A calibration method for the measurement and control system of a bottom-leveling ship

Abstract

The present invention belongs to the field of engineering surveying technology and relates to a calibration method for a measurement and control system of a bottom-mounted leveling vessel. The method comprises: calibrating the hull attitude equipment, which involves setting up a level on the deck to obtain the elevation difference at the four corners of the hull and calculating the hull inclination value to correct the reading of a first inclinometer on the hull; calibrating the hull positioning equipment, which involves setting up a total station on the deck to calibrate the relative positional relationship between the positioning equipment at the front and rear ends of the hull and the four corners of the hull; calibrating the leveling frame positioning equipment, which involves lowering the leveling frame to the ground and setting up a total station on the ground to calibrate the relative positional relationship between the positioning equipment at the top of the frame's four-corner measurement tower and the frame's four corners; and calibrating the leveling frame attitude equipment, which involves using a total station to obtain the elevation difference at the four corners of the leveling frame and calculate the leveling frame inclination value to correct the reading of a second inclinometer on the frame. The present invention provides a relatively complete calibration method for the measurement and control system of a bottom-mounted leveling vessel, thereby ensuring the accuracy and reliability of the measurement and positioning of the measurement and control system.

Description

Technical Field

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

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

[0003] The bottom-seated leveling ship mainly consists 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. The leveling machine includes a U-shaped leveling frame and a leveling platform vehicle connected to the leveling frame. The bottoms of the two side frames arranged opposite to each other on the leveling frame are both equipped with height-adjustable support devices. The leveling platform vehicle includes multiple silos and scrapers connected to the lower edges of all silos. When the leveling ship is performing the base bed leveling operation, it first lowers the leveling frame to a preset position and elevation, then throws the stones in the silo onto the base bed to be leveled. The leveling platform vehicle then drives the scraper to move along the leveling frame to level the area where the stones have been thrown. The measurement and control system includes a variety of measuring equipment installed on the hull and the leveling frame. By acquiring and processing the measurement data of each measuring equipment, it measures and locates the position, posture, and elevation of the hull and the leveling frame.

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

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

[0006] The present invention provides a calibration method for a measurement and control system of a bottom-seated leveling vessel. The calibration method for the measurement and control system of the bottom-seated leveling vessel is performed in a dock and includes the following steps:

[0007] The hull attitude device calibration step is as follows: 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. The reading of the first inclinometer is used to correct the hull leveling;

[0008] The ship positioning device calibration step is carried out after the ship attitude device calibration step is completed. The ship positioning device consists of two GPS+prism integrated devices installed at the front and rear ends of the hull. A total station is set up on the hull deck to calibrate the relative position relationship between the hull positioning device and the four corners of the hull.

[0009] The leveling frame positioning equipment calibration steps are as follows: The leveling frame positioning equipment consists of four GPS + prism integrated devices installed on the top of the measurement towers at the four corners of the leveling frame; the leveling frame is lowered to the ground and leveled, and a total station is set up on the ground. The relative position relationship between the leveling frame positioning equipment and the four corners of the leveling frame is calibrated using the total station;

[0010] 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 installed on the leveling frame. The total station is used to obtain the height difference of the four corners of the leveling frame and calculate the inclination value of the leveling frame, thereby correcting the reading of the second inclinometer.

[0011] 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 inclination 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.

[0012] 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 calibrating the first position information of the leveling frame; if the calibration fails, the relative position relationship between the leveling frame positioning device and the four corners of the leveling frame is recalibrated.

[0013] 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 height difference 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 horizontally and / or vertically, 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.

[0014] In some embodiments, the calibration method of the measurement and control system of the bottom-standing leveling vessel further includes a leveling frame deflection calibration step, which is performed after the leveling frame positioning device calibration step and the leveling frame posture device calibration step are completed;

[0015] 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.

[0016] In some embodiments, the supporting device at the bottom of one side frame of the leveling frame includes a pad beam extending along the length direction of the side frame and a plurality of lifting cylinders embedded in the top surface of the pad 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 to the lifting cylinders and the hydraulic legs to monitor the stroke of the lifting cylinders and the hydraulic legs in real time.

[0017] In some of the embodiments, the calibration method of the measurement and control system of the bottom-seated leveling ship further includes the steps of calibrating the stroke of the jacking cylinder and the stroke of the hydraulic legs;

[0018] Lower the leveling frame and support the cushion beam and multiple hydraulic legs on the ground. Adjust the stroke of the jacking cylinder and hydraulic legs to 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 elevation of the top surface of the leveling frame throughout the process. The measurement and control system records the stroke of the jacking cylinder and hydraulic legs throughout the process.

