An underwater docking guiding system and docking positioning method for large components

Abstract

The present invention belongs to the technical field of underwater construction of large-scale structures, and relates to a large component underwater docking guiding system and a docking positioning method. The system includes a guiding bracket arranged on the top surface of the tail end of the already installed component, and a guiding rod arranged on the top surface of the head end of the component to be installed, with one end of the guiding rod extending out of the head end of the component to be installed; a guiding groove and a positioning groove are formed on the guiding bracket, omnidirectional sonar scanners are respectively arranged on the front and rear sides of the guiding bracket, and 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 on the guiding bracket. 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 perpendicularly connected to the rotary encoder's axis, and the other end extends horizontally towards the opposite rotary encoder. By setting the omnidirectional sonar scanner and the corner meter, the present invention can achieve precise alignment between the guiding rod and the guiding bracket during the underwater lowering and installation of the component to be installed, significantly improving the installation accuracy of the component to be installed.

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 Art

[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 is 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 underwater installation and positioning of the component 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 outward-expanded guiding groove is arranged 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 out of the head end of the component to be installed.

[0003] Currently, a component transportation and installation integrated ship is usually used for underwater sinking and installation of the component 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, a diver enters the water and measures 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 disadvantages:

[0004] 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 diver diving from the water surface to the operation position and rising and returning requires time, which further affects the overall construction progress;

[0005] 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 the diver operates near the docking end, there is a risk of falling into the component docking gap, and the diver may be squeezed and injured or trapped in the component docking cavity. In addition, the diver's operation has a depth limit and cannot meet the construction requirements of deep water environments;

[0006] 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 position relationship between the guide rod and the guide 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 guide rod can smoothly enter the positioning groove of the guide bracket, the width of the positioning groove of the guide bracket is usually about 10 cm larger than the outer diameter of the guide 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

[0007] 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.

[0008] The present invention provides a large-component underwater docking guiding system, including 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,

[0009] A positioning groove is provided on the guide 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 guide 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 guide bracket in the central axis direction of the positioning groove, an omnidirectional sonar scanner is respectively provided; on the guide 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.

[0010] 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.

[0011] During the lowering process of the component to be installed, when the guide rod enters the scanning range of the omnidirectional sonar scanners, the axial orientation of the guide rod is obtained in real time by using the two omnidirectional sonar scanners to guide the guide rod into the guiding groove of the guide bracket and complete the rough positioning of the component to be installed; when the guide rod presses against the two measuring rods of the two corner meters and pushes the measuring rods to rotate, the axial position of the guide rod is obtained in real time by using the two corner meters to guide the guide rod into the positioning groove of the guide bracket and complete the fine positioning of the component to be installed.

[0012] 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 guide bracket, and the contact plate is an MGE engineering plastic alloy plate.

[0013] In some of these embodiments, the included angle between the side wall of the guiding groove and the horizontal plane is 15° to 80°.

[0014] 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.

[0015] 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.

[0016] In some of these embodiments, the number of guiding brackets is multiple, and the number of guiding rods is the same as that of the guiding brackets. The multiple guiding brackets are arranged at intervals along the width direction of the installed component, and 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 goniometers 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.

[0017] 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:

[0018] 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 the 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 position of the axis of the guiding rod is solved in real time by using the least squares adjustment algorithm, and the deviation between it 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;

[0019] 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 goniometers and pushes the measuring rods to rotate, the angles of the two measuring rods are obtained in real time by using the two rotary encoders to solve the central position of the axis of the guiding rod in real time, and the deviation between it 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.

