, the operation of divers has a depth limit and cannot meet the construction requirements in deep water environments; 3) Poor installation accuracy: The underwater environment can interfere with the vision and operation of divers. Coupled with factors such as the refraction of water and insufficient light, it is difficult for divers to accurately measure the relative positional relationship between the guiding rod and the guiding bracket, resulting in large errors in the measurement data, which in turn affects the accuracy of determining the position of the docking end of the component to be installed. Currently, to ensure that the guiding rod can smoothly enter the positioning groove of the guiding bracket, the width of the positioning groove of the guiding bracket is usually about 10 cm larger than the outer diameter of the guiding rod, but it is likely to cause a large deviation in the docking of the component to be installed, thus affecting the overall construction quality of large underwater structures. Summary of the Invention

[0004] In view of the deficiencies in the related art, the present invention provides a large-component underwater docking guiding system and a docking positioning method to solve the technical problems mentioned in the above background art.

[0005] The present invention provides a large-component underwater docking guiding system, including a guiding bracket arranged on the top surface of the tail end of the installed component and a guiding rod arranged on the top surface of the head end of the component to be installed; wherein, A positioning groove is provided on the guiding bracket, the central axis direction of the positioning groove is consistent with the length direction of the installed component, the width of the positioning groove is adapted to the outer diameter of the guiding rod, and an outward-expanded guiding groove is provided on the upper part of the positioning groove; on the front and rear sides of the guiding bracket in the central axis direction of the positioning groove, an omnidirectional sonar scanner is respectively provided; on the guiding bracket, a pair of corner meters are oppositely arranged on the outer sides of the upper parts of the two side walls of the positioning groove, and each corner meter includes a rotary encoder and a measuring rod. The axis of the rotary encoder is parallel to the central axis of the positioning groove, one end of the measuring rod is vertically connected to the axis of the rotary encoder, and the other end extends horizontally towards the opposite rotary encoder; The axial direction of the guiding rod is consistent with the length direction of the component to be installed, and one end of the guiding rod extends out of the head end of the component to be installed; During the lowering process of the component to be installed, when the guiding rod enters the scanning range of the omnidirectional sonar scanner, the axial orientation of the guiding rod is obtained in real time by using two omnidirectional sonar scanners to guide the guiding rod into the guiding groove of the guiding bracket to complete the rough positioning of the component to be installed; when the guiding rod presses against the two measuring rods of the two corner meters and pushes the measuring rods to rotate, the axial position of the guiding rod is obtained in real time by using the two corner meters to guide the guiding rod into the positioning groove of the guiding bracket to complete the fine positioning of the component to be installed.

[0006] In some embodiments, buffer pads are provided on both side walls of the guiding groove, and each buffer pad includes a contact plate, a backing plate and a rubber pad connected in sequence. The rubber pad is connected to the guiding bracket, and the contact plate is an MGE engineering plastic alloy plate.

[0007] In some embodiments, the included angle between the side wall of the guiding groove and the horizontal plane is 15° - 80°.

[0008] In some of these embodiments, the groove width of the positioning groove of the guiding bracket is 4 mm to 10 mm larger than the outer diameter of the guiding rod.

[0009] In some of these embodiments, the guiding bracket is detachably connected to the installed component through a bracket, and the omnidirectional sonar scanner is detachably connected to the installed component through a base; the guiding rod is detachably connected to the component to be installed through two supports, and the two supports are arranged at intervals along the axial direction of the guiding rod.

[0010] In some of these embodiments, the number of guiding brackets is multiple, the number of guiding rods is the same as the number of guiding brackets, the multiple guiding brackets are arranged at intervals along the width direction of the installed component, the multiple guiding rods are arranged at intervals along the width direction of the component to be installed and correspond to the multiple guiding brackets one by one; two angle measuring instruments are provided on each guiding bracket, and an omnidirectional sonar scanner is provided on each of the front and rear sides of each guiding bracket.

[0011] The present invention also provides a method for underwater docking and positioning of large components, which is carried out by using the above-mentioned underwater docking guiding system for large components, and includes the following steps: The rough positioning step of the component to be installed, which includes lowering the component to be installed; when the guiding rod enters the scanning range of the omnidirectional sonar scanner, two groups of measured point coordinate data at two cross-sections on the outer wall of the guiding rod are obtained in real time by using two omnidirectional sonar scanners, and accordingly, the attitude of the component to be installed during lowering is adjusted to align the axial direction of the guiding rod with the central axis direction of the positioning groove of the guiding bracket; the central axis position of the guiding rod is calculated in real time by using the least squares adjustment algorithm, and the deviation between its position and the central position of the positioning groove of the guiding bracket is calculated, and accordingly, the position of the component to be installed during lowering is adjusted to guide the guiding rod into the guiding groove of the guiding bracket, and the deviation meets the preset rough positioning deviation requirement; The fine positioning step of the component to be installed, which includes continuing to lower the component to be installed; when the guiding rod presses against the two measuring rods of the two angle measuring instruments and pushes the measuring rods to rotate, the angles of the two measuring rods are obtained in real time by using two rotary encoders, so as to calculate the central axis position of the guiding rod in real time, and the deviation between its position and the central position of the positioning groove of the guiding bracket is calculated, and accordingly, the position of the component to be installed during lowering is adjusted to guide the guiding rod into the positioning groove of the guiding bracket, and the deviation meets the preset fine positioning deviation requirement.

