Bottom-supported leveling ship measurement and control system calibration method

Abstract

The invention belongs to the technical field of engineering surveying, and relates to a method for calibrating a measurement and control system of a bottom-supported leveling ship, which comprises the following steps of: calibrating ship attitude equipment, erecting a level gauge on a deck to obtain the height difference of four corners of a ship body and calculating the inclination value of the ship body so as to correct the reading of a first clinometer on the ship body; ship body positioning equipment calibration: erecting a total station on the deck to calibrate the relative position relationship between the positioning equipment at the front and rear ends of the ship body and the four corners of the ship body; leveling frame positioning equipment is calibrated, a leveling frame is lowered to the ground, and a total station is erected on the ground to calibrate the relative position relation between positioning equipment at the top end of a frame four-corner measuring tower and the four corners of the frame; leveling frame attitude equipment is calibrated, the height difference of the four corners of the leveling frame is obtained through the total station, the inclination value of the leveling frame is calculated, and the reading of the second clinometer on the frame is corrected. The invention provides a complete calibration method for the measurement and control system of the bottom-supported leveling ship, and further ensures the accuracy and reliability of measurement and positioning of the measurement and control system.

Description

Technical Field

[0001] The invention belongs to the technical field of engineering measurement, and in particular relates to a calibration method for a measurement and control system of a bottom-mounted leveling ship. Background Art

[0002] At present, when conducting underwater bed leveling operations, many people use bottom-sitting leveling ships to level the bed. They can level one ship position at a time and have the advantages of high work efficiency, high operation precision, and little influence by sea conditions.

[0003] The bottom-seated leveling ship is mainly composed of a hull, a leveling machine and a measurement and control system; the leveling machine is arranged in the open space in the middle of the hull, and the leveling machine includes a U-shaped leveling frame, a leveling platform vehicle connected to the leveling frame, and the bottoms of the two side frames oppositely arranged on the leveling frame are both equipped with height-adjustable support devices, and the leveling platform vehicle includes multiple silos and scrapers connected to the lower edges of all silos. When the leveling ship is leveling the base bed, the leveling frame is first lowered to the preset position and elevation, and then the stones in the silo are thrown onto the base bed to be leveled, and then the leveling platform vehicle drives the scraper to move along the leveling frame to level the stone-thrown area; the measurement and control system includes a variety of measuring equipment installed on the hull and the leveling frame, and the position, posture and elevation of the hull and the leveling frame are measured and located by acquiring and processing the measurement data of each measuring equipment.

[0004] With the increasingly stringent requirements on engineering quality, ensuring the accuracy of the bed leveling operation has become a top priority; because the measurement and control system provides full-process guidance for the bed leveling operation and can directly affect the bed leveling accuracy, it is necessary to calibrate the measurement and control system of the leveling ship before the bed leveling operation; and at present, a relatively mature and complete calibration method for the measurement and control system of the bottom-mounted leveling ship has not yet been formed, which restricts the development of high-precision leveling operations of underwater bed. Summary of the invention

[0005] In view of the deficiencies existing in the related art, the present invention provides a calibration method for a measurement and control system of a bottom-sitting leveling vessel to solve the technical problems mentioned in the background technology.

[0006] The present invention provides a calibration method for a measurement and control system of a bottom-seated leveling ship. The calibration method for the measurement and control system of a bottom-seated leveling ship is performed in a dock and comprises the following steps: The hull attitude device calibration step is that the hull attitude device is a first inclinometer installed on the hull; a level is set up on the hull deck, and the level is used to obtain the height difference of the four corners of the hull and calculate the hull inclination value, so as to correct the reading of the first inclinometer and level the hull; The ship positioning equipment calibration step is carried out after the ship attitude equipment calibration step is completed. The ship positioning equipment is two sets of GPS+prism integrated machines installed at the front and rear ends of the ship. A total station is set up on the ship deck, and the relative position relationship between the ship positioning equipment and the four corners of the ship is calibrated using the total station. The leveling frame positioning equipment calibration steps are as follows: the leveling frame positioning equipment is four sets of GPS+prism integrated machines installed on the top of the measuring towers at the four corners of the leveling frame; the leveling frame is lowered to the ground and leveled, a total station is set up on the ground, and the relative position relationship between the leveling frame positioning equipment and the four corners of the leveling frame is calibrated using the total station; The leveling frame attitude equipment calibration step is carried out after the leveling frame positioning equipment calibration step is completed. The leveling frame attitude equipment is a second inclinometer arranged on the leveling frame. The height difference of the four corners of the leveling frame is obtained by using a total station and the inclination value of the leveling frame is calculated, thereby correcting the reading of the second inclinometer.

