Full-automatic pose regulation and control device used in bridge open caisson foundation lowering process

Abstract

The invention relates to the technical field of bridge structure automation, in particular to a full-automatic pose regulation and control device used in the lowering process of a bridge open caisson foundation. Comprising a cable displacement combination structure, a control driving structure, a data acquisition module, a data analysis processing module and a data visualization platform structure. The cable displacement combined structure is fixed to one side of the open caisson, and the control driving structure is fixed to the top of the open caisson. According to the full-automatic position and posture regulation and control device used in the lowering process of the bridge open caisson foundation, adjustment of the relative position of the cable and the side wall of the open caisson is achieved by designing a cable displacement combined structure, the applicability of the cable arrangement mode is improved, an embedded industrial personal computer is adopted for receiving and processing GPS and Raspberry P data, and therefore the positioning accuracy is improved. Real-time feedback of data can be realized to control the lowering position of the bridge open caisson, and the pose information of the bridge open caisson foundation is displayed in real time by a visual image, so that the open caisson structure is positioned and the pose is adjusted in real time in the lowering process.

Description

Technical Field

[0001] The present invention relates to the technical field of bridge structure automation, and particularly to a full-automatic device for regulating the position and posture during the lowering process of a bridge caisson foundation. Background Art

[0002] With the rapid development of modern transportation, cross-sea bridges have become important hubs connecting different cities and regions. As a key component of cross-sea bridges, the safe and smooth positioning and lowering of large steel caisson foundations are crucial for the successful construction of the entire bridge project. The positioning and lowering of large caissons are affected by various factors such as waves, water currents, and construction techniques, posing great challenges to the stability and safety during the lowering process of caisson foundations.

[0003] Nowadays, the development of structural attitude control and technological innovation during the positioning and lowering process of bridge caisson foundations aim to solve the many limitations in traditional construction methods and meet the requirements for real-time, precise, and safe during the positioning and lowering process of caissons.

[0004] Precisely positioning and lowering caisson foundations at sea is an important challenge. Traditional positioning lacks in the reasonable arrangement of cables and does not feed real-time monitoring data back to the structural attitude adjustment in real time. Subsequently, it is necessary to manually adjust the cables through monitoring data to control the structural attitude, which is inefficient, time-consuming, and affects the construction safety of the positioning and lowering of caissons. Therefore, using a full-automatic structural attitude adjustment device to ensure the safety of caissons in real time during the positioning and lowering construction process will become a trend. Summary of the Invention

[0005] Based on this, it is necessary to provide a full-automatic device for regulating the position and posture during the lowering process of a bridge caisson foundation to solve the technical problems mentioned in the above background art.

[0006] To solve the above technical problems, the present invention adopts the following technical solutions:

[0007] A full-automatic device for regulating the position and posture during the lowering process of a bridge caisson foundation includes a cable displacement combination structure, a control and drive structure, a data acquisition module, a data analysis and processing module, and a data visualization platform structure;

[0008] The cable displacement combination structure is fixed on one side of the caisson, the control and drive structure is fixed on the top of the caisson, the data acquisition module is connected to the data analysis and processing module. The data acquisition module is installed at the center of the top of the caisson and at the characteristic points of the caisson, the data analysis and processing module is installed outside the hoist unit at the top of the caisson, and the data visualization platform structure is installed on the monitoring ship following the construction personnel.

[0009] As a preferred embodiment of the full-automatic attitude control device for the jacking process of the bridge caisson foundation provided by the present invention, the cable displacement combination structure includes a first cable, a bottom fixed pulley, a movable pulley, a second cable, and two top fixed pulley groups. The two top fixed pulley groups are respectively arranged at both ends of the top of one side of the caisson, the bottom fixed pulley is arranged at the bottom of one side of the caisson, the outer side of the movable pulley is connected to the second cable, and one end of the first cable is located at the bottom end of the movable pulley and the top fixed pulley group.