[0020] In some of these embodiments, the method for underwater docking and positioning of large components further includes the installation and calibration step of the docking guiding system, which includes:

[0021] In the dock, guide rods and guide brackets 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 guide rod and the central axis direction of the positioning groove of the guide bracket are both consistent with the length direction of the component; omnidirectional sonar scanners are respectively arranged on the front and back sides of the guide bracket in the central axis direction of the positioning groove; a pair of angle gauges are oppositely arranged on the outer sides of the upper parts of the two side walls of the positioning groove on the guide bracket;

[0022] In the dock, a total station is set up on the top surface of the component; the length direction of the component is denoted as the X-axis, the width direction is denoted as the Y-axis, and the height direction is denoted 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 under the YZ plane of the component coordinate system and the coordinates of the center of the positioning groove of the guide bracket under the YZ plane of the component coordinate system ; the rotation encoder shaft centers of the two angle gauges are respectively denoted as 、 , and their coordinates under the YZ plane of the component coordinate system are respectively calibrated 、 ;

[0023] After a component is lowered into the water and underwater installation is completed, the component becomes an installed component; underwater through measurement is carried out 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 component to be installed; after the component to be installed and the installed component are docked underwater, the guide bracket and the 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.

[0024] In some embodiments, in the rough positioning step of the component to be installed, the calculation of the axial center position of the guide rod includes the following steps:

[0025] After adjusting the axial direction of the guide rod to be consistent with the central axis direction of the positioning groove of the guide bracket, 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 are denoted as , the coordinates of a set of measurement points on the outer wall of the guide rod obtained by the omnidirectional sonar scanner in real time under the YZ plane of the component coordinate system of the installed component are denoted as , and the scanning distance and direction angle of the omnidirectional sonar scanner for the measurement points on the outer wall of the guide rod are denoted as , where ; establish and The relationship between them is expressed as formula (1);

[0026] (1);

[0027] Establish the axial center of the guide rod Coordinates in the YZ plane of the component coordinate system of the already installed component The observation equation of which is expressed as Equation (2); where is the radius of the guide rod;

[0028] (2);

[0029] Linearize the observation equation of Equation (2), which is expressed as Equation (3); where are the coordinates in the YZ plane of the component coordinate system of the already installed component of the center point of the arc formed by fitting the measuring points on the outer wall of multiple guide rods, is the correction number after adjustment, ;

[0030] (3);

[0031] After arranging Equation (3), Equation (4) is obtained; where is the correction number;

[0032] (4);

[0033] Let , ,

[0034] ,

[0035] Then Equation (4) can be expressed as Equation (5);

[0036] (5);

[0037] Let again , , , and the error equation is obtained, which is expressed as Equation (6);

[0038] (6);

[0039] Using the least squares adjustment calculation, the obtained solution is expressed as Equation (7),

[0040] (7);

[0041] Finally, the coordinates of the axis center of the guide rod in the YZ plane of the component coordinate system of the already installed component are expressed as Equation (8);

[0042] (8);

[0043] According to the conversion relationship between the component coordinate system of the installed component and the construction coordinate system, the coordinates of the center of the positioning slot of the guiding bracket in the YZ plane of the component coordinate system and the axis center of the guiding rod in the YZ plane of the component coordinate system of the installed component are both converted into their construction coordinates in the construction coordinate system, and based on this, the deviation between the axis center position of the guiding rod and the center position of the positioning slot 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 slot of the guiding bracket.

[0044] In some embodiments, in the fine positioning step of the component to be installed, the calculation of the axis center position of the guiding rod includes the following steps:

[0045] According to equations (9)-(10), the intersection point of the two measuring rods after rotation in the YZ plane of the component coordinate system of the installed component is calculated in real time, expressed as equation (11); where and are 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 respectively, and are the distances between the intersection point and the center of the rotating encoder shaft , and the distances between the intersection point and the center of the rotating encoder shaft on the YZ plane of the component coordinate system of the installed component respectively;

[0046] (9);

[0047] (10);

[0048] (11);

[0049] According to equations (12)-(15), the axis center of the guiding rod in the YZ plane of the component coordinate system of the installed component is calculated in real time, expressed as equation (16); where is the coordinate of the tangent point of the measuring rod connected to the center of the rotating encoder shaft and the guiding rod in the YZ plane of the component coordinate system of the installed component, is the coordinate of the tangent point of the measuring rod connected to the center of the rotating encoder shaft and the guiding rod in 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

[0050] (12);

[0051] (13);

[0052] (14);

[0053] (15);

[0054] (16);

[0055] 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 guiding bracket under the YZ plane of the component coordinate system 、the axis of the guiding rod under 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, so as to calculate the deviation between the position of the axis of the guiding rod and the center position of the positioning slot of the guiding bracket, and adjust the position of the component to be installed during lowering accordingly, so as to guide the guiding rod into the positioning slot of the guiding bracket.