[0012] In some of these embodiments, the method for underwater docking and positioning of large components further includes the installation and calibration steps of the docking guiding system, which include: In the dock, a guiding rod and a guiding bracket are respectively installed at preset positions at the head and tail ends of the top surface of each component, so that the axial direction of the guiding rod and the central axis direction of the positioning groove of the guiding bracket are both consistent with the length direction of the component; an omnidirectional sonar scanner is respectively arranged on the front and rear sides of the guiding bracket in the central axis direction of the positioning groove; a pair of angle measuring instruments are oppositely arranged on the outer sides of the upper parts of the two side walls of the positioning groove on the guiding bracket; Inside the dock, set up a total station on the top surface of the component; denote the length direction of the component as the X-axis, the width direction as the Y-axis, and the height direction as the Z-axis to establish a component coordinate system; use the total station to calibrate the coordinates of the sound source center of the omnidirectional sonar scanner under the YZ plane of the component coordinate system and the coordinates of the center of the positioning slot of the guiding bracket under the YZ plane of the component coordinate system ; Denote the rotation encoder shaft centers of the two angle gauges as 、 respectively, and calibrate their coordinates under the YZ plane of the component coordinate system 、 ; After a component is lowered into the water and the underwater installation is completed, the component becomes an installed component; conduct underwater through measurement on the installed component to establish the conversion relationship between the component coordinate system and the construction coordinate system of the installed component; when another component is to be lowered into the water and docked with the installed component, the component is called a to-be-installed component; after the to-be-installed component and the installed component are docked underwater, remove the guiding bracket and guiding rod on the installed component, and install the removed guiding bracket and guiding rod on the next to-be-installed component in the dock and calibrate them

[0013] In some embodiments, in the rough positioning step of the to-be-installed component, the calculation of the axial position of the guiding rod includes the following steps: After adjusting the axis of the guiding rod to be consistent with the central axis direction of the positioning slot of the guiding bracket, denote the coordinates of the sound source center of an omnidirectional sonar scanner under the YZ plane of the component coordinate system of the installed component as , denote the coordinates of a set of measuring points on the outer wall of the guiding rod obtained in real time by the omnidirectional sonar scanner under the YZ plane of the component coordinate system of the installed component as , denote the scanning distance and direction angle of the omnidirectional sonar scanner for the measuring points on the outer wall of the guiding rod as , where ; Establish the relationship between and , expressed as formula (1); (1); Establish the observation equation of the axis center of the guiding rod under the YZ plane of the component coordinate system of the installed component as , expressed as formula (2); where is the radius of the guiding rod; (2); Linearize the observation equation of formula (2), expressed as formula (3); where is the coordinate of the center point of the arc formed by fitting multiple measuring points on the outer wall of the guiding rod under the YZ plane of the component coordinate system of the installed component, For the adjusted correction, ; (3); After rearranging Equation (3), Equation (4) is obtained; where is correction of (4); Let , , , then Equation (4) can be expressed as Equation (5); (5); Let , , , to obtain the error equation, expressed as Equation (6); (6); Using the least squares adjustment calculation, the solution is obtained, expressed as Equation (7), (7); Finally, the coordinates of the axis of the guide rod in the YZ plane of the component coordinate system of the already installed component are obtained, expressed as Equation (8); (8); According to the conversion relationship between the component coordinate system of the already installed component and the construction coordinate system that has been calibrated, the coordinates of the center of the positioning slot of the guide bracket in the YZ plane of the component coordinate system, the axis of the guide rod in the YZ plane of the component coordinate system of the already installed component are all converted into their construction coordinates in the construction coordinate system, and the deviation between the position of the axis of the guide rod and the center position of the positioning slot of the guide bracket is calculated accordingly, and the position of the component to be installed during lowering is adjusted accordingly to guide the guide rod into the guiding groove of the guide bracket.

[0014] In some of these embodiments, in the step of precise positioning of the component to be installed, the calculation of the position of the axis of the guide rod includes the following steps: According to Equations (9)-(10), the coordinates of the intersection point of the two measuring rods after rotation in the YZ plane of the component coordinate system of the already installed component are calculated in real time, expressed as Equation (11); where and are respectively the angles between the two measuring rods connected to the center of the rotating encoder shaft and and the Z-axis of the component coordinate system of the installed component, and are respectively the distances between the intersection point and the center of the rotating encoder shaft , the intersection point and the center of the rotating encoder shaft on the YZ plane of the component coordinate system of the installed component; (9); (10); (11); According to equations (12) - (15), the coordinates of the axis center of the guiding rod on the YZ plane of the component coordinate system of the installed component are solved in real time and expressed as equation (16); where, is the coordinate of the tangent point between the measuring rod connected to the center of the rotating encoder shaft and the guiding rod on the YZ plane of the component coordinate system of the installed component, is the coordinate of the tangent point between the measuring rod connected to the center of the rotating encoder shaft and the guiding rod on the YZ plane of the component coordinate system of the installed component, and are respectively the distances between the intersection point and the tangent point , the intersection point and the tangent point ; (12); (13); (14); (15); (16); According to the conversion relationship between the component coordinate system of the installed component and the construction coordinate system that has been calibrated, the coordinates of the center of the positioning groove of the guiding bracket on the YZ plane of the component coordinate system, the coordinates of the axis center of the guiding rod on the YZ plane of the component coordinate system of the installed component All are converted into their construction coordinates in the construction coordinate system, based on which the deviation between the axis position of the guiding rod and the center position of the positioning slot of the guiding bracket is calculated, and the position of the component to be installed during lowering is adjusted accordingly to guide the guiding rod into the positioning slot of the guiding bracket.