[0007] In some of the embodiments, in the hull attitude equipment calibration step, first, the first inclinometer continuously collects hull inclination values ​​within a preset time period and obtains a first average value, uses a level to obtain the height difference of the four corners of the hull and calculates the hull inclination value, calculates the first inclination difference between the height difference and the first average value, and corrects the reading of the first inclinometer according to the first inclinometer difference; then, the hull is leveled according to the corrected first inclinometer reading; then, the level is used again to obtain the hull inclination value to review and correct the reading of the first inclinometer, until the hull is leveled, the reading of the first inclinometer is zero, and the hull inclination value obtained by the level is also zero.

[0008] In some of the embodiments, in the calibration step of the leveling frame positioning device, after the relative position relationship between the leveling frame positioning device and the four corners of the leveling frame is calibrated, it is combined with the GPS positioning coordinate data of the leveling frame positioning device to obtain the first position information of the leveling frame; the actual coordinate data of the four corners of the leveling frame are measured using a total station to obtain the second position information of the leveling frame, thereby verifying the first position information of the leveling frame; if the verification fails, the relative position relationship between the leveling frame positioning device and the four corners of the leveling frame is recalibrated.

[0009] In some of the embodiments, in the leveling frame posture equipment calibration step, first, the second inclinometer continuously collects the leveling frame inclination value within a preset time period and obtains a second average value, uses a total station to obtain the height difference of the four corners of the leveling frame and calculates the leveling frame inclination value, calculates the second inclination difference between the leveling frame and the second average value, and corrects the reading of the second inclinometer according to the second inclination difference; then, the leveling frame is adjusted to make it tilted laterally and / or longitudinally, uses a total station to obtain the height difference of the four corners of the leveling frame and calculates the leveling frame inclination value to calibrate the reading of the second inclinometer; if the calibration fails, the leveling frame posture equipment calibration step is re-executed.

[0010] In some of the embodiments, the calibration method of the measurement and control system of the bottom-sitting leveling ship further includes a leveling frame deflection deformation calibration step, which is performed after the leveling frame positioning device calibration step and the leveling frame posture device calibration step are completed; A prism is installed at both ends of the scraper in the length direction, and a total station is set up on the ground on both sides of the scraper in the length direction; the whole platform vehicle drives the scraper to move along the leveling frame, so that it moves from one end of the leveling frame to the other end and then returns to the starting end. The total station uses the tracking mode to observe the prism to obtain the real-time position of the scraper and record the entire process, and draw the scraper stroke curve based on this; the scraper stroke curve is input into the measurement and control system to calibrate the deflection deformation of the leveling frame when the whole platform vehicle moves.

[0011] In some of the embodiments, the supporting device at the bottom of one side frame of the leveling frame includes a cushion beam extending along the length direction of the side frame and a plurality of lifting cylinders buried in the top surface of the cushion beam; the supporting device at the bottom of the other side frame includes a plurality of hydraulic legs; the plurality of lifting cylinders and the plurality of hydraulic legs jointly provide liftable support for the leveling frame; the measurement and control system is communicatively connected with the lifting cylinders and the hydraulic legs to monitor the stroke of the lifting cylinders and the hydraulic legs in real time.

[0012] In some of the embodiments, the calibration method of the measurement and control system of the bottom-sitting leveling ship further includes the steps of calibrating the stroke of the jacking cylinder and the stroke of the hydraulic outriggers; Lower the leveling frame and make the cushion beam and multiple hydraulic legs supported on the ground, adjust the stroke of the jacking cylinder and the hydraulic legs to support the leveling frame together and make the top surface of the leveling frame level; set up a total station on the ground to monitor the top surface elevation of the leveling frame throughout the process; the measurement and control system records the stroke of the jacking cylinder and the hydraulic legs throughout the process; The jacking cylinder and hydraulic outrigger are first extended to the preset maximum stroke, and then retracted to the preset minimum stroke; the elevation change of the top surface of the leveling frame monitored by the total station is synchronously compared with the stroke change of the jacking cylinder and hydraulic outrigger recorded by the measurement and control system; if the changes do not match, the jacking cylinder and hydraulic outrigger are debugged to ensure the accurate stroke control and stroke recording of the jacking cylinder and hydraulic outrigger; if the changes match, the calibration of the jacking cylinder stroke and hydraulic outrigger stroke is completed.