[0019] The jacking cylinder and hydraulic support legs 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 support legs recorded by the measurement and control system; if the changes do not match, the jacking cylinder and hydraulic support legs are debugged to ensure that the stroke control and stroke recording of the jacking cylinder and hydraulic support legs are accurate; if the changes match, the calibration of the jacking cylinder stroke and hydraulic support leg stroke is completed.

[0020] Based on the above technical solution, 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, 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, which is conducive to promoting the development of high-precision leveling operations of underwater base beds. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] 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:

[0022] Figure 1 This is a flow chart of the calibration method of the bottom-leveling ship measurement and control system of the present invention;

[0023] Figure 2 This is a front view of the bottom-sitting leveling boat of the present invention;

[0024] Figure 3 A top view of the bottom-seat leveling boat of the present invention;

[0025] Figure 4 This is a front view of the bottom-sitting leveling boat of the present invention after the leveling frame is lowered;

[0026] Figure 5 for Figure 4 AA cross-sectional view;

[0027] Figure 6 It is an overall schematic diagram of the cushion beam in the present invention;

[0028] Figure 7 Schematic diagram of the deflection deformation of the leveling frame in the present invention.

[0029] 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

[0030] The following will provide a clear and complete description of the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making any creative efforts are within the scope of protection of the present invention.

[0031] 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 the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention.

[0032] The terms "first," "second," etc. are used for descriptive purposes only and should not be understood to indicate or imply relative importance or to implicitly indicate the quantity of the technical features indicated. Thus, a feature specified as "first," "second," etc. may explicitly or implicitly include one or more of the features.

[0033] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood broadly. For example, they may refer to fixed connections, detachable connections, or integral connections; they may refer to direct connections, indirect connections through an intermediary, or internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on the specific circumstances.

[0034] refer to Figure 1-Figure 7 As shown, the present invention provides a calibration method for 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.

[0035] 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 trolley 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 seated and leveled through the support devices; the leveling platform trolley 60 includes multiple silos 61 and scrapers 62 connected to the lower edges 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 GPS+prism integrated device is installed at each of the front and rear ends of the hull 70 for measuring and positioning the hull 70; a measurement tower 80 is installed at each of the four corners of the top surface of the leveling frame 10, and a GPS+prism integrated device is installed at the top of each measurement tower 80 for measuring and positioning the leveling frame 10, that is, measuring the plane position and elevation of the leveling frame 10. It is understood that the height of the measurement tower 80 should be such that after the leveling frame 10 is lowered and landed, the top of the measurement tower 80 should be completely exposed above the water surface, and the GPS+prism integrated device on it should be higher than the lifting winch on the leveling vessel, which is connected to the leveling frame 10 via a hoisting cable to lower or raise the leveling frame 10. The leveling frame 10 is equipped with a second inclinometer for measuring the real-time attitude of the leveling frame 10. It should be noted that the GPS+prism integrated device includes a coaxially arranged GPS device and a 360° prism. In actual application, it can meet the requirements of both GPS and total station measurement and positioning methods.

[0036] A method for calibrating a measurement and control system of a bottom-sitting leveling ship is carried out in a dock; the method includes a hull attitude equipment calibration step, a hull positioning equipment calibration step, a leveling frame positioning equipment calibration step, and a leveling frame attitude equipment calibration step.

[0037] 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 tilt 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. After the level is verified as qualified, the calibration of the first inclinometer is completed; 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.

[0038] The hull positioning equipment calibration step is carried out after the hull attitude equipment calibration step is completed. Specifically, a total station is set up on the deck of hull 70, prisms are placed at the four corners of hull 70, and the total station is used to observe the prisms in the GPS+prism all-in-one machine and the prisms at the four corners of hull 70 in one stop, thereby obtaining the relative position relationship between the two sets of GPS+prism all-in-one machines in front and behind hull 70 and the four corners of hull 70, and completing the calibration of the relative position relationship between the hull positioning equipment and the four corners of hull 70; thereby, when the leveling ship is performing bed leveling operations, the coordinate information of the two sets of GPS+prism all-in-one machines in front and behind hull 70, combined with the calibrated relative position relationship between the hull positioning equipment and the four corners of hull 70, can be used to obtain the position information of hull 70, thereby facilitating the leveling ship to more quickly and accurately locate the construction position.

