Multi-point cooperative positioning method for precise installation of prefabricated components of high-pile wharf on water

Abstract

The application discloses a high-pile wharf prefabricated component water-precision installation multi-point cooperative positioning method, belongs to harbor and navigation engineering measurement construction technology, and sequentially executes six-step processes of benchmark building, GPS-RTK coarse positioning, shipborne sensor posture monitoring, multi-total station edge cutting precision measurement, hydraulic posture adjustment and final inspection review. A triangular distribution onshore total station control point is laid in advance, a plurality of RTK mobile stations, double inclinometers and range finders on the ship synchronously collect the ship body posture; three total stations are used to solve the coordinates of the component edge cutting angle intersection, the hydraulic system is closed loop and corrected according to the deviation, and corresponding review modes are adopted for the horizontal beam and panel components. The application integrates satellite positioning, multi-station total station cooperative measurement and shipborne posture sensing, overcomes the defects of water surface wind and wave shaking, insufficient single GPS precision and single station limited visibility, realizes millimeter-level installation control, greatly shortens the positioning time consumption, and is suitable for various prefabricated component water-precision installation operations of piling ships and hoisting ships.

Description

Technical Field

[0001] This invention relates to port and waterway engineering surveying and construction technology, and in particular to a multi-point collaborative positioning method for the precise installation of prefabricated components for high-pile wharves on water. Background Technology

[0002] The high-pile wharf project requires the batch installation and positioning of prefabricated components such as steel pipe piles, precast beams, panels, and berthing components on the water. Water construction faces inherent challenges such as continuous disturbance of the crane vessel by wind and waves, obstruction of vision by water fog, and lack of fixed land measurement benchmarks. The positioning accuracy of the components directly determines the overall structural durability and operational safety of the wharf.

[0003] Existing waterborne positioning methods each have their shortcomings: pure GPS-RTK positioning is susceptible to interference from the multipath effect on the water surface, with positioning errors reaching 3-5cm, making it difficult to meet the high-precision installation requirements of components ≤5mm; the polar coordinate method of a single total station can only output two-dimensional coordinates and cannot simultaneously monitor the tilt attitude of the hull and components; traditional theodolite intersection relies on manual readings, resulting in poor real-time correction capabilities. Existing published patent CN102704486A only targets GPS positioning of a single vessel for pile driving and cannot be adapted to various prefabricated components such as beams and panels; CN103981858A only uses a single total station for layout and does not achieve collaborative fusion of data from multiple devices.

[0004] Currently, the industry generally adopts a segmented operation mode using GPS combined with a single total station. The coordinate systems of the two types of equipment are not unified, the measurement data is stored independently, and there is a lack of a real-time linkage calculation mechanism. The hull's swaying due to wind and waves cannot be dynamically compensated, and it is difficult to obtain multi-dimensional deviations in the plane and tilt angle of components simultaneously by relying solely on single-point measurements. After adjustment, repeated measurements are required, resulting in low construction efficiency. At the same time, there is no standardized closed-loop attitude adjustment process, making it difficult to distinguish the verification standards of different components such as beams and panels, which easily leads to positioning errors and rework. There is an urgent need for a high-precision waterborne positioning method with multi-equipment collaboration and a closed-loop process throughout the entire process. Summary of the Invention

[0005] To address the aforementioned technical problems, this invention provides a multi-point collaborative positioning method for the precise installation of prefabricated components for high-pile wharves on water, the specific steps of which are as follows: Step 1: Establish a collaborative positioning benchmark system, set up a GPS-RTK reference station and no less than 3 shore-based measurement control points, set up a total station at each control point, and import the ship parameters, component design coordinates and control point coordinates into the positioning software; Step 2: GPS-RTK coarse positioning. Deploy no fewer than 3 GPS rover stations on the installation vessel and use RTK mode to obtain the three-dimensional coordinates and orientation of the installation vessel in real time. Step 3: Onboard sensor attitude monitoring. The installation vessel is equipped with no less than 2 inclinometers and no less than 2 rangefinders. The inclinometers monitor the pitch and roll angles of the installation vessel in real time, and the rangefinders correct the planar position of the components relative to the hull of the installation vessel in real time. Step 4: Precise positioning using the tangent method with multiple total stations. The total stations at the three measurement control points on the shore are simultaneously aligned with the edge of the component. Each total station measures the angle between the tangent line of the component edge and the line connecting the measurement control points. By solving the measurement data from the three total stations, the deviation between the actual position and the design position of the component is calculated in real time. Step 5: Adjusting and correcting the hydraulic system posture. Based on the deviation data from Step 4, the planar position and tilt angle of the components are adjusted through the hydraulic control system of the installation vessel until the measurement results of the total station at the three measurement control points all meet the design allowable deviation. Step 6: Final inspection and verification with total station / level. After the components are in place, the planar position is verified using the three-dimensional coordinate method or the three-dimensional direction method of the total station, and the elevation is verified using the level. After confirming that all indicators meet the design requirements, the installation is completed.