[0010] As a preferred embodiment of the full-automatic attitude control device for the jacking process of the bridge caisson foundation provided by the present invention, the movable pulley is located away from the side wall of the caisson, and the initial position of the movable pulley is located near the midline position of the caisson.

[0011] As a preferred embodiment of the full-automatic attitude control device for the jacking process of the bridge caisson foundation provided by the present invention, a seabed anchor structure is fixed to the other end of the first cable.

[0012] As a preferred embodiment of the full-automatic attitude control device for the jacking process of the bridge caisson foundation provided by the present invention, the control and drive structure includes a winch unit and a motor drive board. The winch unit is installed on the top of the caisson, and the winch unit is connected between the first cable and the second cable. The motor drive board is fixed to the top end of the caisson and is located outside the winch unit.

[0013] As a preferred embodiment of the full-automatic attitude control device for the jacking process of the bridge caisson foundation provided by the present invention, the data acquisition module includes a positioning system and an IMU inertial navigation module. The positioning system is installed at four external feature points of the caisson, and the IMU inertial navigation module is embedded and assembled close to the center of the top end of the caisson.

[0014] As a preferred embodiment of the full-automatic attitude control device for the jacking process of the bridge caisson foundation provided by the present invention, the data analysis and processing module includes a single-chip microcomputer. The single-chip microcomputer is fixed to the top end of the caisson and is located outside the winch unit.

[0015] As a preferred embodiment of the full-automatic attitude control device for the jacking process of the bridge caisson foundation provided by the present invention, the data visualization platform structure is an embedded industrial computer, and the embedded industrial computer is installed on the monitoring ship by the construction personnel.

[0016] It can be undoubtedly seen that through the above technical solutions of the present application, the technical problems to be solved by the present application can surely be solved.

[0017] Meanwhile, through the above technical solutions, the present invention at least has the following beneficial effects:

[0018] 1. A fully automatic attitude control device for the placement process of a bridge caisson foundation provided by the present invention realizes the adjustment of the relative position between the cable and the caisson side wall by designing a cable displacement combination structure, improves the applicability of the cable layout method, and uses the real-time monitoring of GPS measurement points and IMU inertial modules to realize the real-time acquisition of the position and inclination angle during the placement process of the caisson structure. Combining with the single-chip microcomputer Raspberry Pi to receive, process and synchronize the monitoring data to the industrial control computer and the driving board of the winch in real time, so as to realize the visualization of data and the real-time contraction control of the cable, so that the caisson structure can be positioned and its attitude adjusted in real time during the placement process. The structure is simple, the effect is remarkable, and it has good engineering benefits.

[0019] 2. The present invention combines a high-precision IMU inertial navigation module and a GPS positioning system to realize the precise positioning of the attitude and position of the bridge caisson foundation.

[0020] 3. The present invention adopts a single-chip microcomputer Raspberry Pi control system to realize the data transmission control of the motor drive board and the data acquisition and transmission functions of the IMU inertial navigation module.

[0021] 4. The present invention adopts two control systems of Raspberry Pi and an embedded industrial control computer, and realizes the data synchronous transmission between the two through distributed technology, avoiding the defect of insufficient performance of a single Raspberry Pi system.

[0022] 5. The present invention adopts an embedded industrial control computer to receive and process the GPS and Raspberry Pi data, can realize the real-time feedback of data to control the placement position of the bridge caisson, and can display the pose information of the bridge caisson foundation in real time with a visualized image.

[0023] 6. The present invention adopts a cable displacement combination structure composed of two groups of fixed pulleys and one group of movable pulleys. The position of the movable pulley is controlled by the first cable, and the relative position of the second cable is adjusted to enhance the adaptability, so as to realize better control of the bridge caisson foundation. The precise adjustment of the attitude position of the bridge caisson foundation is realized through the second cable.

[0024] 7. The present invention realizes the functions of automatic control and visualized display of the overall structure through two control systems of Raspberry Pi and an embedded industrial control computer, ensuring the rigor and convenience of the project. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] To more clearly illustrate the technical solutions of the embodiments of the present invention, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0026] Figure 1 Front orthographic view of the structure of the present invention;

[0027] Figure 2 Top plan view of the structure of the present invention;

[0028] Figure 3 Implementation flowchart of the present invention.