[0039] 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 its bottom is supported on the ground, so as to simulate the actual situation of the leveling ship when performing the bed leveling operation; 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; the prisms in the GPS+prism integrated device 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 at one stop, thereby obtaining the GPS+prism integrated device at the top of the four measuring towers 80. The relative positional relationship between the integrated GPS and prism devices and the four corners of the leveling frame 10 is calibrated to complete the relative positional relationship between the leveling frame positioning device and the four corners of the leveling frame 10. Thus, when the leveling vessel is performing the bed leveling operation, the GPS positioning coordinate data of the GPS + prism integrated devices at the top of the four measuring towers 80, combined with the calibrated relative positional relationship between the leveling frame positioning device and the four corners of the leveling frame 10, can be used to obtain the plane position and elevation information of the leveling frame 10, thereby facilitating the more rapid and accurate lowering of the leveling frame 10 to the preset position and elevation. It should be noted that by placing multiple prisms along the length of the scraper 62 and using a total station to observe the prisms at the four corners of the leveling frame 10 and the prisms on the scraper 62, the relative elevation relationship between the leveling frame 10 and the scraper 62 can be calibrated. Thus, the bottom-seated leveling vessel 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 bed after the bed leveling operation.

[0040] The leveling frame attitude equipment calibration step is carried out 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. Combined with the distance between the four corners of the leveling frame 10, the actual inclination value of the leveling frame 10 is calculated, and the reading of the second inclinometer is corrected to complete the calibration of the second inclinometer. In this way, when the leveling ship is performing the base bed leveling operation, the real-time attitude of the leveling frame 10 can be more accurately known by directly using the second inclinometer.

[0041] 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 base bed leveling operation.

[0042] refer to Figure 1-Figure 3 As shown, in some embodiments, during the ship attitude device calibration step, the first inclinometer first continuously collects inclination values ​​of the ship 70 over a preset time period and calculates a first average value. A level is used to obtain the height difference of the four corners of the ship 70 and calculate the actual inclination value of the ship 70. A first inclination difference between the actual inclination value and the first average value is calculated, and the first inclinometer reading is corrected based on the first inclinometer reading. The ship 70 is then leveled based on the corrected first inclinometer reading. The level is then used again to obtain the actual inclination value of the ship 70, and the first inclinometer reading is further verified and corrected. This process continues until the ship 70 is leveled, the first inclinometer reading is zero, and the inclination value of the ship 70 obtained by the level is also zero, completing the calibration of the first inclinometer. This exemplary embodiment further ensures the accuracy and reliability of the ship attitude device calibration.

[0043] refer to Figure 1 、 Figure 3-Figure 5 As shown, in some embodiments, during the leveling frame positioning device calibration step, after the relative positional relationship between the leveling frame positioning device and the four corners of the leveling frame 10 is calibrated, the relative positional relationship is combined with the GPS positioning coordinate data of the leveling frame positioning device to calculate the coordinates of the four corners of the leveling frame 10, thereby obtaining first position information of the leveling frame 10. A total station is then used to observe the four corner prisms of the leveling frame 10 to measure the actual coordinate data of the four corners of the leveling frame 10, thereby obtaining second position information of the leveling frame 10, thereby verifying the first position information of the leveling frame 10. If the verification fails, the leveling frame positioning device calibration step is re-executed to recalibrate the relative positional 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 leveling frame positioning device calibration.

[0044] refer to Figure 1 、 Figure 3-Figure 5As shown, in some embodiments, in the leveling frame posture equipment calibration step, 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 horizontally or / and vertically, 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 to calibrate the reading of the second inclinometer; if the calibration fails, the leveling frame posture equipment calibration step is re-executed; if the calibration 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 second position information of the leveling frame 10 at this time can be obtained by using the total station, 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.

[0045] 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-mounted 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 degree of deflection deformation (such as Figure 7 As shown in the figure), the measurement and control system determines and regulates the elevation of the leveling frame 10 based on the elevations of the four corners of the leveling frame 10. Therefore, 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 deformation 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.

[0046] 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 stroke curve based on this. Since the relative elevation relationship between the leveling frame 10 and the scraper 62 has been Calibration, so 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, adjust the elevation of the leveling frame 10 to meet the preset elevation requirements, which can more accurately control the elevation of the scraper 62, and thus more accurately control the elevation of the base bed top surface.

[0047] The above-mentioned schematic embodiment takes into account the unconventional situation of the deflection and deformation of the leveling frame 10 during the base bed leveling operation. By calibrating the deflection and deformation of the leveling frame 10, the elevation measurement data of the leveling frame 10 of the measurement and control system is corrected, 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.

