Intelligent adjustment control method, facility, and system for open caisson positioning settlement rope

Abstract

To provide an intelligent adjustment control method, a facility, and a system particularly for an open caisson positioning settlement rope regarding the technical field of open caisson settlement construction.SOLUTION: This adjustment control method includes: an error calculation module for calculating a deviation change error with a rope A as a reference; and a width adjustment module for using PID to calculate an adjustment width of a cylinder application force, and returning to a step of determining whether the cylinder application force is within an effective range on the basis of the deviation change error.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] This specification relates to the technical field of open caisson subsidence construction, and in particular to an intelligent adjustment control method, equipment and system for the positioning subsidence rope of an open caisson. [Background technology]

[0002] With the advancement of science and technology, large span bridges are rapidly developing around the world, their numbers are constantly increasing, and the span is being broken through. Open caisson foundations have the characteristics of high load-bearing capacity, high rigidity, good stability, strong earthquake resistance, no need for maintenance protection, and reliable construction. They can sink into an ideal deep base or sit directly on the foundation (installation foundation) to obtain the required load-bearing capacity, so they are increasingly being used for deep water foundations of large span bridges.

[0003] Open caisson sinking is an important step in the open caisson installation process. The open caisson has high requirements for precision during the sinking and flooring process, and the position of the open caisson needs to be adjusted in a timely manner to meet the conditions. This requires accurate and effective control and adjustment of the rope during the open caisson sinking process. Summary of the Invention [Problem to be solved by the invention]

[0004] In view of the shortcomings of the prior art, one object of this specification is to provide an intelligent adjustment control method, equipment and system for the positioning sinking rope of an open caisson, which can timely adjust the position of the open caisson during the sinking and landing process. [Means for solving the problem]

[0005] In order to achieve the above object, the embodiment of the present specification includes: A data receiving solver module for receiving predetermined data including GPS data of the open caisson and stroke and hydraulic pressure of the cylinder, and solving attitude data including coordinate information and attitude angle of the open caisson; A first judgment module for judging whether the cylinder acting force is within a valid range, and if yes, proceed to the next step, and if no, stop the operation and issue an alarm to switch to manual operation; A deviation calculation module for calculating a length deviation value of the multiple ropes at a current sinking height of the open caisson; A rope calibration module for sorting absolute values ​​of length deviation values ​​of multiple ropes, obtaining rope A having the largest absolute value, and winding up or winding down other ropes based on rope A; A second judgment module for judging whether the length deviation value meets a predetermined condition, and if so, stopping the cylinder to operate and completing the adjustment; if not, performing the following steps; A third judgment module for judging whether the length deviation value is less than 0, and if yes, the cylinder winds up the rope, and if no, the cylinder winds down the rope; an error calculation module for calculating a deviation change error with respect to rope A; and a width adjustment module for calculating an adjustment width of the cylinder acting force using a PID based on the deviation change error, and returning to the step of determining whether the cylinder acting force is within an effective range. Provide intelligent adjustment and control equipment for the positioning and sinking rope of open caisson.

[0006] The embodiments herein include A step of receiving predetermined data including GPS data of the open caisson and cylinder stroke and hydraulic pressure, and solving attitude data including coordinate information and attitude angle of the open caisson; A step of determining whether the cylinder acting force is within a valid range, and if the answer is yes, proceeding to the next step, and if the answer is no, stopping the operation and issuing an alarm to notify the user to switch to manual operation; Calculating the length deviation value of the multiple ropes at the current sinking height of the open caisson; Sorting the absolute values ​​of the length deviation values ​​of the multiple ropes, obtaining the rope A with the largest absolute value, and winding up or down the other ropes based on the rope A; A step of determining whether the length deviation value satisfies a predetermined condition, and if so, stopping the cylinder to complete the adjustment, and if not, performing the next step; determining whether the length deviation value is less than 0, if yes, the cylinder winds up the rope, if no, the cylinder winds down the rope; calculating a deviation change error based on rope A; and calculating an adjustment range of the cylinder acting force using a PID based on the deviation change error, and returning to the step of determining whether the cylinder acting force is within an effective range. Provided is an intelligent adjustment control method for the positioning sinking rope of an open caisson.

[0007] In a preferred embodiment, the step of calculating the length deviation value of the plurality of ropes at the current sinking height of the open caisson includes: Target length of multiple ropes at current open caisson sinking height Calculate TIFF2025073041000002.tif86, Actual length of multiple ropes at current open caisson sinking height Calculate TIFF2025073041000003.tif86, Length deviation value of multiple ropes at current open caisson sinking height and calculating TIFF2025073041000004.tif827.