[0056] Based on the above technical solution, in 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 gauge, and the calculation of the measurement data, it can solve the drawback of the prior art that relies on divers for underwater measurement to guide the docking and positioning of the component to be installed and the already 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 already installed component, that is, improve the installation accuracy of the component to be installed, and improve the construction efficiency and construction safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0057] The drawings described herein are used to provide a further understanding of the present invention, and constitute a part of this application. 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:

[0058] Figure 1 is the first state schematic diagram of the large-component underwater docking guiding system of the present invention during component docking;

[0059] Figure 2Schematic diagram II of the state of the underwater docking guiding system for large components of the present invention during component docking;

[0060] Figure 3 Schematic diagram I of the underwater docking guiding system for large components of the present invention;

[0061] Figure 4 Schematic diagram II of the underwater docking guiding system for large components of the present invention;

[0062] Figure 5 Front view of the guiding bracket in the present invention;

[0063] Figure 6 Schematic diagram of the omnidirectional sonar scanner in the present invention;

[0064] Figure 7 Schematic diagram of the rotary encoder in the present invention;

[0065] Figure 8 Side view of the guiding rod in the present invention;

[0066] Figure 9 Schematic diagram when using the omnidirectional sonar scanner to measure the guiding rod in the present invention;

[0067] Figure 10 Principle schematic diagram when using the angle gauge to measure the guiding rod in the present invention.

[0068] In the figure: 10, installed component; 11, guiding bracket; 111, positioning groove; 112, guiding groove; 12, omnidirectional sonar scanner; 13, angle gauge; 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 method

[0069] Next, the technical solutions in the embodiments will be clearly and completely described 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 of 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.

[0070] 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 drawings. It 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 thus should not be construed as a limitation to the present invention.

[0071] The terms "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying 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.

[0072] In the description of the present invention, it should be noted that unless otherwise clearly specified and defined, the terms "installed", "connected", "coupled" 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 directly connected or indirectly connected 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 circumstances.

[0073] Refer to Figures 1-9 As shown, the present invention provides an underwater docking guiding system for large components, which is used for underwater docking and positioning of the component to be installed 20 and the installed component 10. The underwater docking guiding system for large components 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 to be installed 20.

[0074] The guiding bracket 11 is provided with a positioning groove 111 with an upper opening in a penetrating manner; the central axis 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.

[0075] On the front and back sides of the guiding bracket 11 in the axial direction of the positioning groove 111, an omnidirectional sonar scanner 12 is provided respectively; 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 measure distances in a 360° direction centered on the sound source. 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.

[0076] On the guiding bracket 11, a pair of angle sensors 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 sensor 13 is provided on each side in the width direction of the positioning groove 111; each angle sensor 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 components such as a magnetic coupling connector and a reverse damper 133 sleeved on the rotating shaft 132 are provided inside the rotary encoder 131; 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°.

[0077] 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.

[0078] Further explanation, during the process of lowering and installing the component to be installed 20 underwater, when the guiding rod 21 on the component to be installed 20 enters the scanning range of the omnidirectional sonar scanner 12 on the already installed component 10, the omnidirectional sonar scanner 12 senses the guiding rod 21 and emits sonar signals to measure distances in a 360° direction centered on the sound source. The axial orientation of the guiding rod 21 is obtained in real time by using the two omnidirectional sonar scanners 12 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 angle sensors 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, and then the axial position of the guiding rod 21 is obtained in real time by using the two angle sensors 13 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.

[0079] 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 to-be-installed component 20 is installed underwater, the omnidirectional sonar scanning and the measuring rod leaning measurement techniques can be used to quickly and accurately align the guiding rod 21 with the guiding bracket 11, significantly improving the underwater docking accuracy between the to-be-installed component 20 and the installed component 10, that is, improving the underwater installation accuracy of the to-be-installed component 20, and improving the construction efficiency and construction safety, and solving the drawbacks of the prior art in which divers measure underwater to guide the docking of components.

