Automatic adjusting device for variable-position mooring rope in lowering process of bridge open caisson foundation

Abstract

The utility model relates to the technical field of bridge foundation construction automation, in particular to an automatic adjusting device for a variable-position mooring rope in the lowering process of a bridge open caisson foundation. Comprising a variable-position cable combination structure, a control driving structure, a data acquisition structure, a data analysis processing structure and a visualization structure, the variable-position cable combination structure is fixed to the side face of an open caisson foundation, and the control driving structure is fixed to the top of the open caisson foundation; and the data acquisition module is connected with the data analysis processing module and is mounted in the center of the top end of the open caisson foundation. According to the automatic adjusting device for the variable-position mooring rope in the lowering process of the bridge open caisson foundation, the change of the relative position of the limiting mooring rope and the side wall of the open caisson is achieved through a variable-position mooring rope combination structure, the engineering applicability of the arrangement mode and position of the mooring rope is enhanced, monitoring data are received and processed in real time through the Raspberry Pi, and the monitoring accuracy is improved. And the posture and the position of the open caisson structure in the lowering process are adjusted in real time.

Description

Technical Field

[0001] This utility model relates to the field of bridge foundation construction automation technology, and in particular to an automatic adjustment device for a variable-position cable during the lowering of a bridge caisson foundation. Background Technology

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

[0003] Today, advancements and technological innovations in structural attitude control during the positioning and lowering of bridge caisson foundations aim to overcome numerous limitations of traditional construction methods and meet the demands for real-time, precise, and safe operation during caisson positioning and lowering. Precise positioning and lowering of caisson foundations at sea presents a significant challenge. Traditional positioning and lowering methods are lacking in the proper arrangement of cables and do not provide real-time monitoring data feedback for structural attitude adjustment. Subsequent manual adjustment of cables based on monitoring data is still required to control the structural attitude, a method that is inefficient, time-consuming, and impacts the safety of caisson positioning and lowering. Therefore, utilizing fully automated structural attitude adjustment devices to ensure the safety of caissons during positioning and lowering in real time is becoming a trend. Utility Model Content

[0004] Therefore, it is necessary to provide an automatic adjustment device for the variable-position cable during the lowering of bridge caisson foundations to address the aforementioned technical problems.

[0005] To solve the above-mentioned technical problems, the present invention adopts the following technical solution:

[0006] An automatic adjustment device for a variable-position cable during the lowering of a bridge caisson foundation includes a variable-position cable assembly structure, a control and drive structure, a data acquisition structure, a data analysis and processing structure, and a visualization structure. The variable-position cable assembly structure is fixed to the side of the caisson foundation, the control and drive structure is fixed to the top of the caisson foundation, the data acquisition structure and the data analysis and processing structure are connected and installed at the center of the top of the caisson foundation, and the visualization platform structure is installed on a monitoring vessel by construction personnel.

[0007] As a preferred embodiment of the automatic adjustment device for the variable-position cable during the lowering of a bridge caisson foundation provided by this utility model, the variable-position cable assembly structure includes a first cable, a bottom fixed pulley, a movable pulley, a second cable, and a top fixed pulley group. The top fixed pulley group is located at the top of one side of the caisson foundation, the bottom fixed pulley is located at the bottom of one side of the caisson foundation, and a movable pulley is located on one side of the caisson foundation. The bottom of the movable pulley is fixedly connected to the second cable. The side of the second cable away from the movable pulley passes through the bottom fixed pulley and the top fixed pulley group in sequence. The first cable is located on the inner side of both the movable pulley and the top fixed pulley group.

[0008] As a preferred embodiment of the automatic adjustment device for the variable-position cable during the lowering of a bridge caisson foundation provided by this utility model, the movable pulley is disengaged from the side wall of the caisson foundation and its initial position is near the centerline.

[0009] As a preferred embodiment of the automatic adjustment device for the variable-position cable during the lowering of the bridge caisson foundation provided by this utility model, one end of the first cable is connected to a seabed anchorage structure.

[0010] As a preferred embodiment of the automatic adjustment device for the variable-position cable during the lowering of a bridge caisson foundation provided by this utility model, the control drive structure includes a winch unit and a motor drive plate. The winch unit is installed on the top of the caisson foundation and is connected to the first cable and the second cable. The motor drive plate is placed at the center of the top of the caisson foundation.

[0011] As a preferred embodiment of the automatic adjustment device for the variable-position cable during the lowering of a bridge caisson foundation provided by this utility model, the data acquisition structure includes an IMU sensor and a GPS positioning system. Both the IMU sensor and the GPS positioning system are embedded in close proximity to the center of the top of the caisson foundation, and the IMU sensor is located on one side of the GPS positioning system.