[0008] In a preferred embodiment, in the step of determining whether the length deviation value satisfies a predetermined condition, the predetermined condition is: TIFF2025073041000005.tif863, where TIFF2025073041000006.tif813 refers to the length deviation value of multiple ropes at the previous sinking height of the open caisson, TIFF2025073041000007.tif810 refers to the absolute value of the length deviation of multiple ropes at the current sinking height of the open caisson.

[0009] In a preferred embodiment, the step of calculating the deviation change error comprises: Deviation change rate Calculate TIFF2025073041000008.tif830, The deviation change rate of rope A is TIFF2025073041000009.tif84, deviation change error and calculating TIFF2025073041000010.tif823.

[0010] however, TIFF2025073041000011.tif815 refers to the absolute value of the length deviation value of multiple ropes at the previous sinking height of the open caisson, TIFF2025073041000012.tif810 refers to the absolute value of the length deviation of multiple ropes at the current sinking height of the open caisson.

[0011] In a preferred embodiment, the step of calculating the adjustment range of the cylinder working force using the PID comprises calculating the flow valve PWM value using the PID. This involves calculating TIFF2025073041000013.tif830.

[0012] The embodiments herein include A cylinder fixed to an open caisson, one cylinder is arranged on each rope, and a cylinder sensor is provided to feed back the stroke and hydraulic pressure of the cylinder; Pump stations fixedly installed on the open caisson, the number of which is half the number of cylinders, one said pump station being provided between two adjacent cylinders, for driving the two cylinders; An industrial computer electrically connected to the pump station and the cylinder, for executing the intelligent adjustment control method for the positioning and sinking rope of the open caisson described in any of the above embodiments; An installation meter fixedly installed in the open caisson, the installation meter being for monitoring GPS data of the open caisson; The industrial personal computer, the installation meter and the server provide an intelligent adjustment control system for the positioning and sinking rope of the open caisson, including the server transmitting information via a local area network.

[0013] In a preferred embodiment, the cylinder includes a guide plate, an upper anchor cylinder, a master cylinder, a lower anchor cylinder, and a bottom plate provided from top to bottom, an upper support pillar provided between the guide plate and the master cylinder so as to surround the outside of the upper anchor cylinder, and a lower support pillar provided between the master cylinder and the bottom plate so as to surround the outside of the lower anchor cylinder, The cylinder sensor includes a stroke sensor, an anchor sensor, and a pressure sensor, and each of the cylinders is equipped with one of the stroke sensors for providing feedback on the cylinder position in real time, and each of the upper anchor cylinders and lower anchor cylinders is equipped with one of the anchor sensors for providing feedback on the anchor state in real time, and each of the cylinders is equipped with one of the pressure sensors for monitoring the force received by the pulling wire, and the pressure sensor is attached to the large cavity side of the cylinder.

[0014] In a preferred embodiment, the industrial PC and the cylinder sensor are connected via a cylinder sensor communication line, the industrial PC receives anchor status, cylinder formation and cylinder via the cylinder sensor communication line, the installation meter sends the GPS data to a server, the server solves the data and obtains coordinate information and attitude angle of the open caisson, and transmits the coordinate information and attitude angle of the open caisson to the industrial PC, the industrial PC and the pump station are connected via a pump station communication line, and the industrial PC sends control commands to the pump station via the pump station communication line.

[0015] In a preferred embodiment, the number of the ropes is 12, the number of the cylinders is 12, and the number of the pump stations is 6.

[0016] In a preferred embodiment, the cylinder is a 350t cylinder, a 380V distribution box is provided for each pump station, a 160A air switch is arranged in the distribution box, and the power per pump station is 55kw. Effect of the Invention

[0017] As a beneficial effect, The intelligent adjustment control method of the open caisson positioning sinking rope provided in this embodiment first accepts the predetermined data, solves the posture data of the open caisson, and first judges whether the cylinder acting force is within the effective range before adjustment, thereby judging whether the rope can be tightened or loosened. If the position of the open caisson is controlled simply by distance, the deviation of the rope's receiving force may be excessive, so it is necessary to judge whether the receiving force of each rope is within the safe range by the cylinder pressure. After confirming that the cylinder acting force is within the effective range, calculate the length deviation value of each rope, and take rope A with the largest absolute value of the length deviation value as the reference to wind up or wind down the other ropes. If the length deviation value meets the predetermined condition, the adjustment process can be completed. If the length deviation value does not meet the predetermined condition, after winding up or winding down, further calculate the deviation change error with rope A as the reference, and calculate the adjustment range of the cylinder acting force using PID based on the deviation change error, and return to the step of judging whether the cylinder acting force is within the effective range to continue the adjustment. This intelligent adjustment control method for the positioning sinking rope of an open caisson can improve the accuracy of the open caisson during sinking and landing by timely adjusting the position of the open caisson during sinking and landing through control of the rope and intelligent adjustment control.