[0080] 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; wherein, 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 to-be-installed component 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 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 and enable the guiding rod 21 to smoothly enter the positioning groove 111 through the guiding groove 112.

[0081] 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° to 80°, and this included angle can be 30°, 45°, 60°; thereby enabling the guiding groove 112 to have a relatively large accommodation range and making the initial positioning of the guiding rod 21 on the guiding bracket 11 more convenient and fast.

[0082] 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 situation in the prior art where it is difficult to accurately position the docking end of the to-be-installed component 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 using the omnidirectional sonar scanner 12 and the goniometer 13 to improve the docking accuracy, the dimensional matching setting between the groove width of the positioning groove 111 and the outer diameter of the guiding rod 21 is refined, further ensuring the docking accuracy between the guiding rod 21 and the guiding bracket 11, that is, ensuring the first-end positioning accuracy of the to-be-installed component 20, thereby significantly improving the positioning accuracy of the tail end of the to-be-installed component 20 and improving the overall installation accuracy of the to-be-installed component 20.

[0083] Reference Figures 3-6 、 Figure 8, Figure 9 As shown, in some embodiments, the guiding bracket 11 is detachably connected to the installed member 10 through a bracket 15; the omnidirectional sonar scanner 12 is detachably connected to the installed member 10 through a base 16; the guiding rod 21 is detachably connected to the to-be-installed member 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 members, reducing the construction cost.

[0084] In some embodiments, the number of guiding brackets 11 is multiple, and the number of guiding rods 21 is the same as that of the guiding brackets 11. The multiple guiding brackets 11 are arranged at intervals along the width direction of the installed member 10, and the multiple guiding rods 21 are arranged at intervals along the width direction of the to-be-installed member 20 and correspond to the multiple guiding brackets 11 one by one; two goniometers 13 are provided on each guiding bracket 11, and an omnidirectional sonar scanner 12 is provided on each of the front and rear sides of each guiding bracket 11; through the matching setting of multiple sets of guiding brackets 11 and guiding rods 21 on the installed member 10 and the to-be-installed member 20, the docking accuracy between the to-be-installed member 20 and the installed member 10 is further improved.

[0085] Reference Figures 1-10 As shown, the present invention further 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 rough positioning step of the to-be-installed member 20 and the fine positioning step of the to-be-installed member 20.

[0086] The rough positioning step of the to-be-installed member 20 includes the following steps:

[0087] When the to-be-installed member 20 is floated to the preset construction position, lower the to-be-installed member 20.

[0088] During the lowering process of the to-be-installed member 20, when the guiding rod 21 on the to-be-installed member 20 enters the scanning range of the omnidirectional sonar scanner 12 on the installed member 10, the omnidirectional sonar scanner 12 emits a sonar signal to collect the measured point data of the guiding outer wall in real time; two groups of measured point coordinate data of two cross-sections on the outer wall of the guiding rod 21 are obtained in real time by using the two omnidirectional sonar scanners 12. By comparing the two groups of measured point coordinate data, the axial direction of the guiding rod 21 can be obtained, and accordingly, the attitude of the to-be-installed member 20 during lowering is adjusted to align the axial direction of the guiding rod 21 with the central axis direction of the positioning groove 111 of the guiding bracket 11; it should be noted that at this time, a group of measured points of each omnidirectional sonar scanner 12 on the outer wall of the guiding rod 21 are all located on the same cross-sectional arc perpendicular to the axial direction of the guiding rod 21, and the position of the arc center point, that is, the axial center position of the guiding rod 21, can be obtained by performing circular fitting on each group of measured point coordinate data.

[0089] Furthermore, the least squares adjustment algorithm is used to real-time calculate the axial center position of the guide rod 21, and calculate the deviation between its center position and the center position of the positioning slot 111 of the guide bracket 11. Accordingly, the position of the component 20 to be installed during lowering is adjusted to guide the guide rod 21 on the component 20 to be installed into the guide slot 112 of the guide bracket 11 on the installed component 10, and the deviation between the axial center of the guide rod 21 and the center of the positioning slot 111 meets the preset rough positioning deviation requirement (such as within ±10 mm); this lays the foundation for the subsequent fine positioning step of the component 20 to be installed.