[0012] As a preferred embodiment of the automatic adjustment device for the variable-position cable during the lowering of a bridge caisson foundation provided by this utility model, the data analysis and processing structure is a Raspberry Pi, which is placed at the center of the top of the caisson foundation and located at one end of the motor drive board.

[0013] As a preferred embodiment of the automatic adjustment device for the variable-position cable during the lowering of a bridge caisson foundation provided by this utility model, the visualization structure is a microcomputer, which is installed on the monitoring vessel by construction personnel.

[0014] It is clear without a doubt that the technical solution described above in this application can solve the technical problem that this application aims to address.

[0015] At the same time, through the above technical solutions, this utility model has at least the following beneficial effects:

[0016] 1. This utility model provides an automatic adjustment device for variable positioning cables during the lowering of bridge caisson foundations. To achieve high-precision positioning and automatic adjustment of the lowering position of the caisson, a variable positioning cable combination structure is designed to change the relative position of the limiting cable and the side wall of the caisson, enhancing the engineering applicability of the limiting cable arrangement and position. Real-time monitoring using IMU sensors and GPS measuring points is used to acquire the tilt angle and position data of the caisson in real time during the lowering process. A Raspberry Pi is used to receive and process the monitoring data in real time and synchronize it to the microcomputer and the drive board of the winch to achieve data visualization and real-time extension and retraction control of the limiting cable, thereby adjusting the attitude and position of the caisson structure in real time during the lowering process.

[0017] 2. This utility model combines a high-precision IMU sensor with a GPS positioning system to achieve precise positioning of the attitude and position of bridge caisson foundations.

[0018] 3. This utility model adopts a 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 sensor.

[0019] 4. This utility model adopts two control systems: a Raspberry Pi and a microcomputer. It uses distributed technology to achieve synchronous data transmission between the two systems, thus avoiding the performance deficiencies of a single Raspberry Pi system.

[0020] 5. This utility model uses a microcomputer as a receiver and processor for GPS and Raspberry Pi data, which can realize real-time data feedback to control the lowering position of the bridge caisson and display the position and posture information of the bridge caisson foundation in real-time with a visual image.

[0021] 6. This utility model adopts a variable position cable combination structure consisting of two sets of fixed pulleys and one set of movable pulleys. The position of the movable pulley is controlled by the second cable, and the relative position of the first cable is adjusted to enhance adaptability and achieve better control of the bridge caisson foundation. The attitude and position of the bridge caisson foundation are precisely adjusted by the first cable.

[0022] 7. This utility model realizes the functions of automated control and visual display of the overall structure through two control systems: Raspberry Pi and microcomputer, ensuring the rigor and convenience of the project.

[0023] 8. This utility model has a simple structure, significant effects, and good engineering benefits. Attached Figure Description

[0024] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0025] Figure 1 This is a schematic diagram of the structure of this utility model;

[0026] Figure 2 This is a flowchart illustrating the implementation of this utility model.

[0027] In the diagram: 1. Subsea anchorage structure; 2. First cable; 3. Bottom fixed pulley; 4. Moving pulley; 5. Second cable; 6. Top fixed pulley assembly; 7. Winch assembly; 8. Caisson foundation; 9. Raspberry Pi; 10. IMU sensor; 11. GPS positioning system; 12. Motor drive board. Detailed Implementation

[0028] To make the objectives, technical solutions, and advantages of this utility model clearer, the present utility model will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present utility model and are not intended to limit the present utility model.

[0029] To enable those skilled in the art to better understand the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings.

[0030] It should be noted that, unless otherwise specified, the embodiments and features and technical solutions in the present invention can be combined with each other.

[0031] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0032] Example 1

[0033] Reference Figures 1-2 An automatic adjustment device for a variable position cable during the lowering of a bridge caisson foundation includes a variable position cable assembly structure, a control drive structure, a data acquisition structure, a data analysis and processing structure, and a visualization structure. The variable position cable assembly structure is fixed to the side of the caisson foundation 8, the control drive structure is fixed to the top of the caisson foundation 8, the data acquisition structure and the data analysis and processing structure are connected and installed at the top center of the caisson foundation 8, and the visualization platform structure is installed on a monitoring vessel with the construction personnel.