[0048] 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 pad 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 pad beam 20, and the plurality of lifting cylinders 30 are arranged at intervals along the length direction of the pad 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 lifting cylinders 30 is five, two lifting cylinders 30 are arranged at each end of the length direction of the pad beam 20, and one lifting cylinder 30 is arranged in the middle of the length direction of the pad beam 20; the number of hydraulic legs 50 is two, and the two hydraulic legs 50 are respectively located at the two ends of the length direction of the pad beam 20. The measurement and control system is in communication with both the lifting cylinder 30 and the hydraulic legs 50 to monitor their travel in real time. This exemplary embodiment refines the structural arrangement of the support device for the leveling frame 10 in a bottom-seated leveling vessel, further refining and defining the support configuration for the leveling frame during the calibration steps for the leveling frame positioning equipment, the leveling frame posture equipment, and the leveling frame deflection and deformation. This further enhances the accuracy of the calibration of the measurement and control system for the bottom-seated leveling vessel.

[0049] In order to ensure that the elevation of the leveling frame 10 is accurately controlled during the bed leveling operation and that the stroke of the jacking cylinder 30 and the hydraulic support leg 50 is consistent with the stroke displayed by the measurement and control system, in some embodiments, the calibration method of the bottom-type 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 support leg 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 the 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 support leg 50 recorded by the measurement and control system; if the changes do not match, debug the jacking cylinder 30 and the hydraulic support leg 50 to ensure that the stroke control and stroke recording of the jacking cylinder 30 and the hydraulic support leg 50 are accurate, or manually set the stroke of the jacking cylinder 30 and the hydraulic support leg 50 to zero when they are contracted to the minimum stroke; if the changes match, complete the calibration of the jacking cylinder 30 stroke and the hydraulic support leg 50 stroke.

[0050] 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.

[0051] 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, 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, 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.

[0052] 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.

[0053] The above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit the same. Although the present invention has been described in detail with reference to preferred embodiments, persons of ordinary skill in the art should understand that the specific implementation methods of the present invention may still be modified or some technical features may be replaced by equivalents without departing from the spirit of the technical solutions of the present invention, and all of these should be included in the scope of the technical solutions for which protection is sought.

Claims

1. A calibration method for a bottom-leveling ship's measurement and control system, characterized in that: The calibration method of the bottom-leveling ship measurement and control system is carried out in a dock and includes the following steps: The hull attitude device calibration step 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, thereby correcting the reading of the first inclinometer and leveling 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 devices 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 GPS+prism integrated devices installed on 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 to calibrate the relative position relationship between the leveling frame positioning device and the four corners of the leveling frame, and the relative elevation relationship between the leveling frame and the scraper. A leveling frame attitude device calibration step is performed after the leveling frame positioning device calibration step is completed. The leveling frame attitude device is a second inclinometer provided on the leveling frame. A total station is used to obtain the height difference of the four corners of the leveling frame and calculate the leveling frame inclination value, thereby correcting the reading of the second inclinometer. The deflection deformation calibration step of the leveling frame is carried out after the leveling frame positioning equipment calibration step and the leveling frame posture equipment 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 length direction of the scraper; 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 draws 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.

2. The calibration method of the bottom-leveling ship measurement and control system 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 inclination 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 measurement and control system of the bottom-leveling ship 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 calibrating the first position information of the leveling frame; if the calibration 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 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 height difference 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 horizontally or / and vertically, 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.

5. The method for calibrating a measurement and control system of a bottom-supported leveling vessel according to any one of claims 1 to 4, characterized in that: The supporting device at the bottom of one side frame of the leveling frame includes a pad beam extending along the length direction of the side frame and multiple lifting cylinders buried in the top surface of the pad beam; the supporting device at the bottom of the other side frame includes multiple hydraulic support legs; the multiple lifting cylinders and multiple hydraulic support legs jointly support the leveling frame in a liftable manner; the measurement and control system is communicated with the lifting cylinders and hydraulic support legs to monitor the stroke of the lifting cylinders and hydraulic support legs in real time.

6. The method for calibrating the measurement and control system of a bottom-leveling ship according to claim 5 is characterized in that: The method for calibrating the measurement and control system of the bottom-seated leveling ship further includes the steps of calibrating the stroke of the lifting cylinder and the stroke of the hydraulic legs; Lowering the leveling frame and supporting the cushion beam and multiple hydraulic legs on the ground, adjusting 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; setting 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 entire stroke of the jacking cylinder and the hydraulic legs; The jacking oil cylinder and the hydraulic support legs 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 jacking oil cylinder and the hydraulic support legs recorded by the measurement and control system; If the change amount does not match, the lifting cylinder and hydraulic support leg are debugged to ensure that the stroke control and stroke recording of the lifting cylinder and hydraulic support leg are accurate; if the change amount matches, the calibration of the lifting cylinder stroke and hydraulic support leg stroke is completed.

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