[0090] Fine positioning step of the component 20 to be installed, which includes the following steps:

[0091] Continue to lower the component 20 to be installed;

[0092] When the guide rod 21 on the component 20 to be installed presses against the two measuring rods 134 of the two corner sensors 13 of the guide bracket 11 of the installed component 10 and pushes the measuring rods 134 to rotate, the two rotational encoders 131 are used to obtain the angles of the two measuring rods 134 in real time to real-time calculate the axial center position of the guide rod 21, and calculate the deviation between its center position and the center position of the positioning slot 111 of the guide bracket 11. Accordingly, the position of the component 20 to be installed during lowering is adjusted to guide the guide rod 21 on the component 20 to be installed into the positioning slot 111 of the guide bracket 11 on the installed component 10, and the deviation between the axial center of the guide rod 21 and the center of the positioning slot 111 meets the preset fine positioning deviation requirement (such as within ±3 mm); this realizes the docking positioning between the component 20 to be installed and the installed component 10. Furthermore, the component 20 to be installed moves along the axial direction of the current guide rod 21 towards the installed component 10. During this period, the corner sensor 13 is used to real-time check the axial center position of the guide rod 21, and the position of the component 20 to be installed is corrected as needed until the head end of the component 20 to be installed is docked with the tail end of the installed component 10.

[0093] It should be noted that the omnidirectional sonar scanner 12 and the rotational encoder 131 are both communicatively connected to the ship's measurement and control system; the omnidirectional sonar scanner 12 and the rotational encoder 131 transmit the measured data to the measurement and control system in real time. The measurement and control system performs relevant calculations and adjusts the attitude and / or position of the component 20 to be installed in real time according to the calculation results. Furthermore, an alarm module is provided in the measurement and control system. When the deviation between the axial center of the guide rod 21 and the center of the positioning slot 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.

[0094] The above-mentioned schematic embodiment adopts omnidirectional sonar scanning and measuring rod measurement in stages to achieve fast and accurate positioning between the guide rod 21 and the guide bracket 11 according to the different positions of the guide rod 21 when the component 20 to be installed is lowered, thereby solving the various disadvantages of the prior art that divers rely on underwater measurements to guide component docking, significantly improving the underwater installation accuracy of the component 20 to be installed, improving construction efficiency and construction safety, reducing human resource investment, and breaking through the traditional depth limit of divers' operations, and being able to adapt to construction needs in greater water depths (≥50m) and more complex underwater environments.

[0095] refer to Figures 1-10 As shown, in some embodiments, the underwater docking positioning method of a large component further includes a docking guide system installation and calibration step, which is performed before the component is sunk into the water, and includes:

[0096] The installation steps of the docking guide system further include: in the dock, detachably installing the guide rod 21 and the guide bracket 11 at the 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 consistent with the length direction of the component; an omnidirectional sonar scanner 12 is respectively arranged 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; a pair of goniometers 13 are relatively arranged on the outer sides of the upper parts of the two side walls of the positioning groove 111 on the guide bracket 11; the goniometer 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.

[0097] The steps of installing the docking guide system further include: setting up a total station on the top surface of the component in the dock; recording 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; because the center axis direction of the positioning groove 111 of the guide bracket 11 is consistent with the length direction of the component, the center 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 in 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 in the YZ plane of the component coordinate system. The centers of the rotary encoders 131 and 132 of the two angle meters 13 are respectively denoted as , , and calibrate their coordinates in the YZ plane of the component coordinate system , The specific calibration method is well known to those skilled in the art and will not be described in detail here.

[0098] Those skilled in the art can understand that, when a component is sunk into water and the underwater installation is completed, the component becomes an installed component 10; after the installation of the installed component 10 is completed, it is necessary to perform underwater through-measurement on the installed component 10 to establish a conversion relationship between the component coordinate system of the installed component 10 and the construction coordinate system; when another component is to be sunk into water and docked with the installed component 10, the component is called a component to be installed 20; when the component to be installed 20 is docked with the installed component 10 underwater, the guide bracket 11 and the guide rod 21 on the installed component 10 are removed, and the removed guide bracket 11 and the guide rod 21 are installed on the next component to be installed 20 in the dock and calibrated.