[0018] With reference to the following description and accompanying drawings, certain embodiments of the present invention have been disclosed in detail and have set forth the manner in which the principles of the present invention may be employed, but it is to be understood that the embodiments of the present invention are not limited thereby in scope.

[0019] Features described and / or illustrated in one embodiment may be used in the same or similar manner in one or more other embodiments, may be combined with features in the other embodiments, or may substitute for features in the other embodiments.

[0020] It must be emphasized that the term "comprise", when used in the present text, refers to the presence of features, whole components, steps or components, but does not exclude the presence / addition of one or more other features, whole components, steps or components. [Brief description of the drawings]

[0021] In order to more clearly describe the technical contents in the embodiments of the present invention or the prior art, the following briefly introduces the accompanying drawings that need to be used to describe the embodiments or the prior art. It is obvious that the drawings described below are only some embodiments of the present invention, and those skilled in the art can obtain other drawings based on these drawings without making any inventive efforts.

[0022] [Figure 1] 1 is a step flowchart of the intelligent adjustment control method for the positioning and sinking rope of an open caisson provided in this embodiment. [Diagram 2] FIG. 2 is a schematic diagram of the intelligent adjustment control system for the positioning and sinking rope of an open caisson provided in this embodiment. [Diagram 3] FIG. 2 is a schematic diagram of the mounting structure of the cylinder and the pump station provided in this embodiment; [Figure 4] FIG. 2 is a structural schematic diagram of the cylinder provided in this embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0023] In order to allow those skilled in the art to better understand the technical solutions in the present invention, the following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the drawings in the embodiments of the present invention. It is clear that the described embodiments are only some of the embodiments of the present invention, not all of the embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without making inventive efforts should belong to the scope of the present invention.

[0024] It should be noted that when an element is said to be "mounted" on another element, it may be directly located on the other element or may be in the middle of the other element. When an element is said to be "connected" to another element, it may be directly connected to the other element or may be in the middle of the other element. The terms "vertical", "horizontal", "left", "right" and similar terms used herein are for illustrative purposes only and do not represent the only embodiment.

[0025] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art. The terms used herein in the specification of the present invention are only intended to describe specific embodiments and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more of the associated listed items.

[0026] Referring to FIG. 1, an embodiment of the present application provides an intelligent adjustment control method for the positioning and sinking rope of an open caisson, The method includes step S10 of receiving specified data and solving the attitude data of the open caisson 1.

[0027] Here, the predetermined data includes GPS (Global Positioning System) data of the open caisson 1, and the stroke and hydraulic pressure of the cylinder 6. The attitude data includes coordinate information and attitude angle.

[0028] First, it is necessary to clarify two coordinate systems: the geodetic coordinate system and the local coordinate system. The geodetic coordinate system is the CGCS2000 geodetic coordinate system, and if the original data is not in this coordinate system, it is necessary to give a formula to convert the original data into this coordinate system. The origin of the local coordinate system is the platform center (the center of the same plane of multiple rope connection points 4) when the open caisson 1 is at the target position, and the local coordinate system is established by defining the south side as the +X direction and the east side as the +Y direction, and the Z coordinate coincides with the geodetic coordinate system.

[0029] The predetermined data further includes constant data and real-time data. The constant data does not need to be provided in real time via the local area network 14, and specifically includes the coordinates of each fixed anchor 3 in the geodetic coordinate system and the local coordinate system, the coordinates of each rope connection point 4 in the local coordinate system, the coordinates of the four vertices 5 (coplanar with each rope connection point 4) in the local coordinate system, and the maximum error limit. The maximum error limit includes the deflection angle (angle deviation from the target position around the Z axis), the verticality requirement in both directions, and the planar deviation distance (distance deviation on the XOY plane of the center point). The real-time data needs to be provided in real time by the local area network 14, and specifically includes the data of the inclinometer attached to the platform of the open caisson 1, and the real-time coordinates of the four vertices 5, the rope connection points 4, and the center point O in the geodetic coordinate system.

[0030] The predetermined data may further include rope 2 operation information including operating status and anchor rope force transmitted via the local area network 14 .

[0031] In step S20, it is determined whether the acting force of cylinder 6 is within the effective range. If the answer is yes, the process proceeds to the next step S30. If the answer is no, the operation is stopped and an alarm is issued to notify the user to switch to manual operation.