[0034] The variable-position cable assembly structure includes a first cable 2, a bottom fixed pulley 3, a movable pulley 4, a second cable 5, and a top fixed pulley assembly 6. The top fixed pulley assembly 6 is located at the top of one side of the caisson foundation 8, and the bottom fixed pulley 3 is located at the bottom of one side of the caisson foundation 8, allowing the top fixed pulley assembly 6 and the bottom fixed pulley 3 to rotate on one side of the caisson foundation 8. A movable pulley 4 is provided on one side of the caisson foundation 8, allowing the movable pulley 4 to detach from the side wall of the caisson foundation 8 and initially be positioned near the centerline. The bottom of the movable pulley 4 is fixedly connected to the second cable 5, and the side of the second cable 5 away from the movable pulley 4 passes sequentially through the bottom fixed pulley 3 and the top fixed pulley assembly. 6. This allows the second cable 5 to adjust the position of the movable pulley 4 and the first cable 2 to adjust the position and orientation of the caisson foundation 8. The first cable 2 is installed on the inner side of both the movable pulley 4 and the top fixed pulley group 6. One end of the first cable 2 is connected to the seabed anchor structure 1, so that the position of the first cable 2 can be positioned by fixing the seabed anchor structure 1. At the same time, the first cable 2 can be moved to drive the movable pulley 4 to adjust, and the first cable 2 can be positioned and moved inside the movable pulley 4 and the top fixed pulley group 6. Thus, the displacement and orientation of the caisson foundation 8 can be controlled by the extension and retraction of the first cable 2 and the second cable 5.

[0035] In this embodiment, the top fixed pulley group 6 consists of two fixed pulleys, which are respectively set at both ends of the top side of the caisson foundation 8.

[0036] The control drive structure includes a winch unit 7 and a motor drive board 12. The winch unit 7 is installed on the top of the caisson foundation 8 and is connected to the first cable 2 and the second cable 5, so that the operation of the winch unit 7 can drive the first cable 2 and the second cable 5 and control the extension and retraction of the first cable 2 and the second cable 5. The motor drive board 12 is placed at the center of the top of the caisson foundation 8 and, by receiving control information from the Raspberry Pi 9, causes the winch unit 7 to rotate.

[0037] In summary, the winch unit 7 consists of two winches, which control the first cable 2 and the second cable 5 respectively.

[0038] The data acquisition structure includes an IMU sensor 10 and a GPS positioning system 11. Both the IMU sensor 10 and the GPS positioning system 11 are embedded in the center of the top of the caisson foundation 8, and the IMU sensor 10 is located on one side of the GPS positioning system 11, so that the IMU sensor 10 records the position and orientation information of the bridge caisson foundation 8 in real time, and the GPS positioning system 11 provides real-time feedback on the position information of the bridge caisson foundation 8.

[0039] In this embodiment, the GPS positioning system 11 is the Global Positioning System (GPS).

[0040] The data analysis and processing structure is a Raspberry Pi 9. The Raspberry Pi 9 is placed at the top center of the caisson foundation 8 and is located at one end of the motor drive board 12. This allows the Raspberry Pi 9 to receive data from the IMU sensor 10 in real time, process the data and send it down to the motor drive board 12, and send the result data up to the microcomputer.

[0041] The visualization structure is a microcomputer, which is installed on the monitoring vessel with the construction personnel. It receives real-time positioning information from the GPS positioning system 11 and the pose information of the caisson foundation 8 uploaded by the Raspberry Pi 9. It feeds back the structural position information to the Raspberry Pi 9 in real time, and the Raspberry Pi 9 then sends the instructions to the motor drive board 12, thereby realizing the extension and retraction of the first cable 2 and the second cable 5 to control the displacement and attitude of the caisson foundation 8.

[0042] Example 2:

[0043] The present invention is based on the above-described Embodiment 1.

[0044] To verify the effect of this invention on adjusting the posture and position of bridge caisson foundations, the posture of bridge caisson foundations without the device of this invention and those with the device of this invention were compared during the lowering process.

[0045] In a certain project, a large steel caisson was selected for the bridge caisson foundation. Its total mass is m = 9740 t. The steel caisson is 37m high, 58m in outer diameter, 36m in inner diameter, 2m thick outer wall, and 1.5m thick inner wall. The steel caisson structure is divided into 20 well holes, including 16 octagonal well holes and 4 fan-shaped well holes.

[0046] First, an analysis of the sinking of a steel caisson without the device of this utility model was conducted using the wire rope pull-out method, specifically including the following steps:

[0047] Step 1: The steel caisson is transported by ship and hoisted to the designated location.

[0048] Step 2: Secure cables to the top or side of the steel caisson, and use the caisson to sink by injecting water into the structure; 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 steel caisson shifting or tilting.

[0049] Step 3: Fixing and connecting. After the steel caisson has sunk into place, the foundation pit should be excavated for protection and backfilling to prevent erosion by the wave flow. Finally, the cables should be removed.

[0050] II. The sinking analysis of the steel caisson equipped with the device of this utility model includes the following steps:

[0051] Step 1: Assemble the large steel caisson structure on land.