[0099] The above-mentioned illustrative embodiment refines the installation and calibration steps of the docking guide system, laying a foundation for the subsequent installation of components into the water.

[0100] refer to Figure 4 , Figure 9 As shown, in some embodiments, in the step of rough positioning of the component 20 to be installed, the calculation of the axial center position of the guide rod 21 includes the following steps:

[0101] After the axial direction of the guide rod 21 is adjusted to be consistent with the central axis direction of the positioning groove 111 of the guide bracket 11 (i.e., the X-axis direction of the component coordinate system), 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 is marked as The coordinates of a group of measuring points on the outer wall of the guide rod 21 obtained in real time by the omnidirectional sonar scanner 12 in the YZ plane of the component coordinate system of the installed component 10 are marked as The scanning distance and direction angle of the omnidirectional sonar scanner 12 to the measuring point on the outer wall of the guide rod 21 are recorded as ,in, It should be noted that, since the axial direction of the guide rod 21 is consistent with the X-axis direction of 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 in the component coordinate system; Establish and The relationship between is expressed as formula (1);

[0102] (1);

[0103] Establish the axis of guide rod 21 Coordinates of the component coordinate system YZ plane of the installed component 10 The observation equation is expressed as formula (2); where is the radius of the guide rod 21;

[0104] (2);

[0105] 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 installed component 10, is the correction number after adjustment, ;

[0106] (3);

[0107] After arranging Equation (3), Equation (4) is obtained; where, is the correction number of;

[0108] (4);

[0109] Let , , ,

[0110] Then Equation (4) can be expressed as Equation (5);

[0111] (5);

[0112] Let , , , and the error equation is obtained, expressed as Equation (6);

[0113] (6);

[0114] Using the least squares adjustment calculation, the solution is obtained, expressed as Equation (7),

[0115] (7);

[0116] Finally, the coordinate of the axis center of the guide rod 21 in the YZ plane of the component coordinate system of the installed component 10 is obtained, expressed as Equation (8);

[0117] (8);

[0118] According to the conversion relationship between the component coordinate system of the calibrated installed component 10 and the construction coordinate system, 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 All are converted into their construction coordinates in the construction coordinate system, and based on this, the deviation between the axis position of the guiding rod 21 and the center position of the positioning groove 111 of the guiding bracket 11 is calculated, and accordingly, the position of the component 20 to be installed during lowering is adjusted to guide the guiding rod 21 into the guiding groove 112 of the guiding bracket 11.

[0119] Reference Figure 4 、 Figure 10 As shown in [references], in some embodiments, in the fine positioning step of the component 20 to be installed, the calculation of the axis position of the guiding rod 21 includes the following steps:

[0120] 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 respectively, and are the distances between the intersection point and the center of the rotating shaft 132 of the rotary encoder 131 , and the distances between 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 respectively, , in the component O-ZY coordinate system, the direction angles are , respectively;

[0121] (9);

[0122] (10);

[0123] (11);

[0124] According to equations (12)-(15), the coordinates of the axis of the guiding 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 guiding rod 21 in the YZ plane of the component coordinate system of the installed component 10, is the coordinate of the center of the rotating shaft 132 of the rotary encoder 131 connected to the measuring rod 134 and the guiding rod 21 The tangent point of the connected measuring rod 134 and the guide rod 21 The coordinates in the YZ plane of the component coordinate system of the installed component 10, and are respectively the distances between the intersection points and the tangent points , the intersection points and the tangent points ; , The length of is the radius of the guide rod 21 , , In the component O-ZY coordinate system, the direction angles are respectively , ;

[0125] (12);

[0126] (13);

[0127] (14);

[0128] (15);

[0129] (16);

[0130] According to the conversion relationship between the component coordinate system of the installed component 10 and the construction coordinate system that has been calibrated, the coordinates 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 The coordinates in the YZ plane of the component coordinate system of the installed component are All are converted into their construction coordinates in the construction coordinate system, and based on this, 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, and the position of the component 20 to be installed during lowering is adjusted accordingly to guide the guide rod 21 into the positioning groove 111 of the guide bracket 11.