[0006] Furthermore, in step two, the installation vessel is a piling vessel or a crane vessel, and three GPS mobile stations are respectively arranged on the bow, port side of the stern, and starboard side of the stern.

[0007] Furthermore, in step four, three measurement control points are arranged in a triangle to cover the entire installation area. The total station at each measurement control point independently measures the horizontal angle of the tangent line on the edge of the component, and the positioning software calculates the actual position of the component by the spatial intersection of the three tangent lines.

[0008] Furthermore, in step five, when installing inclined piles or inclined components, the hydraulic control system adjusts the forward / backward tilt angle and the left / right tilt angle of the pile frame. The tilt is monitored in real time by an inclinometer and verified using a total station at the shore measurement control point.

[0009] Furthermore, in step six, for the final inspection of beam-type components, the design axis of the component is marked on the pile top using the three-dimensional coordinate method or the three-dimensional direction method of the total station for verification; for the final inspection of panel-type components, the panel installation line is marked on the beam using the coordinate method of the total station for verification.

[0010] The advantages of this invention compared to the prior art are: (1) Multi-level collaborative positioning, taking into account both efficiency and high precision, adopts a two-level positioning mode of GPS-RTK coarse positioning + multi-total station tangent intersection fine measurement. First, the ship is quickly returned to the design area. Then, by triangulating multiple total stations to spatially calculate the three-dimensional coordinates of the components, the installation deviation can be controlled to the millimeter level. This solves the problem of single GPS being affected by multi-path interference on the water surface and insufficient accuracy, and meets the high-precision installation specification requirements of ≤5mm for prefabricated components at the wharf.

[0011] (2) Real-time dynamic compensation of hull attitude eliminates wind and wave disturbance error. Multiple onboard inclinometers and distance measuring instruments continuously monitor the longitudinal and transverse heel angles of the hull and the relative positions of components. They can identify the hull swaying caused by wind and waves in real time. The positioning software synchronously corrects the measurement offset caused by attitude. Measurement can be continuously performed without waiting for the water surface to stabilize, greatly reducing the waiting time due to waves.

[0012] (3) Real-time closed-loop correction of multi-source data with a high degree of automation. The deviation data of multiple total stations are transmitted to the control system in real time, and the hydraulic mechanism on the ship is linked to automatically adjust the tilt angle and amplitude of the pile frame / crane, forming a closed-loop operation of "measurement-calculation-adjustment-re-measurement". This eliminates the inefficient mode of traditional manual reading, manual calculation and repeated displacement, and significantly shortens the positioning time of a single component.

[0013] (4) It is highly versatile and adaptable to all types of prefabricated components for wharves. One positioning system can be compatible with various components such as steel pipe piles, beams, panels, and diagonal braces. Differentiated final inspection and verification schemes are set for beams and panels. It is also compatible with two mainstream types of waterborne construction vessels: piling vessels and crane vessels. One process covers all waterborne prefabrication and installation procedures for wharves.

[0014] (5) Triangular station layout provides full coverage and strong resistance to line-of-sight interference. When the total station is set up in a triangular layout at three points on the shore, the other two stations can still complete the intersection calculation when a single measuring point is blocked by fog or hoisting equipment. Compared with a single total station that relies on a single line of sight, this greatly reduces the measurement interruption caused by fog and waves on the water surface or hoisting components, and makes continuous operation more stable.

[0015] (6) Standardized benchmark system reduces human error in construction, unifies the global coordinates of RTK benchmark station and shore control point, all ships, components and measuring equipment share the same coordinate system, eliminates the cumulative error caused by coordinate transformation of multiple equipment, lowers the operation threshold of on-site surveyors, ensures good consistency of positioning results, and reduces rework and rectification. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the overall process of the present invention; Detailed Implementation

[0017] It should be noted that, unless otherwise specified, the embodiments and features described in the present invention can be combined with each other.