[0029] In the figure: 1. Submarine anchor structure; 2. First cable; 3. Bottom fixed pulley; 4. Movable pulley; 5. Second cable; 6. Top fixed pulley group; 7. Hoisting unit; 8. Positioning system; 9. Caisson; 10. Single-chip microcomputer; 11. Motor drive board; 12. IMU inertial navigation module. Detailed implementation manners

[0030] In order to make the objectives, technical solutions and advantages of the present invention clearer, the following further elaborates on the present invention in combination with the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0031] In order to enable those in the technical field to better understand the solution of the present invention, the following will clearly and completely describe the technical solutions in the embodiments of the present invention in combination with the drawings.

[0032] It should be noted that, without conflict, the embodiments in the present invention and the features and technical solutions in the embodiments can be combined with each other.

[0033] It should be noted that similar reference numerals and letters indicate similar items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings.

[0034] Embodiment 1

[0035] Refer to Figure 1 - Figure 2 , a full-automatic attitude control device for the position and pose during the lowering process of a bridge caisson foundation, including a cable displacement combination structure, a control and drive structure, a data acquisition module, a data analysis and processing module, and a data visualization platform structure;

[0036] The cable displacement combination structure is fixed on one side of the caisson 9, the control drive structure is fixed on the top of the caisson 9, the data acquisition module is connected to the data analysis and processing module. The data acquisition module is installed at the center of the top end of the caisson 9 and at the characteristic points of the caisson 9, and the data analysis and processing module is installed near the winch unit 7 at the top end of the caisson 9. The data visualization platform structure is installed on the monitoring ship following the construction personnel;

[0037] The cable displacement combination structure includes the first cable 2, the bottom fixed pulley 3, the movable pulley 4, the second cable 5 and two top fixed pulley groups 6. The two top fixed pulley groups 6 are respectively arranged at both ends of the top of one side of the caisson 9, and the bottom fixed pulley 3 is arranged at the bottom of one side of the caisson 9, so that the top fixed pulley groups 6 and the bottom fixed pulley 3 can rotate on one side of the caisson 9. The outside of the movable pulley 4 is connected to the second cable 5, and one end of the first cable 2 is located at the bottom ends of the movable pulley 4 and the top fixed pulley groups 6, so that the first cable 2 can be rotated and pulled with the bottom of the movable pulley 4 as the support; the movable pulley 4 is separated from the side wall of the caisson 9, and the initial position of the movable pulley 4 is located near the center line of the caisson 9, so that the position of the movable pulley 4 can be adjusted by the telescopic of the second cable 5, the relative position change of the first cable 2 is realized, and at the same time, the pose adjustment of the caisson 9 is realized through the first cable 2.

[0038] Preferably, the other end of the first cable 2 is fixed with a seabed anchor structure 1, so that the connection end of the first cable 2 can be fixed through the anchoring between the seabed anchor structure 1 and the seabed.

[0039] The control drive structure includes a winch unit 7 and a motor drive board 11. The winch unit 7 is installed on the top of the caisson 9, and the winch unit 7 is connected between the first cable 2 and the second cable 5, so that the telescopic of the first cable 2 and the second cable 5 can be controlled through the work of the winch unit 7. The motor drive board 11 is fixed on the top end of the caisson 9 and is located outside the winch unit 7. The motor drive board 11 is installed near the winch unit 7 on the top of the caisson 9, so that the rotation of the winch unit 7 can be controlled through the work of the motor drive board 11;

[0040] In this embodiment, the single-chip microcomputer 10 is the Raspberry Pi single-chip microcomputer.