[0131] In summary, the underwater docking guiding system and docking positioning method of the large component of the present invention innovatively adopt two means of omnidirectional sonar scanning and measuring rod leaning measurement, realizing the rapid and accurate positioning between the guiding rod 21 on the component 20 to be installed and the guiding bracket 11 on the component 10 already installed. And through the calculation method of data fusion and error compensation, the accuracy and reliability of the positioning data are ensured, and the millimeter-level high-precision underwater docking positioning between the component 20 to be installed and the component 10 already installed can be realized, 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 tube tunnels, but also can be applied to underwater projects such as cross-sea bridges, offshore oil platforms, and wind power projects, with broad market prospects and promoting the development of underwater engineering technology.

[0132] Finally, it should be noted that the various embodiments in this specification are described in a progressive manner, and the key point of each embodiment is to illustrate the differences from other embodiments. For the same and similar parts between the various embodiments, reference can be made to each other.

[0133] The above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them; 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: still modifications can be made to the specific implementation manners of the present invention or equivalent replacements can be made to 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. An underwater docking and positioning method for large components, characterized in that, It is carried out by using an underwater docking guiding system for large components. The underwater docking guiding system for large components 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. Among them, a positioning groove is formed 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. An outward-expanded guiding groove is arranged at the upper part of the positioning groove. Omnidirectional sonar scanners are 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 meters are oppositely arranged on the outer sides of the upper parts of the two side walls of the positioning groove on the guiding bracket. Each angle 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 horizontally extends towards the opposite rotary encoder. The axial direction of the guiding rod is consistent with the length direction of the component to be installed. One end of the guiding rod extends out of the head end of the component to be installed. The underwater docking positioning method for large components 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 scanners, 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 the two omnidirectional sonar scanners. 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 position of the axis of the guiding rod is calculated in real time by using the least squares adjustment algorithm, and the deviation between its central position and the central position of the positioning groove of the guiding bracket is calculated. 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 meters and pushes the measuring rods to rotate, the angles of the two measuring rods are obtained in real time by using the two rotary encoders to calculate the central position of the axis of the guiding rod in real time, and the deviation between its central position and the central position of the positioning groove of the guiding bracket is calculated. 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.

2. The underwater docking positioning method for large components according to claim 1, wherein The underwater docking positioning method for large components further includes the installation and calibration steps of the docking guiding system, which include: In the dock, the guiding rod and the guiding 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 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 meters 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 calibrate 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 turning instruments as 、 , and calibrate their coordinates under the YZ plane of the component coordinate system respectively 、 ; After a said component is immersed in water and the underwater installation is completed, the component becomes the said installed component; underwater through measurement is carried out on the said installed component to establish the conversion relationship between the component coordinate system and the construction coordinate system of the said installed component; when another said component is to be immersed in water and docked with the installed component, the component is called the said component to be installed; after the said component to be installed and the installed component are docked underwater, the guiding bracket and guiding rod on the said installed component are removed, and the removed guiding bracket and guiding rod are installed on the next component to be installed in the dock and calibrated.