[0013] Based on the above technical scheme, the calibration method of the measurement and control system of the bottom-sitting leveling vessel in the embodiment of the present invention can provide a more mature and complete calibration method for the measurement and control system of the bottom-sitting leveling vessel, ensure the accuracy and reliability of the measurement and positioning of the measurement and control system, and thus improve the accuracy of the base bed leveling operation, which is conducive to promoting the development of high-precision leveling operations for underwater base beds. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of this application. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings: Figure 1 It is a flow chart of the calibration method of the bottom-sit leveling ship measurement and control system of the present invention; Figure 2 It is a front view of the bottom-sitting leveling boat of the present invention; Figure 3 A top view of the bottom-sitting leveling boat of the present invention; Figure 4 It is a front view of the bottom-sitting leveling boat of the present invention after the leveling frame is lowered; Figure 5 for Figure 4 AA section view; Figure 6 It is an overall schematic diagram of the cushion beam in the present invention; Figure 7 It is a schematic diagram of the deflection deformation of the leveling frame in the present invention.

[0015] In the figure: 10, leveling frame; 11, side frame; 20, cushion beam; 30, lifting cylinder; 50, hydraulic support leg; 60, platform leveling vehicle; 61, silo; 62, scraper; 70, hull; 80, measuring tower. DETAILED DESCRIPTION

[0016] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0017] In the description of the present invention, it should be understood that the terms "center", "lateral", "longitudinal", "up", "down", "top", "bottom", "inside", "outside", "left", "right", "front", "back", "vertical", "horizontal", etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply 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 understood as a limitation on the present invention.

[0018] The terms "first", "second", etc. are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first", "second", etc. may explicitly or implicitly include one or more of the features.

[0019] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0020] refer to Figure 1-Figure 7 As shown, the present invention provides a method for calibrating a measurement and control system of a bottom-sitting leveling vessel, which is used to calibrate the measurement and control system of the bottom-sitting leveling vessel before the bed leveling operation.

[0021] In this embodiment, the bottom-seated leveling ship includes a hull 70, a leveling machine and a measurement and control system; the leveling machine is arranged in the open space in the middle of the hull 70, and the leveling machine includes a U-shaped leveling frame 10 and a leveling platform vehicle 60 connected to the leveling frame 10; the bottoms of the two side frames 11 arranged opposite to each other of the leveling frame 10 are both equipped with height-adjustable support devices, and when performing the base bed leveling operation, the leveling frame 10 is bottom-seated and leveled through the support device; the leveling platform vehicle 60 includes a plurality of silos 61 and a scraper 62 connected to the lower edge of all silos 61; the measurement and control system includes a variety of measuring equipment arranged on the hull 70 and the leveling frame 10, and by acquiring and processing the measurement data of each measuring equipment, the position, posture and elevation of the hull 70 and the leveling frame 10 are measured, located and regulated; specifically, a first inclinometer is provided on the hull 70 , used to measure the real-time attitude of the hull 70; a set of GPS+prism integrated machines are respectively provided at the front and rear ends of the hull 70, used to measure and locate the hull 70; a measuring tower 80 is respectively installed at the four corners of the top surface of the leveling frame 10, and a set of GPS+prism integrated machines are installed on the top of the measuring tower 80, used to measure and locate the leveling frame 10, that is, to measure the plane position and elevation of the leveling frame 10. It can be understood that the height of the measuring tower 80 should meet the requirement that after the leveling frame 10 is lowered and bottomed, the top of the measuring tower 80 should be completely exposed on the water surface, and the GPS+prism integrated machine on it is higher than the lifting winch on the leveling ship, and the lifting winch is connected to the leveling frame 10 through a hoisting cable to lower or lift the leveling frame 10; a second inclinometer is provided on the leveling frame 10, used to measure the real-time attitude of the leveling frame 10. It should be noted that the GPS+prism integrated machine includes a coaxially arranged GPS device and a 360° prism, which can simultaneously meet the requirements of GPS and total station measurement and positioning methods in actual applications.