[0015] Based on the above technical solutions, the large-component underwater docking guiding system and docking positioning method in the embodiments of the present invention, through the setting and combined application of the omnidirectional sonar scanner and the angle measurer, and the calculation of measurement data, can solve the drawbacks of the prior art that rely on divers for underwater measurement to guide the docking and positioning of the component to be installed and the installed component. When the component to be installed is lowered and installed underwater, it can achieve the rapid and accurate alignment of the guiding rod and the guiding bracket, significantly improve the underwater docking accuracy of the component to be installed and the installed component, that is, improve the installation accuracy of the component to be installed, and improve the construction efficiency and construction safety. Description of the Drawings

[0016] The drawings described herein are used to provide a further understanding of the present invention, form a part of this application, and the schematic embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation to the present invention. In the drawings: Figure 1 Schematic Diagram I of the State of the Large-Component Underwater Docking Guiding System of the Present Invention during Component Docking; Figure 2 Schematic Diagram II of the State of the Large-Component Underwater Docking Guiding System of the Present Invention during Component Docking; Figure 3 Schematic Diagram I of the Large-Component Underwater Docking Guiding System of the Present Invention; Figure 4 Schematic Diagram II of the Large-Component Underwater Docking Guiding System of the Present Invention; Figure 5 Front View of the Guiding Bracket in the Present Invention; Figure 6 Schematic Diagram of the Omnidirectional Sonar Scanner in the Present Invention; Figure 7 Schematic Diagram of the Rotary Encoder in the Present Invention; Figure 8 Side View of the Guiding Rod in the Present Invention; Figure 9 Schematic Diagram of Measuring the Guiding Rod with the Omnidirectional Sonar Scanner in the Present Invention; Figure 10 Principle Schematic Diagram of Measuring the Guiding Rod with the Angle Measurer in the Present Invention.

[0017] In the figure: 10, installed component; 11, guiding bracket; 111, positioning groove; 112, guiding groove; 12, omnidirectional sonar scanner; 13, goniometer; 131, rotary encoder; 132, rotating shaft; 133, reverse damper; 134, measuring rod; 14, buffer cushion block; 141, contact plate; 142, backing plate; 143, rubber pad; 15, bracket; 16, base; 20, component to be installed; 21, guiding rod; 22, support. Detailed implementation manner

[0018] The following will clearly and completely describe the technical solutions in the embodiments in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0019] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "center", "transverse", "longitudinal", "upper", "lower", "top", "bottom", "inner", "outer", "left", "right", "front", "rear", "vertical", "horizontal", etc. is based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present invention.

[0020] The terms "first", "second", etc. are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined with "first", "second", etc. may explicitly or implicitly include one or more of such features.

[0021] In the description of the present invention, it should be noted that unless otherwise clearly specified and limited, the terms "installation", "connection", and "connection" should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral connection; it may be a direct connection or an indirect connection through an intermediate medium, and it may be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0022] Refer to Figures 1-9 As shown, the present invention provides a large-component underwater docking guiding system for underwater docking and positioning of the component 20 to be installed and the installed component 10. The large-component underwater docking guiding system includes a guiding bracket 11 arranged on the top surface of the tail end of the installed component 10 and a guiding rod 21 arranged on the top surface of the head end of the component 20 to be installed.

[0023] The guiding bracket 11 is provided with a positioning groove 111 that penetrates through and has an upper opening; the axial direction of the positioning groove 111 is consistent with the length direction of the installed component 10; it should be noted that the positioning groove 111 is a rectangular groove, and the central axis of the positioning groove 111 is the midline of the bottom surface of the positioning groove 111 in the length direction. The groove width of the positioning groove 111 is adapted to the outer diameter of the guiding rod 21, so that the guiding rod 21 can be accommodated in the positioning groove 111. The guiding bracket 11 is further provided with an outward-expanding guiding groove 112 at the upper part of the positioning groove 111; the guiding groove 112 is an inverted trapezoidal groove.

[0024] On the front and rear sides of the guiding bracket 11 in the axial direction of the positioning groove 111, a pair of omnidirectional sonar scanners 12 are respectively provided; further, the connection line of the sound source centers of the two omnidirectional sonar scanners 12 can coincide vertically with the axial direction of the positioning groove 111. Specifically, the omnidirectional sonar scanner 12 uses sonar signals to perform ranging in a 360° direction with the sound source as the center. The frequency of the sonar signal is 2 MHz, the full-circle angular resolution can reach 0.9°, the effective ranging range is 0.1 m to 5 m, and the ranging accuracy is ±10 mm.

[0025] On the guiding bracket 11, a pair of angle gauges 13 are oppositely arranged on the outer sides of the upper parts of the two side walls of the positioning groove 111, that is, one angle gauge 13 is provided on each side in the width direction of the positioning groove 111; each angle gauge 13 includes a rotary encoder 131 and a measuring rod 134; the rotary encoder 131 is installed on the guiding bracket 11, and the axis of the rotating shaft 132 of the rotary encoder 131 is parallel to the central axis of the positioning groove 111; one end of the measuring rod 134 is vertically connected to the rotating shaft 132 of the rotary encoder 131, and the other end of the measuring rod 134 extends horizontally towards the opposite rotary encoder 131. Those skilled in the art can understand that the rotary encoder 131 internally is provided with components such as a magnetic coupling connector and a reverse damper 133 sleeved on the rotating shaft 132; when the measuring rod 134 rotates under the action of an external force, it drives the rotating shaft 132 of the rotary encoder 131 to rotate synchronously, and the rotary encoder 131 can measure the rotation angle of the measuring rod 134 in real time; the frequency of the rotary encoder 131 is 50 Hz, and the measurement accuracy can reach ±0.01°.

[0026] The guiding rod 21 is a rod-shaped member with high precision and high strength; the axial direction of the guiding rod 21 is consistent with the length direction of the component to be installed 20. One end of the guiding rod 21 is connected to the top surface of the head end of the component to be installed 20, and the other end of the guiding rod 21 extends out of the head end of the component to be installed 20.