[0041] The data acquisition module includes a positioning system 8 and an IMU inertial navigation module 12. The positioning system 8 is installed at the four external characteristic points of the caisson 9, and the position information of the caisson 9 is fed back in real time through the positioning system 8. The IMU inertial navigation module 12 is embedded and assembled closely to the center of the top end of the caisson 9, and the pose information of the caisson 9 is recorded in real time through the IMU inertial navigation module 12;

[0042] In this embodiment, the positioning system 8 is the Global Positioning System, abbreviated as GPS.

[0043] The data analysis and processing module includes a single-chip microcomputer 10, which is fixed at the top of the caisson 9 and is located outside the hoisting unit 7. The single-chip microcomputer 10 is installed near the hoisting unit 7 at the top of the caisson 9, so that the single-chip microcomputer 10 can receive the data processed by the IMU inertial navigation module 12 in real time, drive the generator board 11, and upload the result data to the embedded industrial computer.

[0044] The data visualization platform structure is an embedded industrial computer, which is installed on the monitoring ship by the construction personnel. It can receive the real-time positioning information of the positioning system 8 and the pose information of the caisson 9 uploaded by the single-chip microcomputer 10 in real time, and feedback the structural GPS position information to the single-chip microcomputer 10 in real time. The single-chip microcomputer 10 then issues instructions to the motor drive board 11, so as to realize the telescoping of the first cable 2 and the second cable 5 to control the displacement and attitude of the caisson 9.

[0045] Embodiment 2

[0046] Reference Figure 3 , on the basis of the above-mentioned Embodiment 1, its comparison method is disclosed.

[0047] Compare the attitudes of the bridge caisson foundation without the device of the present invention and the bridge caisson foundation with the device of the present invention during the lowering process.

[0048] In a certain project, a large steel caisson is selected for the bridge caisson foundation. Its total mass m = 9740t, the height of the steel caisson is 37m, the outer diameter of the front and rear semi-circular parts is 58m, the inner diameter is 36m, the outer wall thickness of the steel caisson is 2m, the inner wall thickness is 1.5m, the length of the middle rectangular diaphragm part of the steel caisson is 50m, and the overall structure of the steel caisson is divided into 36 well holes, including 16 octagonal well holes, 16 regular octagonal well holes and 4 fan-shaped well holes.

[0049] I. Analyze the sinking of the steel caisson without installing the device of the present invention by the wire rope pulling method, which specifically includes the following steps:

[0050] Step 1: Use a tugboat to tow the steel caisson to the designated position.

[0051] Step 2: Fix the cable at the top or side of the steel caisson, and use the caisson to inject water into the structure to realize the sinking of the steel caisson. It is necessary to pay attention to the displacement and attitude of the steel caisson under the action of waves and currents in real time to avoid the deviation or inclination of the steel caisson.

[0052] Step 3: Fix and connect. When the steel caisson sinks in place, the foundation pit protection and backfilling construction should be carried out immediately to prevent the erosion of waves and currents, and finally the cable should be removed.

[0053] Second, conduct a sinking analysis on the steel caisson installed with the device of the present invention, which specifically includes the following steps:

[0054] Step 1: Assemble a large steel caisson structure on land;

[0055] Step 2: Embeddedly install the positioning system 8 and the IMU inertial navigation module 12, and place twelve winch units 7 for controlling twelve cables. Among them, eight cables are placed at the top position to adjust the attitude by the wire rope pulling method, and the lower four cables are variably combined to adjust the attitude of the steel caisson 9. Debug the communication between the single-chip microcomputer 10, the motor drive board 11, the IMU inertial navigation module 12, the industrial control computer and the Raspberry Pi;

[0056] Step 3: Float the steel caisson 9 structure to the designated construction position by a tugboat or the like;

[0057] Step 4: The construction of positioning and lowering the steel caisson 9 begins. During the sinking process of the steel caisson 9, under the action of external forces such as wave and current loads, the steel caisson 9 deflects or displaces. At this time, the IMU inertial navigation module 12 transmits the inclination data to the single-chip microcomputer 10, and the single-chip microcomputer 10 issues an instruction to the motor drive board 11 to prompt the winch unit 7 to move, realizing the adjustment of the inclination. At the same time, the position information collected by the single-chip microcomputer 10 and the positioning system 8 uploads the data to the embedded industrial control computer in real time. After receiving the data, the industrial control computer processes the data, realizes image visualization monitoring, and feeds back to the Raspberry Pi in real time. The Raspberry Pi issues it to the motor drive board 11 to adjust the cable extension and retraction in real time to ensure the accuracy of the lowering position of the caisson 9 structure.