[0022] The method for calibrating the measurement and control system of a bottom-sitting leveling ship is carried out in a dock; the method comprises the steps of calibrating a hull attitude device, calibrating a hull positioning device, calibrating a leveling frame positioning device and calibrating a leveling frame attitude device.

[0023] The hull attitude equipment calibration steps are specifically as follows: a level is set up on the deck of the hull 70, and the height difference of the four corners of the hull 70 is obtained by using the level and the actual inclination value of the hull 70 is calculated, so as to correct the reading of the first inclinometer, and the hull 70 is leveled according to the corrected first inclinometer reading, and the calibration of the first inclinometer is completed after the leveling is verified to be qualified; thereby, when the leveling ship is performing the bed leveling operation, the real-time attitude of the hull 70 can be more accurately known directly by using the first inclinometer.

[0024] The hull positioning equipment calibration step is performed after the hull attitude equipment calibration step is completed. Specifically, a total station is set up on the deck of the hull 70, prisms are placed at the four corners of the hull 70, and the prisms in the GPS+prism integrated machine and the prisms at the four corners of the hull 70 are observed by the total station at one station. The relative position relationship between the two sets of GPS+prism integrated machines in front and behind the hull 70 and the four corners of the hull 70 is obtained, and the calibration of the relative position relationship between the hull positioning equipment and the four corners of the hull 70 is completed; thus, when the leveling ship is performing the bed leveling operation, the coordinate information of the two sets of GPS+prism integrated machines in front and behind the hull 70 is combined with the calibrated relative position relationship between the hull positioning equipment and the four corners of the hull 70 to obtain the position information of the hull 70, thereby facilitating the leveling ship to more quickly and accurately position itself at the construction location.

[0025] The calibration steps of the leveling frame positioning equipment are as follows: the hull 70 is raised, and the leveling frame 10 is lowered so that the supporting device at the bottom is supported on the ground, so as to simulate the actual situation of the leveling ship when performing the bed leveling operation, and the height of the supporting device is adjusted to make the top surface of the leveling frame 10 horizontal; a total station is set up on the ground, and prisms are placed at the four corners of the top surface of the leveling frame 10, and the prisms in the GPS+prism integrated machine at the top of the measuring tower 80 and the prisms at the four corners of the leveling frame 10 are observed by the total station, thereby obtaining the GPS+prism integrated machine at the top of the four measuring towers 80. The relative position relationship between the prism integrated machine and the four corners of the leveling frame 10 is used to complete the calibration of the relative position relationship between the leveling frame positioning device and the four corners of the leveling frame 10; thus, when the leveling ship is performing the base bed leveling operation, the GPS positioning coordinate data of the GPS+prism integrated machine at the top of the four measuring towers 80 is used, combined with the calibrated relative position relationship between the leveling frame positioning device and the four corners of the leveling frame 10, the plane position and elevation information of the leveling frame 10 can be obtained, thereby facilitating the leveling frame 10 to be lowered to the preset position and elevation more quickly and accurately. It should be noted that a plurality of prisms are placed in the length direction of the scraper 62, and the relative elevation relationship between the leveling frame 10 and the scraper 62 can be calibrated by using a total station to observe the prisms at the four corners of the leveling frame 10 and the prisms on the scraper 62, thereby the bottom-seated leveling ship controls the elevation of the scraper 62 by adjusting the elevation of the leveling frame 10, thereby controlling the elevation of the top surface of the base bed after the base bed leveling operation.

[0026] The leveling frame attitude equipment calibration step is performed after the leveling frame positioning equipment calibration step is completed. Specifically, the prisms at the four corners of the leveling frame 10 are observed using a total station to obtain the height difference of the four corners of the leveling frame 10, and the actual inclination value of the leveling frame 10 is calculated in combination with the distance between the four corners of the leveling frame 10. The reading of the second inclinometer is corrected to complete the calibration of the second inclinometer. Therefore, when the leveling ship is performing bed leveling operations, the second inclinometer is directly used to more accurately obtain the real-time attitude of the leveling frame 10.

[0027] The above-mentioned schematic embodiment realizes the calibration of the attitude equipment and positioning equipment on the hull 70 and the leveling frame 10 of the bottom-sitting leveling ship, provides a relatively complete calibration method for the measurement and control system of the bottom-sitting leveling ship, improves the accuracy and reliability of the measurement and positioning of the measurement and control system, and thus improves the accuracy of the bed leveling operation.