[0027] Further explanation: During the underwater lowering and installation process of the component to be installed 20, when the guiding rod 21 on the component to be installed 20 enters the scanning range of the omnidirectional sonar scanner 12 on the installed component 10, the omnidirectional sonar scanner 12 senses the guiding rod 21 and emits a sonar signal to perform ranging in a 360° direction centered on the sound source. By using two omnidirectional sonar scanners 12, the axial orientation of the guiding rod 21 is obtained in real time to guide the guiding rod 21 into the guiding groove 112 of the guiding bracket 11, completing the rough positioning of the component to be installed 20. The component to be installed 20 continues to be lowered. When the guiding rod 21 on the component to be installed 20 presses against the two measuring rods 134 of the two goniometers 13 and pushes the measuring rods 134 to rotate, the rotary encoder 131 measures the rotation angle of the measuring rods 134 in real time. Then, by using the two goniometers 13, the axial center position of the guiding rod 21 is obtained in real time to guide the guiding rod 21 into the positioning groove 111 of the guiding bracket 11, completing the fine positioning of the component to be installed 20.

[0028] In the above-described exemplary embodiment, through the arrangement of the omnidirectional sonar scanner 12 and the goniometer 13 at the guiding bracket 11 of the installed component 10, when the component to be installed 20 is installed underwater, the omnidirectional sonar scanning and the measuring rod leaning technology can be used to achieve the rapid and accurate alignment of the guiding rod 21 and the guiding bracket 11, significantly improving the underwater docking accuracy between the component to be installed 20 and the installed component 10, that is, improving the underwater installation accuracy of the component to be installed 20, and enhancing the construction efficiency and construction safety, solving the drawbacks of the prior art in which divers measure underwater to guide the docking of components.

[0029] Reference Figure 5 As shown, in some embodiments, buffer pads 14 are provided on both side walls of the guiding groove 112 of the guiding bracket 11. Each buffer pad 14 includes a contact plate 141, a backing plate 142, and a rubber pad 143 connected in sequence. Among them, the rubber pad 143 is connected to the guiding bracket 11, the contact plate 141 is an MGE engineering plastic alloy plate, and the backing plate 142 can be a steel plate. Since the component to be installed 20 has a certain speed when being lowered, the guiding rod 21 is likely to collide with the guiding groove 112 of the guiding bracket 11. The setting of the rubber layer can play a role in buffering the impact force, the backing plate 142 can enhance the impact resistance strength of the buffer pad 14, and the MGE engineering plastic alloy plate has the advantages of self-lubrication, small friction coefficient, maintenance-free, wear resistance, corrosion resistance, etc., which can reduce the friction between the guiding rod 21 and the guiding bracket 11, enabling the guiding rod 21 to smoothly enter the positioning groove 111 through the guiding groove 112.

[0030] Reference Figure 5 As shown, in some embodiments, the included angle between the side wall of the guiding groove 112 and the horizontal plane is 15° - 80°, and this included angle can be 30°, 45°, 60°. Thus, the guiding groove 112 has a relatively large accommodation range, making the initial positioning of the guiding rod 21 on the guiding bracket 11 more convenient and rapid.

[0031] In some embodiments, the groove width of the positioning groove 111 of the guiding bracket 11 is 4 mm to 10 mm larger than the outer diameter of the guiding rod 21. Compared with the prior art where it is difficult to accurately position the docking end of the component to be installed 20 due to the low underwater measurement accuracy of divers and the groove width of the positioning groove 111 needs to be set about 10 cm larger than the outer diameter of the guiding rod 21, in this embodiment, on the basis of improving the docking accuracy by using the omnidirectional sonar scanner 12 and the goniometer 13, the dimensional matching between the groove width of the positioning groove 111 and the outer diameter of the guiding rod 21 is refined to further ensure the docking accuracy between the guiding rod 21 and the guiding bracket 11, that is, to ensure the positioning accuracy of the first end of the component to be installed 20, thereby significantly improving the positioning accuracy of the tail end of the component to be installed 20 and the overall installation accuracy of the component to be installed 20.

[0032] Reference Figures 3-6 、 Figure 8 、 Figure 9 As shown in

[0033] In some embodiments, the guiding bracket 11 is detachably connected to the installed component 10 through a bracket 15; the omnidirectional sonar scanner 12 is detachably connected to the installed component 10 through a base 16; the guiding rod 21 is detachably connected to the component to be installed 20 through two supports 22, and the two supports 22 are arranged at intervals along the axial direction of the guiding rod 21. Thus, the guiding bracket 11, the omnidirectional sonar scanner 12, and the guiding rod 21 can be recycled on different components, reducing the construction cost.

[0034] Reference Figures 1-10 As shown in

[0035] The rough positioning step of the component to be installed 20 includes the following steps: When the component to be installed 20 is floated to the preset construction position, lower the component to be installed 20. During the lowering process of the component to be installed 20, when the guide rod 21 on the component to be installed 20 enters the scanning range of the omnidirectional sonar scanner 12 on the installed component 10, the omnidirectional sonar scanner 12 emits sonar signals to collect the measured point data of the outer wall of the guide in real time; by using two omnidirectional sonar scanners 12, two groups of measured point coordinate data at two cross-sections of the outer wall of the guide rod 21 are obtained in real time. By comparing the two groups of measured point coordinate data, the axial direction of the guide rod 21 can be obtained, and accordingly, the attitude of the component to be installed 20 during lowering can be adjusted to align the axis of the guide rod 21 with the central axis direction of the positioning groove 111 of the guide bracket 11; it should be noted that at this time, each group of measured points of each omnidirectional sonar scanner 12 on the outer wall of the guide rod 21 is located on the same cross-sectional arc perpendicular to the axis of the guide rod 21, and the position of the arc center point, that is, the axis position of the guide rod 21, can be obtained by performing circular fitting on each group of measured point coordinate data. Further, the least squares adjustment algorithm is used to calculate the axis position of the guide rod 21 in real time, and the deviation between its center position and the center position of the positioning groove 111 of the guide bracket 11 is calculated. Accordingly, the position of the component to be installed 20 during lowering is adjusted to guide the guide rod 21 on the component to be installed 20 into the guiding groove 112 of the guide bracket 11 on the installed component 10, and the deviation between the axis of the guide rod 21 and the center of the positioning groove 111 meets the preset rough positioning deviation requirement (such as within ±10 mm); this lays a foundation for the subsequent fine positioning step of the component to be installed 20.