[0018] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature. In the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0019] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art will understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0020] Example

[0021] like Figure 1 As shown, the multi-point collaborative positioning method for precise installation of prefabricated components for high-pile wharves on water comprises the following steps: Step 1: Establish a collaborative positioning benchmark system and set up a GPS-RTK reference station to ensure global coordinate benchmarks; establish no fewer than 3 shore-based measurement control points, arranged in a triangle to ensure coverage of the entire construction area; set up a high-precision total station at each control point, using a 0.5″-level high-precision angle measuring device, with an allowable positioning deviation of ≤5mm for component installation plane; install a shipboard sensing system on the installation vessel to import ship parameters, component design coordinates, and control point coordinates into the positioning software.

[0022] Step 2: GPS-RTK coarse positioning. Deploy no fewer than 3 GPS rover stations on the installation vessel and use RTK mode to obtain the three-dimensional coordinates and orientation of the installation vessel in real time. In step two, the installation vessel is either a piling vessel or a crane vessel. Three GPS mobile stations are respectively arranged on the bow, port side of the stern, and starboard side of the stern. The positioning software displays the position of the installation vessel in the design coordinate system in real time. The operators move the vessel to within 50cm of the designed position of the component by releasing and retracting anchor cables in different directions.

[0023] Step 3: Onboard sensor attitude monitoring. The installation vessel is equipped with no less than 2 inclinometers and no less than 2 rangefinders. The inclinometers monitor the longitudinal angle of the installation vessel from bow to stern and the heel angle from port to starboard in real time. The rangefinders correct the planar position of the component relative to the hull of the installation vessel in real time. The two rangefinders detect the fore-aft distance and lateral distance between the component and the hull reference point, respectively. When the inclinometer detects that the hull tilt exceeds the allowable value, the hull is restored to level by adjusting the ballast water.

[0024] Step 4: Precise positioning using the tangent method with multiple total stations. The total stations at three measurement control points on the shore are simultaneously aligned with the same edge of the component. Each total station measures the angle between the tangent of the component edge and the line connecting the measurement control points. The three angle data are transmitted to the positioning software in real time via wireless communication. The actual three-dimensional coordinates of the component edge are calculated using the forward intersection principle and compared with the design coordinates to obtain the position deviation.

[0025] In step four, three measurement control points are arranged in a triangle to cover the entire installation area. The total station at each measurement control point independently measures the horizontal angle of the tangent line on the edge of the component. The positioning software calculates the actual position of the component by the spatial intersection of the three tangent lines.

[0026] Step 5: Adjust the hydraulic system for attitude correction. The positioning software displays the deviation data in real time. Based on the deviation data from Step 4, the operator adjusts the planar position and tilt angle of the components through the hydraulic control system of the installation vessel until the measurement results of the total station at the three measurement control points all meet the design allowable deviation. In step five, when installing inclined piles or tilted components, the hydraulic control system adjusts the forward / backward tilt angle and the left / right tilt angle of the pile frame. The tilt is monitored in real time by an inclinometer and verified using a total station at the shore measurement control point.

[0027] When the installation vessel is a piling vessel, the hydraulic control system adjusts the front and rear tilt angles, left and right tilt angles of the pile frame, and the torsion angle of the pile body. When the installation vessel is a crane vessel, the hydraulic control system adjusts the boom amplitude, slewing angle, and hook lifting height. During the adjustment process, the operations in steps three and four are continuously performed to form a closed-loop control of measurement → deviation display → hydraulic adjustment → re-measurement until the deviation meets the design requirements.

[0028] Step 6: Final inspection and verification with total station / level. After the components are in place, the planar position is verified using the three-dimensional coordinate method or the three-dimensional direction method of the total station, and the elevation is verified using the level. After confirming that all indicators meet the design requirements, the installation is completed.

[0029] In step six, for the final inspection of beam-type components, the design axis of the component is marked on the pile top using the three-dimensional coordinate method or the three-dimensional direction method of the total station for verification; for the final inspection of panel-type components, the panel installation line is marked on the beam using the coordinate method of the total station for verification.

[0030] Real-world examples Taking the pile driving construction of the green building materials wharf project in Maoshan Port Area of ​​Qichun Port as an example, the pile driving vessel (with 2 navigators) is equipped with 3 GPS mobile stations (RTK mode), 2 inclinometers, and 2 rangefinders. At the 3 control points on the shore, Leica TS30 total stations (angle measurement accuracy 0.5") are set up respectively.

[0031] Pile driving process: GPS coarse positioning moves the piling vessel to the vicinity of the pile position → 3 total stations use the edge-cutting method for precise positioning (aligning the edge of the steel pipe pile with the designed pile position) → hydraulic system fine-tunes the inclination and torsion angle of the pile frame → total station verification → hammering to drive the pile → real-time monitoring of pile position changes during the pile driving process.