[0028] refer to Figure 1-Figure 3 As shown, in some embodiments, in the ship attitude device calibration step, first, the first inclinometer continuously collects the inclination value of the ship 70 within a preset time period and obtains a first average value, uses a level to obtain the height difference of the four corners of the ship 70 and calculates the actual inclination value of the ship 70, calculates the first inclination difference between the actual inclination value and the first average value, and corrects the reading of the first inclinometer according to the first inclination difference; then, the ship 70 is leveled according to the corrected first inclinometer reading; then, the actual inclination value of the ship 70 is obtained by the level again, so as to check and correct the reading of the first inclinometer again, until the ship 70 is leveled, the reading of the first inclinometer is zero, and the inclination value of the ship 70 obtained by the level is also zero, and the calibration of the first inclinometer is completed. This exemplary embodiment further ensures the accuracy and reliability of the ship attitude device calibration.

[0029] refer to Figure 1 , Figure 3-Figure 5 As shown, in some embodiments, in the calibration step of the leveling frame positioning device, after the relative position relationship between the leveling frame positioning device and the four corners of the leveling frame 10 is calibrated, it is combined with the GPS positioning coordinate data of the leveling frame positioning device to solve the coordinates of the four corners of the leveling frame 10, that is, to obtain the first position information of the leveling frame 10; the four corner prisms of the leveling frame 10 are observed by a total station to measure the actual coordinate data of the four corners of the leveling frame 10, that is, to obtain the second position information of the leveling frame 10, so as to verify the first position information of the leveling frame 10; if the verification fails, the calibration step of the leveling frame positioning device is re-executed to recalibrate the relative position relationship between the leveling frame positioning device and the four corners of the leveling frame 10. This exemplary embodiment further ensures the accuracy and reliability of the calibration of the leveling frame positioning device.

[0030] refer to Figure 1 , Figure 3-Figure 5 As shown, in some embodiments, in the calibration step of the leveling frame posture equipment, first, the second inclinometer continuously collects the inclination value of the leveling frame 10 within a preset time period and obtains a second average value, uses a total station to obtain the height difference of the four corners of the leveling frame 10 and calculates the actual inclination value of the leveling frame 10, calculates the second inclination difference between the actual inclination value and the second average value, and corrects the reading of the second inclinometer according to the second inclination difference; then, the leveling frame 10 is adjusted to make it tilted laterally or / and longitudinally, and the total station is used to obtain the height difference of the four corners of the leveling frame 10 and calculate the actual inclination value of the leveling frame 10 to verify the reading of the second inclinometer; if the verification fails, the calibration step of the leveling frame posture equipment is re-executed; if the verification passes, the calibration of the second inclinometer is completed, and on this basis, the positioning device on the leveling frame 10 can be used to obtain the first position information of the leveling frame 10 at this time, and the total station can be used to obtain the second position information of the leveling frame 10 at this time, and the two are compared to verify the accuracy of the measurement and positioning of the leveling frame positioning device when the leveling frame 10 is tilted. This exemplary embodiment further ensures the accuracy and reliability of the leveling frame posture equipment calibration.

[0031] refer to Figure 4 , Figure 5 , Figure 7 As shown, in some embodiments, the calibration method of the measurement and control system of the bottom-seated leveling ship also includes a leveling frame deflection deformation calibration step; it should be noted that the weight of the leveling platform vehicle 60 is relatively heavy, about 100 tons, so when the leveling platform vehicle 60 moves along the leveling frame 10, the leveling frame 10 will produce a certain deflection deformation (such as Figure 7 As shown in the figure, the measurement and control system determines and adjusts the elevation of the leveling frame 10 based on the elevations of the four corners of the leveling frame 10. It can be seen that there is a large difference between the actual elevation of the leveling frame 10 at the location with larger deflection and the elevation measured by the measurement and control system, which will lead to inaccurate elevation control of the scraper 62, thereby affecting the leveling accuracy of the base bed. Therefore, it is necessary to study the deflection and deformation of the leveling frame 10.