[0052] Step 2: Embedded installation of IMU sensor 10 and GPS positioning system 11; placement of twelve winches to control twelve cables, with eight cables placed at the top for attitude adjustment via wire rope pulling; and four variable displacement cables at the bottom combined to adjust the attitude of the steel caisson; debugging of Raspberry Pi 9, IMU sensor 10, motor drive board 12, and communication between Raspberry Pi 9 and microcomputer.

[0053] Step 3: The steel caisson structure is floated to the designated construction location by tugboats or other means.

[0054] Step 4: The steel caisson positioning and lowering construction begins. During the lowering process, under the external force wave load, the steel caisson deflects or shifts. At this time, the IMU sensor 10 transmits the tilt angle data to the Raspberry Pi 9. The Raspberry Pi 9 sends a command to the motor drive board 12 to move the winch unit 7, thereby adjusting the tilt angle. Simultaneously, the location information collected by the Raspberry Pi 9 and the GPS positioning system 11 is uploaded to the microcomputer in real time. After receiving the data, the microcomputer processes the data to achieve image visualization monitoring and provides real-time feedback to the Raspberry Pi 9. The Raspberry Pi 9 then sends a command to the motor drive board 12 to control the extension and retraction of the cable to ensure the accuracy of the lowering position of the caisson structure.

[0055] The preferred embodiments of this utility model disclosed above are merely illustrative of the present utility model. These preferred embodiments do not exhaustively describe all details, nor do they limit the present utility model to the specific implementations described. Clearly, many modifications and variations can be made based on the content of this specification. This specification selects and specifically describes these embodiments to better explain the principles and practical applications of the present utility model, thereby enabling those skilled in the art to better understand and utilize it. The present utility model is limited only by the claims and their full scope and equivalents.

Claims

1. An automatic adjustment device for a variable-position cable during the lowering of a bridge caisson foundation, characterized in that, It includes a variable position cable assembly structure, a control drive structure, a data acquisition structure, a data analysis and processing structure, and a visualization structure. The variable position cable assembly structure is fixed to the side of the caisson foundation (8), the control drive structure is fixed to the top of the caisson foundation (8), the data acquisition structure is connected to the data analysis and processing structure and installed at the top center of the caisson foundation (8), and the visualization platform structure is installed on the monitoring vessel by the construction personnel.

2. The automatic adjustment device for a variable-position cable during the lowering of a bridge caisson foundation according to claim 1, characterized in that, The variable position cable assembly structure includes a first cable (2), a bottom fixed pulley (3), a movable pulley (4), a second cable (5), and a top fixed pulley group (6). The top fixed pulley group (6) is located at the top of one side of the caisson foundation (8), the bottom fixed pulley (3) is located at the bottom of one side of the caisson foundation (8), and a movable pulley (4) is located on one side of the caisson foundation (8). The bottom of the movable pulley (4) is fixedly connected to the second cable (5). The side of the second cable (5) away from the movable pulley (4) passes through the bottom fixed pulley (3) and the top fixed pulley group (6) in sequence. The first cable (2) is located on the inner side of both the movable pulley (4) and the top fixed pulley group (6).

3. The automatic adjustment device for a variable-position cable during the lowering of a bridge caisson foundation according to claim 2, characterized in that, The movable pulley (4) detaches from the side wall of the caisson foundation (8) and is initially located near the center line.

4. The automatic adjustment device for a variable-position cable during the lowering of a bridge caisson foundation according to claim 2, characterized in that, One end of the first cable (2) is connected to a seabed anchor structure (1).

5. The automatic adjustment device for a variable-position cable during the lowering of a bridge caisson foundation according to claim 2, characterized in that, The control drive structure includes a winch unit (7) and a motor drive plate (12). The winch unit (7) is installed on the top of the caisson foundation (8) and is connected to the first cable (2) and the second cable (5). The motor drive plate (12) is placed at the center of the top of the caisson foundation (8).

6. The automatic adjustment device for a variable-position cable during the lowering of a bridge caisson foundation according to claim 1, characterized in that, The data acquisition structure includes an IMU sensor (10) and a GPS positioning system (11). The IMU sensor (10) and the GPS positioning system (11) are both embedded in the center of the top of the caisson foundation (8), and the IMU sensor (10) is located on one side of the GPS positioning system (11).

7. The automatic adjustment device for a variable-position cable during the lowering of a bridge caisson foundation according to claim 5, characterized in that, The data analysis and processing structure is a Raspberry Pi (9), which is placed at the top center of the caisson foundation (8) and is located at one end of the motor drive board (12).

8. The automatic adjustment device for a variable-position cable during the lowering of a bridge caisson foundation according to claim 1, characterized in that, The visualization structure is a microcomputer, which is installed on the monitoring vessel by construction personnel.

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