[0032] Here, the force acting on the cylinder 6 is equal to the product of the hydraulic oil pressure and the piston area, the hydraulic oil pressure is the hydraulic pressure in predetermined data, and the piston area can be obtained in advance based on the specifications of the cylinder 6. The cylinder 6 in this application is a hydraulic cylinder 6. If the position of the open caisson 1 is controlled simply by the distance, there is a possibility that the deviation in the force received by the ropes 2 will be excessive, so it is necessary to judge whether the force received by each rope 2 is within a safe range by the cylinder 6 pressure, that is, whether tightening or loosening of each rope 2 can be performed is judged depending on whether the cylinder 6 pressure is within the allowable range.

[0033] In step S30, the length deviation value of the multiple ropes 2 at the current sinking height of the open caisson 1 is calculated.

[0034] Here, the length deviation value is obtained from the difference between the target length and the actual length, and the length in this application is approximated by the distance between two points, and the distance is calculated from the distance formula for two points in space. For example, the spatial coordinates of point C are ( TIFF2025073041000014.tif814), and the spatial coordinates of point B are ( TIFF2025073041000015.tif814), then the distance between point C and point B is The result is TIFF2025073041000016.tif867.

[0035] Specifically, step S30 includes the following steps: Target length of each of the multiple ropes 2 at the current sinking height of the open caisson 1 A step S301 of calculating TIFF2025073041000017.tif86; Actual length of each of the multiple ropes 2 at the current sinking height of the open caisson 1 a step S302 of calculating TIFF2025073041000018.tif86; Length deviation value of each of the multiple ropes 2 at the current sinking height of the open caisson 1 and step S303 of calculating TIFF2025073041000019.tif827.

[0036] where n = 1, 2, 3, ..., k, and k is the total number of ropes 2. TIFF2025073041000020.tif86 is the target length of the nth rope at the current sinking height of open caisson 1. TIFF2025073041000021.tif86 is the actual length of the nth rope at the current sinking height of the open caisson 1, and the other parameters have similar definitions, so further explanation is omitted.

[0037] Target Length TIFF2025073041000022.tif86 is the distance between the connection point of the rope 2 and the open caisson 1 and the fixed anchor 3 submerged in water when the open caisson 1 is in its theoretical position. Specifically, TIFF2025073041000023.tif86 is the distance between the connection point of the rope 2 and the open caisson 1 at the actual position of the open caisson 1 and the fixed anchor 3 submerged in water. The deviation value of both Based on TIFF2025073041000024.tif88, the operating state (whether to tighten or loosen) of each rope 2 is determined. Details will be given later.

[0038] Here, the distance between the approximate reference points is approximated to the length of the rope 2 (the rope 2 is in a taut state during operation), and then the deviation of the rope 2 is calculated to determine the operation target of the cylinder 6. During actual operation, there is a difference between the deviation of the rope 2 and the amount that the rope 2 should actually move (the effect of the rope 2 being deformed), which is actually the deviation of the distance between the characteristic points. With the operation of the rope 2, the smaller the deviation of the distance, the closer the open caisson 1 is to the target position.

[0039] In step S40, the absolute values ​​of the length deviation values ​​of the multiple ropes 2 are sorted, and rope A with the largest absolute value is obtained, and the other ropes 2 are wound up or down based on rope A.

[0040] Here, rope A, which has the largest absolute value of the length deviation, does not need to be adjusted, and by simply adjusting the other ropes 2, the amount of adjustment can be reduced and work efficiency can be improved.

[0041] In step S50, it is determined whether the length deviation value satisfies a predetermined condition. If it does, the cylinder 6 stops operating and the adjustment is completed. If it does not, the process proceeds to the next step S60.

[0042] However, the predetermined conditions are: TIFF2025073041000025.tif825 or The file is TIFF2025073041000026.tif831. TIFF2025073041000027.tif813 is the length deviation value of multiple ropes at the previous sinking height of the open caisson (abbreviated as the previous length deviation value) (or, TIFF2025073041000028.tif813 shows the length deviation value at the sinking height of the open caisson where it was last positioned and sunk. The specified conditions are that the absolute value of the length deviation value is less than 50 mm, the previous length deviation value is 0, the current length deviation value is 0, or neither the previous nor current length deviation value (the length deviation value at the current sinking height of the open caisson) is 0 but the signs of the two are opposite.

[0043] Step S60: Length deviation value for each rope 2 Determine whether TIFF2025073041000029.tif88 is less than 0, and if yes, the cylinder 6 winds up the rope 2, and if no, the cylinder 6 winds down the rope 2.