[0058] The preferred embodiments of the present invention disclosed above are only used to help illustrate the present invention. The preferred embodiments do not describe all the details in detail, nor limit the present invention to the specific embodiments described. Obviously, many modifications and variations can be made according to the content of this specification. This specification selects and specifically describes these embodiments to better explain the principle and practical application of the present invention, so that those skilled in the art can understand and utilize the present invention well. The present invention is only limited by the claims and their full scope and equivalents.

Claims

1. An automatic full-position and attitude control device for the lowering process of a bridge caisson foundation, characterized in that It includes a cable displacement combination structure, a control and drive structure, a data acquisition module, a data analysis and processing module, and a data visualization platform structure; The cable displacement combination structure is fixed on one side of the caisson (9), the control and drive structure is fixed on the top of the caisson (9), the data acquisition module is connected to the data analysis and processing module. The data acquisition module is installed at the center of the top end of the caisson (9) and at the characteristic points of the caisson (9), and the data analysis and processing module is installed outside the hoist unit (7) at the top end of the caisson (9). The data visualization platform structure is installed on the monitoring ship following the construction personnel.

2. The fully automatic attitude control device for the lowering process of a bridge caisson foundation according to claim 1, characterized in that, The cable displacement combination structure includes a first cable (2), a bottom fixed pulley (3), a movable pulley (4), a second cable (5), and two top fixed pulley groups (6). The two top fixed pulley groups (6) are respectively arranged at both ends of the top of one side of the caisson (9), the bottom fixed pulley (3) is arranged at the bottom of one side of the caisson (9), the outside of the movable pulley (4) is connected to the second cable (5), and one end of the first cable (2) is located at the bottom ends of the movable pulley (4) and the top fixed pulley group (6).

3. The fully automatic attitude control device for the lowering process of a bridge caisson foundation according to claim 2, characterized in that, The movable pulley (4) is located away from the side wall of the caisson (9), and the initial position of the movable pulley (4) is located near the center line of the caisson (9).

4. The full-automatic attitude control device for the jacking process of a bridge caisson foundation according to claim 2, characterized in that, The other end of the first cable (2) is fixed with a subsea anchor structure (1).

5. A full-automatic attitude control device for the lowering process of a bridge caisson foundation according to claim 1, characterized in that, The control and drive structure includes a hoist unit (7) and a motor drive board (11). The hoist unit (7) is installed on the top of the caisson (9), and the hoist unit (7) is connected between the first cable (2) and between the hoist unit (7) and the second cable (5). The motor drive board (11) is fixed at the top end of the caisson (9), and the motor drive board (11) is located outside the hoist unit (7).

6. The full-automatic attitude control device for the lowering process of the bridge caisson foundation according to claim 1, characterized in that, The data acquisition module includes a positioning system (8) and an IMU inertial navigation module (12). The positioning system (8) is installed at the four external characteristic points of the caisson (9), and the IMU inertial navigation module (12) is embedded and assembled closely to the center of the top end of the caisson (9).

7. An automatic full-position and attitude control device for the lowering process of a bridge caisson foundation according to claim 5, characterized in that The data analysis and processing module includes a single-chip microcomputer (10). The single-chip microcomputer (10) is fixed at the top end of the caisson (9), and the single-chip microcomputer (10) is located outside the hoist unit (7).

8. The full-automatic attitude control device for the lowering process of a bridge caisson foundation according to claim 1, wherein, The data visualization platform structure is an embedded industrial computer, and the embedded industrial computer is installed on the monitoring ship following the construction personnel.

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