[0036] The fine positioning step of the component to be installed 20 includes the following steps: Continue to lower the component to be installed 20; When the guide rod 21 on the component to be installed 20 presses against the two measuring rods 134 of the two goniometers 13 of the guide bracket 11 of the installed component 10 and pushes the measuring rods 134 to rotate, the two rotary encoders 131 are used to obtain the angles of the two measuring rods 134 in real time to calculate the axis position of the guide rod 21 in real time, and the deviation between its center position and the center position of the positioning groove 111 of the guide bracket 11 is calculated. Accordingly, the position of the component to be installed 20 during lowering is adjusted to guide the guide rod 21 on the component to be installed 20 into the positioning groove 111 of the guide bracket 11 on the installed component 10, and the deviation between the axis of the guide rod 21 and the center of the positioning groove 111 meets the preset fine positioning deviation requirement (such as within ±3 mm); this realizes the docking positioning between the component to be installed 20 and the installed component 10. Further, the component to be installed 20 moves along the axial direction of the current guide rod 21 towards the installed component 10. During this period, the goniometer 13 is used to check the axis position of the guide rod 21 in real time, and the position of the component to be installed 20 is corrected as needed until the head end of the component to be installed 20 is docked with the tail end of the installed component 10.

[0037] It should be noted that the omnidirectional sonar scanner 12 and the rotary encoder 131 are both communicatively connected to the ship's measurement and control system; the omnidirectional sonar scanner 12 and the rotary encoder 131 transmit the measured data to the measurement and control system in real time, and the measurement and control system performs relevant calculations and adjusts the attitude and / or position of the component to be installed 20 in real time according to the calculation results. Further, an alarm module is provided in the measurement and control system. When the deviation between the axis of the guide rod 21 and the center of the positioning groove 111 is abnormal or the communication is interrupted, an audible and visual alarm is automatically triggered, the construction is paused, and manual intervention is reminded to ensure the construction safety.

[0038] In the above-mentioned exemplary embodiment, according to the different positions of the guide rod 21 when the component to be installed 20 is lowered, two methods of omnidirectional sonar scanning and measuring rod leaning are adopted in stages to achieve the rapid and precise positioning between the guide rod 21 and the guide bracket 11, solve the various drawbacks of the prior art that rely on underwater measurement by divers to guide the docking of components, significantly improve the underwater installation accuracy of the component to be installed 20, improve the construction efficiency and construction safety, reduce the input of human resources, and can break through the traditional diving operation depth limit, and can meet the construction requirements of greater water depth (≥50m) and more complex underwater environments.

[0039] Reference Figures 1-10 As shown, in some embodiments, the large-component underwater docking and positioning method further includes the steps of installing and calibrating the docking guidance system, which are carried out before the component is lowered into the water, and include: The docking guidance system installation step further includes, in the dock, detachably installing a guide rod 21 and a guide bracket 11 at preset positions at the head and tail ends of the top surface of each component, and making the axial direction of the guide rod 21 and the central axis direction of the positioning groove 111 of the guide bracket 11 both coincide with the length direction of the component; respectively arranging an omnidirectional sonar scanner 12 on the front and rear sides of the guide bracket 11 in the central axis direction of the positioning groove 111, and the omnidirectional sonar scanner 12 is detachably connected to the installed component 10; relatively arranging a pair of angle gauges 13 on the outer sides of the upper parts of the two side walls of the positioning groove 111 on the guide bracket 11; the angle gauges 13 can be located on the side of the guide bracket 11 close to the component to be installed 20 or on the side away from the component to be installed 20.

[0040] The docking guidance system installation step further includes, in the dock, setting up a total station on the top surface of the component; denoting the length direction of the component as the X-axis, the width direction as the Y-axis, and the height direction as the Z-axis to establish a component coordinate system; since the central axis direction of the positioning groove 111 of the guide bracket 11 coincides with the length direction of the component, the central axis direction of the positioning groove 111 of the guide bracket 11 is the X-axis direction of the component coordinate system; using the total station to calibrate the coordinates of the sound source center of the omnidirectional sonar scanner 12 under the YZ plane of the component coordinate system and calibrate the coordinates of the center of the positioning groove 111 of the guide bracket 11 under the YZ plane of the component coordinate system ; Denote the centers of the rotation axes 132 of the rotary encoders 131 of the two goniometers 13 as and respectively, and calibrate their coordinates in the YZ plane of the component coordinate system and respectively; The specific calibration method is well-known to those skilled in the art and will not be elaborated here.

[0041] Those skilled in the art can understand that when a component is immersed in water and the underwater installation is completed, the component becomes the installed component 10; after the installation of the installed component 10 is completed, underwater through measurement needs to be carried out on the installed component 10 to establish the conversion relationship between the component coordinate system of the installed component 10 and the construction coordinate system; when another component is to be immersed in water and docked with the installed component 10, this component is called the to-be-installed component 20; when the to-be-installed component 20 and the installed component 10 are docked underwater, remove the guiding bracket 11 and the guiding rod 21 on the installed component 10, and install the removed guiding bracket 11 and guiding rod 21 on the next to-be-installed component 20 in the dock and calibrate them.