[0032] The deflection deformation calibration step of the leveling frame is carried out after the calibration step of the leveling frame positioning equipment and the calibration step of the leveling frame posture equipment are completed. Specifically, a prism is installed at both ends of the scraper 62 in the length direction, and a total station is set up on the ground on both sides of the length direction of the scraper 62; the whole platform vehicle 60 drives the scraper 62 to move along the leveling frame 10, so that the scraper 62 moves from one end of the leveling frame 10 to the other end and then returns to the starting end. The total station uses the tracking mode to observe the prism to obtain the real-time position of the scraper 62 and record the whole process, and draws the scraper travel curve based on this. Because the relative elevation relationship between the leveling frame 10 and the scraper 62 has been Calibration, thus the deflection and deformation of the leveling frame 10 can be seen from the scraper stroke curve; the scraper stroke curve is input into the measurement and control system to calibrate the deflection and deformation of the leveling frame 10 when the leveling platform vehicle 60 moves; therefore, when the leveling ship is performing the base bed leveling operation, the measurement and control system corrects the measured elevation data of the leveling frame 10 according to the calibrated deflection and deformation of the leveling platform vehicle 60, so as to more truly and accurately reflect the actual elevation of the leveling frame 10, and on this basis, the elevation of the leveling frame 10 is adjusted to meet the preset elevation requirements, so that the elevation of the scraper 62 can be more accurately controlled, and then the elevation of the top surface of the base bed can be more accurately controlled.

[0033] The above-mentioned schematic embodiment takes into account the unconventional situation of the deflection deformation of the leveling frame 10 during the base bed leveling operation. By calibrating the deflection deformation of the leveling frame 10, the elevation measurement data of the leveling frame 10 of the measurement and control system is corrected, thereby further ensuring the accuracy of measurement and positioning of the bottom-mounted leveling ship measurement and control system during the entire base bed leveling operation.

[0034] refer to Figure 5 , Figure 6As shown, in some embodiments, the supporting device at the bottom of one side frame 11 of the leveling frame 10 includes a cushion beam 20 extending along the length direction of the side frame 11, and a plurality of lifting cylinders 30 buried in the top surface of the cushion beam 20, and the plurality of lifting cylinders 30 are arranged at intervals along the length direction of the cushion beam 20; the supporting device at the bottom of the other side frame 11 includes a plurality of hydraulic legs 50 arranged at intervals along the length direction of the side frame 11; the plurality of lifting cylinders 30 and the plurality of hydraulic legs 50 jointly support the leveling frame 10 in a liftable manner, and the elevation of the leveling frame 10 is controlled by adjusting the stroke of each lifting cylinder 30 and the hydraulic legs 50; specifically, the number of the lifting cylinders 30 is five, two lifting cylinders 30 are arranged at each end of the cushion beam 20 in the length direction, and one lifting cylinder 30 is arranged in the middle of the cushion beam 20 in the length direction; the number of the hydraulic legs 50 is two, and the two hydraulic legs 50 are respectively located at the two ends of the cushion beam 20 in the length direction. The measurement and control system is connected to the lifting cylinder 30 and the hydraulic legs 50 in communication to monitor the travel of the lifting cylinder 30 and the hydraulic legs 50 in real time. This exemplary embodiment refines the structural setting of the support device of the leveling frame 10 in the bottom-seated leveling ship, so as to further refine and define the support form of the leveling frame during the calibration steps of the leveling frame positioning equipment, the leveling frame attitude equipment calibration steps, and the leveling frame deflection deformation calibration steps, thereby making the calibration of the measurement and control system of the bottom-seated leveling ship more accurate.