3. The underwater docking positioning method for large components according to claim 2, characterized in that, In the rough positioning step of the said component to be installed, the calculation of the axial center position of the said guiding rod includes the following steps: After adjusting the axial direction of the guide rod to be consistent with the central axis direction of the positioning groove of the guide bracket, record the coordinates of the sound source center of one of the omnidirectional sonar scanners in the YZ plane of the component coordinate system of the installed component as , and record the coordinates of a set of measuring points on the outer wall of the guide rod obtained in real time by this omnidirectional sonar scanner in the YZ plane of the component coordinate system of the installed component as , and record the scanning distance and direction angle of the measuring points on the outer wall of the guide rod by this omnidirectional sonar scanner as , where ; establish the relationship between and , expressed as Equation (1); (1)； Establish the axis of the guide rod The coordinates in the YZ plane of the component coordinate system of the already installed component The observation equation, expressed as Equation (2); where is the radius of the guide rod; (2)； The observation equation of formula (2) is linearized and expressed as formula (3); where, is the coordinate of the center point of the arc formed by fitting the measuring points on the outer wall of multiple said guide rods in the YZ plane of the component coordinate system of the already installed component, is the correction number after adjustment, ; (3)； After rearranging Equation (3), Equation (4) is obtained; where is the correction of (4)； Let , , ， Then Equation (4) can be expressed as Equation (5); (5)； Let again , , , and the error equation is obtained, expressed as Equation (6); (6)； By using the least squares adjustment calculation, the obtained solution is expressed as Equation (7). (7)； Finally, the coordinates of the axis center of the guide rod under the YZ plane of the component coordinate system of the installed component are expressed as Equation (8); (8)； According to the conversion relationship between the component coordinate system of the installed component that has been calibrated and the construction coordinate system, the coordinates of the center of the positioning slot of the guiding bracket under the YZ plane of the component coordinate system , the axis center of the guiding rod under the YZ plane of the component coordinate system of the installed component are all converted into their construction coordinates in the construction coordinate system. Based on this, the deviation between the axis center position of the guiding rod and the center position of the positioning slot 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 slot of the guiding bracket.

4. The underwater docking positioning method for large components according to claim 3, characterized in that, In the fine positioning step of the said component to be installed, the calculation of the axial center position of the said guiding rod includes the following steps: According to Equations (9)-(10), the intersection point of the two measuring rods after rotation is calculated in real time of the coordinates in the YZ plane of the component coordinate system of the installed component , expressed as Equation (11); where and are respectively the angles between the two measuring rods connected to the center of the rotating shaft of the rotary encoder and and the Z-axis of the component coordinate system of the installed component, and are respectively the distances on the YZ plane of the component coordinate system of the installed component between the intersection point and the center of the rotating shaft of the rotary encoder , and between the intersection point and the center of the rotating shaft of the rotary encoder ; (9)； (10)； (11)； According to equations (12)-(15), the axis center of the guiding rod is calculated in real time The coordinates in the YZ plane of the component coordinate system of the already installed component , expressed as equation (16); where is the tangent point of the measuring rod connected to the center of the rotating encoder shaft and the guiding rod The coordinates in the YZ plane of the component coordinate system of the already installed component is the tangent point of the measuring rod connected to the center of the rotating encoder shaft and the guiding rod The coordinates in the YZ plane of the component coordinate system of the already 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 that has been calibrated and the construction coordinate system, convert the coordinates of the center of the positioning groove of the guiding bracket under the YZ plane of the component coordinate system , the axis center of the guiding rod under the YZ plane of the component coordinate system of the installed component into their construction coordinates in the construction coordinate system, calculate the deviation between the axis center position of the guiding rod and the center position of the positioning groove of the guiding bracket based on this, and adjust the position of the component to be installed during lowering accordingly to guide the guiding rod into the positioning groove of the guiding bracket.

5. The underwater docking and positioning method for large components according to claim 1, characterized in that, Buffer pads are provided on both side walls of the said guiding groove. Each said 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.

6. The underwater docking and positioning method for large components according to claim 1, characterized in that, The included angle between the side wall of the said guiding groove and the horizontal plane is 15° - 80°.

7. The underwater docking and positioning method for large components according to claim 1, characterized in that, The groove width of the positioning groove of the said guiding bracket is 4 mm - 10 mm larger than the outer diameter of the guiding rod.

8. The underwater docking and positioning method for large components according to claim 1, characterized in that 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 said supports are arranged at intervals along the axial direction of the guiding rod.

9. The underwater butt joint positioning method for large components according to claim 1, characterized in that The number of the said guiding brackets is multiple, and the number of the guiding rods is the same as that of the guiding brackets. The multiple said guiding brackets are arranged at intervals along the width direction of the installed component, and the multiple said 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 said guiding bracket, and one omnidirectional sonar scanner is provided on each of the front and rear sides of each guiding bracket.

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