[0042] The above-mentioned illustrative embodiments refine the installation and calibration steps of the docking guiding system, laying a foundation for the subsequent immersion and installation of components.

[0043] Refer to Figure 4 and Figure 9 shown. In some embodiments, in the rough positioning step of the to-be-installed component 20, the calculation of the axial center position of the guiding rod 21 includes the following steps: After adjusting the axis of the guiding rod 21 to be consistent with the central axis direction of the positioning groove 111 of the guiding bracket 11 (i.e., the X-axis direction of the component coordinate system), denote the coordinate of the sound source center of an omnidirectional sonar scanner 12 in the YZ plane of the component coordinate system of the installed component 10 as , denote the coordinates of a set of measuring points on the outer wall of the guiding rod 21 obtained by the omnidirectional sonar scanner 12 in the YZ plane of the component coordinate system of the installed component 10 as , and denote the scanning distance and direction angle of the omnidirectional sonar scanner 12 for the measuring points on the outer wall of the guiding rod 21 as , where ; It should be noted that since the axis of the guiding rod 21 is already consistent with the X-axis direction of the component coordinate system, in the component coordinate system, the X coordinate value of the sound source center of the omnidirectional sonar scanner 12 is equal to the X coordinate value of its measuring point; establish the relationship between and , expressed as Equation (1); (1); Establish the coordinate of the axis center of the guiding rod 21 The observation equation is expressed as Equation (2); where, is the radius of the guide rod 21; (2); The observation equation of Equation (2) is linearized and expressed as Equation (3); where, is the coordinate of the center point of the arc formed by fitting the measuring points on the outer wall of multiple guide rods 21 in the YZ plane of the component coordinate system of the already installed component 10, is the correction number after adjustment, ; (3); After arranging Equation (3), Equation (4) is obtained; where, is the correction number of; (4); Let , , , Then Equation (4) can be expressed as Equation (5); (5); Let , , , and the error equation is obtained, expressed as Equation (6); (6); Using the least squares adjustment calculation, the solution is obtained, expressed as Equation (7), (7); Finally, the coordinate of the axis center of the guide rod 21 in the YZ plane of the component coordinate system of the already installed component 10 is obtained, expressed as Equation (8); (8); According to the conversion relationship between the component coordinate system of the already installed component 10 and the construction coordinate system that has been calibrated, the coordinate of the center of the positioning groove 111 of the guide bracket 11 in the YZ plane of the component coordinate system, the axis center of the guide rod 21 in the YZ plane of the component coordinate system of the already installed component are all converted into their construction coordinates in the construction coordinate system, and the deviation between the axis center position of the guide rod 21 and the center position of the positioning groove 111 of the guide bracket 11 is calculated accordingly, and the position of the component 20 to be installed during lowering is adjusted accordingly to guide the guide rod 21 into the guiding groove 112 of the guide bracket 11.

[0044] Reference Figure 4 、 Figure 10 As shown in According to equations (9) - (10), the coordinates of the intersection point of the two measuring rods 134 after rotation in the YZ plane of the component coordinate system of the installed component 10 are calculated in real time and expressed as equation (11); where and are the angles between the two measuring rods 134 connected to the center of the rotating shaft 132 of the rotary encoder 131 and and the Z axis of the component coordinate system of the installed component 10, and are the distances between the intersection point and the center of the rotating shaft 132 of the rotary encoder 131 , and the intersection point and the center of the rotating shaft 132 of the rotary encoder 131 on the YZ plane of the component coordinate system of the installed component 10, 、 The direction angles in the component O-ZY coordinate system are respectively 、 ; (9); (10); (11); According to equations (12) - (15), the coordinates of the axis center of the guide rod 21 in the YZ plane of the component coordinate system of the installed component 10 are calculated in real time and expressed as equation (16); where is the coordinate of the tangent point between the measuring rod 134 connected to the center of the rotating shaft 132 of the rotary encoder 131 and the guide rod 21 in the YZ plane of the component coordinate system of the installed component 10, is the coordinate of the tangent point between the measuring rod 134 connected to the center of the rotating shaft 132 of the rotary encoder 131 and the guide rod 21 in the YZ plane of the component coordinate system of the installed component 10, and are respectively the distances between the intersection point and the tangent point , and the intersection point and the tangent point ; 、​ The length is the radius of the guide rod 21 , 、 In the component O-ZY coordinate system, the direction angles are respectively 、 ; (12); (13); (14); (15); (16); According to the conversion relationship between the component coordinate system and the construction coordinate system of the installed component 10 that has been calibrated, the coordinates of the center of the positioning groove 111 of the guide bracket 11 and the axis center of the guide rod 21 under the YZ plane of the component coordinate system of the installed component are both converted into their construction coordinates in the construction coordinate system, so as to calculate the deviation between the axis center position of the guide rod 21 and the center position of the positioning groove 111 of the guide bracket 11, and accordingly adjust the position of the component 20 to be installed during lowering, so as to guide the guide rod 21 into the positioning groove 111 of the guide bracket 11. In summary, for the large component underwater docking guiding system and docking positioning method of the present invention, by innovatively adopting two means of omnidirectional sonar scanning and measuring rod leaning measurement, rapid and precise positioning between the guide rod 21 on the component 20 to be installed and the guide bracket 11 on the installed component 10 is realized, and through the calculation method of data fusion and error compensation, the accuracy and reliability of the positioning data are ensured, and high-precision underwater docking positioning at the millimeter level between the component 20 to be installed and the installed component 10 can be achieved, providing a reliable technical guarantee for the high-quality installation of underwater large-scale structures. The present invention is not only applicable to the installation of immersed tunnels, but also can be applied to underwater projects such as cross-sea bridges, offshore oil platforms, and wind power projects, with a broad market prospect and promoting the development of underwater engineering technology.