[0035] In order to ensure that the elevation control of the leveling frame 10 is accurate during the bed leveling operation and that the stroke of the jacking cylinder 30 and the hydraulic outrigger 50 is consistent with the stroke displayed by the measurement and control system, in some embodiments, the calibration method of the bottom-seated leveling ship measurement and control system also includes the steps of calibrating the stroke of the jacking cylinder 30 and the stroke of the hydraulic outrigger 50, referring to Figure 5-Figure 7 As shown, specifically, the leveling frame 10 is lowered and the cushion beam 20 and multiple hydraulic legs 50 are supported on the ground to simulate the actual situation of the leveling ship when performing the bed leveling operation, and the stroke of the jacking cylinder 30 and the hydraulic legs 50 are adjusted to jointly support the leveling frame 10 and make the top surface of the leveling frame 10 horizontal; a total station is set up on the ground to monitor the top surface elevation of the leveling frame 10 throughout the process; the measurement and control system records the stroke of the jacking cylinder 30 and the hydraulic legs 50 throughout the process; the jacking cylinder 30 and the hydraulic legs 50 are first extended to a preset maximum stroke, and then Contract to the preset minimum stroke; synchronously compare the elevation change of the top surface of the leveling frame 10 monitored by the total station with the stroke change of the jacking cylinder 30 and the hydraulic leg 50 recorded by the measurement and control system; if the changes do not match, debug the jacking cylinder 30 and the hydraulic leg 50 to ensure that the stroke control and stroke recording of the jacking cylinder 30 and the hydraulic leg 50 are accurate, or manually set the stroke of the jacking cylinder 30 and the hydraulic leg 50 to zero when they are contracted to the minimum stroke; if the changes match, complete the calibration of the stroke of the jacking cylinder 30 and the stroke of the hydraulic leg 50.

[0036] The above-mentioned schematic embodiment realizes the calibration of the stroke of the jacking cylinder 30 and the stroke of the hydraulic support leg 50, ensuring that the measurement and control system accurately records the stroke of the jacking cylinder 30 and the hydraulic support leg 50 and keeps it consistent with the elevation change of the leveling frame 10, avoiding unnecessary trouble and confusion in construction control due to inconsistency, and improving the convenience and accuracy of the elevation control of the leveling frame 10.

[0037] To sum up, the calibration method of the measurement and control system of the bottom-sitting leveling ship of the present invention provides a more mature and complete calibration method for the measurement and control system of the bottom-sitting leveling ship by calibrating the hull posture and positioning equipment, the leveling frame posture and positioning equipment, the leveling frame deflection and deformation, and the jacking cylinder and the hydraulic leg stroke. The calibration method is rigorous and meticulous, and takes into account unconventional situations such as the deflection and deformation of the leveling frame during the base bed leveling operation, thereby ensuring the accuracy and reliability of the measurement and positioning of the measurement and control system, thereby improving the accuracy of the base bed leveling operation, and is conducive to promoting the development of high-precision leveling operations for underwater base beds.

[0038] Finally, it should be noted that: the various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0039] The above embodiments are only used to illustrate the technical solution of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, ordinary technicians in the field should understand that the specific implementation methods of the present invention can still be modified or some technical features can be replaced by equivalents without departing from the spirit of the technical solution of the present invention, which should be included in the scope of the technical solution for protection of the present invention.

Claims

1. A method for calibrating a measurement and control system of a bottom-leveling ship, characterized in that: The calibration method of the bottom-leveling ship measurement and control system is carried out in a dock, and comprises the following steps: A hull attitude device calibration step, wherein the hull attitude device is a first inclinometer arranged on the hull; a level is set up on the hull deck, and the level is used to obtain the height difference of the four corners of the hull and calculate the hull inclination value, so as to correct the reading of the first inclinometer and level the hull; The ship positioning device calibration step is performed after the ship attitude device calibration step is completed. The ship positioning device is two sets of GPS+prism integrated machines installed at the front and rear ends of the ship. A total station is set up on the ship deck, and the relative position relationship between the ship positioning device and the four corners of the ship is calibrated using the total station. The leveling frame positioning device calibration step includes four sets of GPS+prism integrated machines installed at the top of the measuring towers at the four corners of the leveling frame; the leveling frame is lowered to the ground and leveled, a total station is set up on the ground, and the relative position relationship between the leveling frame positioning device and the four corners of the leveling frame is calibrated using the total station; The leveling frame posture equipment calibration step is carried out after the leveling frame positioning equipment calibration step is completed. The leveling frame posture equipment is a second inclinometer arranged on the leveling frame. The height difference of the four corners of the leveling frame is obtained by using a total station and the inclination value of the leveling frame is calculated, so as to correct the reading of the second inclinometer.

2. The method for calibrating the measurement and control system of a bottom-leveling ship according to claim 1 is characterized in that: In the hull attitude equipment calibration step, first, the first inclinometer continuously collects hull inclination values ​​within a preset time period and obtains a first average value, the level is used to obtain the height difference of the four corners of the hull and calculate the hull inclination value, the first inclination difference between the height difference and the first average value is calculated, and the reading of the first inclinometer is corrected according to the first inclinometer difference; then, the hull is leveled according to the corrected first inclinometer reading; then, the level is used again to obtain the hull inclination value to review and correct the reading of the first inclinometer, until the hull is leveled, the reading of the first inclinometer is zero, and the hull inclination value obtained by the level is also zero.