[0032] The positioning time for a single pile is approximately 15 to 20 minutes, and the final pile position deviation is controlled within 50 mm (the specification requires ≤100 mm), which meets the design requirements.

[0033] The above embodiments only illustrate one or more implementations of the present invention, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of the present invention. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these all fall within the protection scope of the present invention. Therefore, the protection scope of the present invention should be determined by the appended claims.

Claims

1. A multi-point collaborative positioning method for precise installation of precast components for high-pile wharves on water, characterized in that, The specific steps are as follows: Step 1: Construct a unified and collaborative positioning benchmark: Deploy GPS-RTK benchmark stations and set up at least 3 shore-based measurement control points distributed in a triangular pattern. Set up a total station at each control point. Input the ship parameters, component design coordinates, and control point coordinates into the positioning software to establish a unified coordinate system for the entire region. Step 2, GPS-RTK multi-point coarse positioning: GPS rover stations are deployed at the bow, port stern, and starboard stern of the installation vessel. The RTK mode is used to collect the three-dimensional coordinates and heading attitude of the hull in real time, and the vessel is coarsely adjusted to the vicinity of the component design position. Step 3: Real-time attitude compensation of shipborne multi-sensor: The ship is equipped with at least two inclinometers and two rangefinders. The inclinometers simultaneously monitor the longitudinal and transverse heel angles of the hull, and the rangefinders calculate the offset of the components relative to the hull plane in real time. The measurement reference deviation is dynamically corrected based on the sensor data. Step 4: Precise positioning by triangulation of three total stations on the shore: The three total stations on the shore are simultaneously aligned with the edge of the precast component, and the horizontal angle between the tangent of the component edge and the line connecting the control point is collected. The positioning software calculates the actual three-dimensional coordinates of the component based on the triangulation method and outputs the deviation value from the design configuration. Step 5, Hydraulic Closed-Loop Attitude Adjustment and Correction: Based on the position and tilt deviation output by S4, drive the ship's hydraulic system to adjust the planar position, front-to-back and left-to-right tilt angles of the boom / pile frame. Simultaneously execute S3 and S4 monitoring throughout the process until the measurement data from the three total stations all meet the design allowable deviation. Step Six: Final Inspection and Verification of Components by Type: After the components are in place, the plane coordinates are verified using a total station and the elevation is verified using a level. For beam components, the design axis is laid out on the pile top for verification, and for panel components, the installation line is laid out on the beam for verification. Installation is completed after all indicators meet the standards.

2. The multi-point collaborative positioning method for precise installation of prefabricated components for high-pile wharves on water as described in claim 1, characterized in that: In step two, the installation vessel is either a piling vessel or a crane vessel, and three GPS mobile stations are respectively arranged on the bow, port side of the stern, and starboard side of the stern.

3. The multi-point collaborative positioning method for precise installation of prefabricated components for high-pile wharves on water as described in claim 1, characterized in that: In step four, three measurement control points are arranged in a triangle to cover the entire installation area. The total station at each measurement control point independently measures the horizontal angle of the tangent line on the edge of the component. The positioning software calculates the actual position of the component by the spatial intersection of the three tangent lines. When the line of sight of a single total station is obstructed, the remaining two total stations can still complete the component coordinate calculation by the intersection of the tangent lines.

4. The multi-point collaborative positioning method for precise installation of prefabricated components for high-pile wharves on water as described in claim 1, characterized in that: In step five, when installing inclined piles or tilted components, the hydraulic control system adjusts the forward / backward tilt angle and the left / right tilt angle of the pile frame, and verifies the adjustment using a total station at the shore measurement control point.

5. The multi-point collaborative positioning method for precise installation of prefabricated components for high-pile wharves on water as described in claim 1, characterized in that: When the tiltmeter detects that the longitudinal and transverse heel angles of the hull exceed the allowable thresholds, the hull is leveled using ballast water, and then the coarse positioning and fine measurement procedures are repeated.

6. The multi-point collaborative positioning method for precise installation of prefabricated components for high-pile wharves on water as described in claim 1, characterized in that: In step six, for the final inspection of beam-type components, the design axis of the component is marked on the pile top using the three-dimensional coordinate method or the three-dimensional direction method of the total station for verification; for the final inspection of panel-type components, the panel installation line is marked on the beam using the coordinate method of the total station for verification.

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