[0045] Finally, it should be noted that: the various embodiments in this specification are described in a progressive manner, and the key points of each embodiment are all the differences from other embodiments. The same and similar parts between the various embodiments can be referred to each other.

[0046] Finally, it should be noted that the embodiments in this specification are described in a progressive manner, and the key points of each embodiment are all the differences from other embodiments. The same and similar parts between the various embodiments can be referred to each other.

[0047] The above embodiments are only used to illustrate the technical solutions of the present invention and not to limit it; although the present invention has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that: it is still possible to modify the specific implementation manners of the present invention or perform equivalent replacements on some technical features without departing from the spirit of the technical solutions of the present invention, and they should all be covered within the scope of the technical solutions claimed by the present invention.

Claims

1. A large-scale underwater docking guidance system, characterized in that: It includes a guide bracket arranged on the top surface of the tail end of the installed component and a guide rod arranged on the top surface of the head end of the component to be installed; wherein, The guide bracket is provided with a positioning groove, the central axis direction of the positioning groove is consistent with the length direction of the installed component, the groove width of the positioning groove is adapted to the outer diameter of the guide rod, and the upper part of the positioning groove is provided with an outward-expanding guide groove; the guide bracket is provided with an omnidirectional sonar scanner on the front and rear sides in the central axis direction of the positioning groove respectively; a pair of goniometers are arranged on the guide bracket on the outer sides of the upper parts of the two side walls of the positioning groove, each of the goniometers includes a rotary encoder and a measuring rod, the axis of the rotary encoder is parallel to the central axis of the positioning groove, one end of the measuring rod is vertically connected to the rotary shaft of the rotary encoder, and the other end extends horizontally toward the rotary encoder on the opposite side; The axial direction of the guide rod is consistent with the length direction of the component to be installed, and one end of the guide rod extends out of the head end of the component to be installed; During the lowering process of the component to be installed, when the guide rod enters the scanning range of the omnidirectional sonar scanner, the two omnidirectional sonar scanners are used to obtain the axial position of the guide rod in real time, so as to guide the guide rod into the guide groove of the guide bracket, thereby completing the rough positioning of the component to be installed; when the guide rod is pressed against the two measuring rods of the two goniometers and pushes the measuring rods to rotate, the two goniometers are used to obtain the axial position of the guide rod in real time, so as to guide the guide rod into the positioning groove of the guide bracket, thereby completing the precise positioning of the component to be installed.

2. The large-scale component underwater docking guide system according to claim 1 is characterized in that: Buffer blocks are arranged on both side walls of the guide groove, each of the buffer blocks comprises a contact plate, a pad and a rubber pad connected in sequence, the rubber pad is connected to the guide bracket, and the contact plate is an MGE engineering plastic alloy plate.

3. The large-scale component underwater docking guide system according to claim 1 is characterized in that: The included angle between the side wall of the guide groove and the horizontal plane is 15° to 80°.

4. The large-scale component underwater docking guide system according to claim 1, characterized in that: The width of the positioning groove of the guide bracket is 4 mm to 10 mm larger than the outer diameter of the guide rod.

5. The large-scale component underwater docking guide system according to claim 1, characterized in that: The guide bracket is detachably connected to the installed component through a bracket, and the omnidirectional sonar scanner is detachably connected to the installed component through a base; the guide rod is detachably connected to the component to be installed through two supports, and the two supports are arranged at intervals along the axial direction of the guide rod.

6. The large-scale component underwater docking guide system according to any one of claims 1 to 5, characterized in that: There are multiple guide brackets, the number of guide rods is the same as the number of guide brackets, the multiple guide brackets are arranged at intervals along the width direction of the installed components, and the multiple guide rods are arranged at intervals along the width direction of the components to be installed and correspond one to one with the multiple guide brackets; each of the guide brackets is provided with two goniometers, and each of the guide brackets is provided with an omnidirectional sonar scanner on both the front and rear sides.

7. A method for underwater docking and positioning of large components, characterized in that: The method is carried out using the large-scale component underwater docking guide system according to any one of claims 1 to 6, comprising the following steps: The step of coarse positioning of the component to be installed comprises: lowering the component to be installed; when the guide rod enters the scanning range of the omnidirectional sonar scanner, using two omnidirectional sonar scanners to obtain two sets of measuring point coordinate data at two cross sections of the outer wall of the guide rod in real time, and adjusting the posture of the component to be installed being lowered accordingly, so as to adjust the axial direction of the guide rod to be consistent with the central axis direction of the positioning groove of the guide bracket; using the least square adjustment algorithm to solve the axial center position of the guide rod in real time, and calculating the deviation between the axial center position of the guide rod and the central position of the positioning groove of the guide bracket, and adjusting the position of the component to be installed being lowered accordingly, so as to guide the guide rod to enter the guide groove of the guide bracket, and the deviation meets the preset coarse positioning deviation requirement; The step of precisely positioning the component to be installed comprises: continuing to lower the component to be installed; when the guide rod is pressed against the two measuring rods of the two goniometers and pushes the measuring rods to rotate, the two rotary encoders are used to obtain the angles of the two measuring rods in real time, so as to solve the axial position of the guide rod in real time, and calculate the deviation between the axial position of the guide rod and the center position of the positioning groove of the guide bracket, and adjust the position of the component to be installed being lowered accordingly, so as to guide the guide rod to enter the positioning groove of the guide bracket, and the deviation meets the preset precise positioning deviation requirement.