3. The calibration method of the bottom-leveling ship measurement and control system according to claim 1 is characterized in that: In the calibration step of the leveling frame positioning device, after the relative position relationship between the leveling frame positioning device and the four corners of the leveling frame is calibrated, it is combined with the GPS positioning coordinate data of the leveling frame positioning device to obtain the first position information of the leveling frame; the actual coordinate data of the four corners of the leveling frame are measured using a total station to obtain the second position information of the leveling frame, thereby verifying the first position information of the leveling frame; if the verification fails, the relative position relationship between the leveling frame positioning device and the four corners of the leveling frame is recalibrated.

4. The method for calibrating the measurement and control system of a bottom-leveling ship according to claim 1 is characterized in that: In the leveling frame attitude equipment calibration step, first, the second inclinometer continuously collects the leveling frame inclination value within a preset time period and obtains a second average value, uses a total station to obtain the height difference of the four corners of the leveling frame and calculates the leveling frame inclination value, calculates the second inclination difference between the leveling frame and the second average value, and corrects the reading of the second inclinometer according to the second inclination difference; then, the leveling frame is adjusted to make it tilted laterally and / or longitudinally, uses a total station to obtain the height difference of the four corners of the leveling frame and calculates the leveling frame inclination value, so as to calibrate the reading of the second inclinometer; if the calibration fails, re-execute the leveling frame attitude equipment calibration step.

5. The method for calibrating the measurement and control system of a bottom-leveling ship according to claim 1 is characterized in that: The calibration method of the measurement and control system of the bottom-seated leveling ship also includes a leveling frame deflection deformation calibration step, which is performed after the leveling frame positioning device calibration step and the leveling frame posture device calibration step are completed; A prism is installed at both ends of the scraper in the length direction, and a total station is set up on the ground on both sides of the scraper in the length direction; the leveling platform vehicle drives the scraper to move along the leveling frame, so that it moves from one end of the leveling frame to the other end and then returns to the starting end. The total station uses the tracking mode to observe the prism to obtain the real-time position of the scraper and record the whole process, and draw the scraper stroke curve based on this; The scraper stroke curve is input into the measurement and control system to calibrate the deflection deformation of the leveling frame when the leveling platform vehicle moves.

6. The method for calibrating the measurement and control system of a bottom-leveling ship according to any one of claims 1 to 5, characterized in that: The supporting device at the bottom of one side frame of the leveling frame includes a cushion beam extending along the length direction of the side frame and a plurality of lifting cylinders buried in the top surface of the cushion beam; the supporting device at the bottom of the other side frame includes a plurality of hydraulic legs; the plurality of lifting cylinders and the plurality of hydraulic legs jointly support the leveling frame in a liftable manner; the measurement and control system is communicatively connected with the lifting cylinders and the hydraulic legs to monitor the stroke of the lifting cylinders and the hydraulic legs in real time.

7. The method for calibrating the measurement and control system of a bottom-leveling ship according to claim 6 is characterized in that: The method for calibrating the measurement and control system of the bottom-seated leveling ship also includes the steps of calibrating the stroke of the lifting cylinder and the stroke of the hydraulic legs; Lower the leveling frame and make the cushion beam and multiple hydraulic legs all supported on the ground, adjust the stroke of the jacking cylinder and the hydraulic legs to jointly support the leveling frame and make the top surface of the leveling frame level; set up a total station on the ground to monitor the top surface elevation of the leveling frame throughout the process; The measurement and control system records the travel of the jacking cylinder and the hydraulic legs throughout the entire process; The lifting cylinder and the hydraulic outrigger are first extended to a preset maximum stroke, and then retracted to a preset minimum stroke; the elevation change of the top surface of the leveling frame monitored by the total station is synchronously compared with the stroke change of the lifting cylinder and the hydraulic outrigger recorded by the measurement and control system; If the changes do not match, the lifting cylinder and the hydraulic outrigger are debugged to ensure accurate stroke control and stroke recording of the lifting cylinder and the hydraulic outrigger; if the changes match, the calibration of the lifting cylinder stroke and the hydraulic outrigger stroke is completed.

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