8. The underwater docking and positioning method for large components according to claim 7, characterized in that: The large-scale component underwater docking positioning method also includes a docking guide system installation and calibration step, which includes: In the dock, the guide rod and the guide bracket are respectively installed at the preset positions at the head and tail ends of the top surface of each component, so that the axial direction of the guide rod and the central axis direction of the guide bracket positioning groove are consistent with the length direction of the component; an omnidirectional sonar scanner is respectively arranged on the front and rear sides of the guide bracket in the central axis direction of the positioning groove; a pair of goniometers are oppositely arranged on the outer sides of the upper parts of the two side walls of the positioning groove on the guide bracket; In the dock, a total station is set up on the top surface of the component; the length direction of the component is recorded as the X-axis, the width direction is recorded as the Y-axis, and the height direction is recorded as the Z-axis to establish a component coordinate system; the total station is used to calibrate the coordinates of the sound source center of the omnidirectional sonar scanner in the YZ plane of the component coordinate system, and the coordinates of the center of the positioning groove of the guide bracket in the YZ plane of the component coordinate system The centers of the rotary encoder shafts of the two angle meters are respectively denoted as , , and calibrate their coordinates in the YZ plane of the component coordinate system , ; When one of the components is sunk into the water and the underwater installation is completed, the component becomes the installed component; the installed component is subjected to underwater through-measurement to establish a conversion relationship between the component coordinate system of the installed component and the construction coordinate system; when another component is to be sunk into the water and docked with the installed component, the component is called the component to be installed; when the underwater docking of the component to be installed and the installed component is completed, the guide bracket and guide rod on the installed component are removed, and the removed guide bracket and guide rod are installed on the next component to be installed in the dock and calibrated.

9. The underwater docking and positioning method for large components according to claim 8, characterized in that: In the step of roughly positioning the component to be installed, the calculation of the axial center position of the guide rod includes the following steps: After the axial direction of the guide rod is adjusted to be consistent with the central axis direction of the guide bracket positioning groove, the coordinates of the sound source center of the omnidirectional sonar scanner under the YZ plane of the component coordinate system of the installed component are marked. The coordinates of a group of measuring points on the outer wall of the guide rod obtained in real time by the omnidirectional sonar scanner in the YZ plane of the component coordinate system of the installed component are marked as The scanning distance and direction angle of the omnidirectional sonar scanner to the measuring point on the outer wall of the guide rod are recorded as ,in, ;Establish and The relationship between is expressed as formula (1); (1)； Establish the guide rod axis Coordinates of the installed component in the YZ plane of the component coordinate system The observation equation is expressed as formula (2); where is the radius of the guide rod; (2)； The observation equation of formula (2) is linearized to be expressed as formula (3); wherein, is the coordinate of the center point of the arc formed by fitting the plurality of measuring points on the outer wall of the guide rod in the YZ plane of the component coordinate system of the installed component, After adjustment correction number, ; (3)； After rearranging formula (3), we get formula (4); where, for number of corrections; (4)； make , , ， Then formula (4) can be expressed as formula (5); (5)； Re-order , , , the error equation is obtained, expressed as formula (6); (6)； The least squares adjustment is used to calculate The solution is expressed as formula (7), (7)； Finally, the guide rod axis is obtained Coordinates of the installed component in the YZ plane of the component coordinate system , expressed as formula (8); (8)； According to the conversion relationship between the component coordinate system and the construction coordinate system of the installed component, the center of the guide bracket positioning groove is located at the coordinate of the component coordinate system YZ plane. , Guide rod axis Coordinates of the installed component in the YZ plane of the component coordinate system They are all converted into their construction coordinates in the construction coordinate system, so as to calculate the deviation between the axial position of the guide rod and the center position of the positioning groove of the guide bracket, and adjust the position of the component to be installed during lowering accordingly to guide the guide rod into the guide groove of the guide bracket.

10. The method for underwater docking and positioning of large components according to claim 9, characterized in that: In the step of precisely positioning the component to be installed, the calculation of the axial center position of the guide rod includes the following steps: According to equations (9) and (10), the intersection point of the two measuring rods after rotation is calculated in real time. Coordinates of the installed component in the YZ plane of the component coordinate system , expressed as formula (11); where and are respectively connected to the center of the rotary encoder shaft Chuhe The angle between the two measuring rods at and the Z axis of the component coordinate system of the installed component, and The intersection points are and the center of the rotary encoder shaft , intersection and the center of the rotary encoder shaft The distance on the YZ plane of the component coordinate system of the installed component; (9)； (10)； (11)； According to equations (12) to (15), the axis of the guide rod is calculated in real time Coordinates of the installed component in the YZ plane of the component coordinate system , expressed as formula (16); where, The center of the rotary encoder shaft Tangency point of connected measuring rod and guide rod The coordinates of the installed component in the YZ plane of the component coordinate system, The center of the rotary encoder shaft Tangency point of connected measuring rod and guide rod The coordinates of the installed component in the YZ plane of the component coordinate system, and The intersection points are With tangent point , intersection With tangent point The distance between (12)； (13)； (14)； (15)； (16)； According to the conversion relationship between the component coordinate system and the construction coordinate system of the installed component, the center of the guide bracket positioning groove is located at the coordinate of the component coordinate system YZ plane. , Guide rod axis Coordinates of the installed component in the YZ plane of the component coordinate system They are all converted into their construction coordinates in the construction coordinate system, so as to calculate the deviation between the axial position of the guide rod and the center position of the positioning groove of the guide bracket, and adjust the position of the component to be installed during lowering accordingly to guide the guide rod into the positioning groove of the guide bracket.

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