[0044] Here, the length deviation value If TIFF2025073041000030.tif88 is less than 0, that is, the target length of rope 2 is smaller than the actual length, it is necessary to tighten rope 2, so let cylinder 6 wind rope 2, and the length deviation value If TIFF2025073041000031.tif88 is greater than 0, i.e., the target length of rope 2 is greater than the actual length, rope 2 needs to be slackened, so cylinder 6 is caused to wind rope 2 down.

[0045] In step S70, a deviation change error is calculated based on rope A as a reference.

[0046] Specifically, step S70 includes the following steps: Deviation change rate A step S701 of calculating TIFF2025073041000032.tif830; Deviation change error and a step S702 of calculating TIFF2025073041000033.tif823.

[0047] however, TIFF2025073041000034.tif815 is the absolute value of the length deviation value of multiple ropes at the previous sinking height of the open caisson, TIFF2025073041000035.tif810 is the absolute value of the length deviation value of multiple ropes at the current sinking height of the open caisson, TIFF2025073041000036.tif84 is the deviation change rate of rope A.

[0048] In step S80, the adjustment range of the cylinder 6 acting force is calculated based on the deviation change error using PID (Proportional Integral Derivative), and the process returns to the step of determining whether the cylinder 6 acting force is within the effective range (i.e., step S20).

[0049] Specifically, step S80 uses PID to calculate the PWM (Pulse Width Modulation Wave) value of the flow valve. Includes calculating TIFF2025073041000037.tif830.

[0050] The intelligent adjustment control method for the positioning sinking rope of an open caisson provided in this embodiment first accepts predetermined data, solves the posture data of the open caisson 1, and first determines whether the cylinder 6 acting force is within the effective range before adjustment, thereby determining whether the rope 2 can be tightened or loosened. If the position of the open caisson 1 is controlled simply by distance, the deviation of the force received by the rope 2 may be excessive, so it is necessary to determine whether the force received by each rope 2 is within a safe range by the cylinder 6 pressure. After confirming that the cylinder 6 acting force is within the effective range, calculate the length deviation value of each rope 2, and take the rope A with the largest absolute value of the length deviation value as a reference to wind up or wind down the other ropes 2. If the length deviation value meets the predetermined condition, the adjustment process can be completed; if the length deviation value does not meet the predetermined condition, after winding or winding down, further calculate the deviation change error based on the rope A, and use the PID to calculate the adjustment range of the cylinder 6 acting force based on the deviation change error, and return to the step of determining whether the cylinder 6 acting force is within the effective range to continue the adjustment. This intelligent adjustment control method for the open caisson positioning sinking rope can improve the accuracy of the open caisson 1 during sinking and landing by timely adjusting the position of the open caisson 1 during sinking and landing through control over the rope 2 and intelligent adjustment control.

[0051] Refer to Figures 2 to 4. The embodiment of the present application further provides an intelligent adjustment control system for an open caisson positioning submersion rope, which includes a cylinder 6, a pump station 7, an industrial computer 8, an installation meter 9 and a server 10.

[0052] Here, the cylinder 6 was fixed and installed on the open caisson 1. One cylinder 6 was arranged for each rope 2. The cylinder 6 was provided with a cylinder sensor for feeding back the stroke and hydraulic pressure of the cylinder 6. As shown in FIG. 3, when the platform of the open caisson 1 was installed, 12 ropes 2 were arranged, including 8 main ropes (8 ropes 2 located on the left and right sides of FIG. 3) and 4 edge ropes (4 ropes 2 located on the upper and lower sides of FIG. 3), and one 350t cylinder 6 was arranged on each rope 2, requiring a total of 12 350t cylinders 6, and the arrangement of the cylinders 6 is as shown in FIG. 3.

[0053] When installing the cylinder 6, a positioning mark is made on the tension beam, and the 350t cylinder 6 is hoisted to the corresponding position by a crane. When the 350t cylinder 6 is hoisted, each cylinder 6 is fixed by welding with four 7-shaped chucks, and the 7-shaped chucks hook the cylinder 6 to the lower anchor bottom plate 65, requiring a total of 48 7-shaped chucks (plate thickness 20 mm). When hoisting the cylinder 6, attention should be paid to the hole position direction of the hydraulic lock and stroke sensor to make it easier to connect the high-pressure oil pipe and install the sensor.

[0054] 4, the cylinder 6 includes, from top to bottom, a guide plate 61, an upper anchor cylinder 62, a master cylinder 63, a lower anchor cylinder 64, and a bottom plate 65. An upper support pillar 66 is provided between the guide plate 61 and the master cylinder 63 so as to surround the outside of the upper anchor cylinder 62, and a lower support pillar 67 is provided between the master cylinder 63 and the bottom plate 65 so as to surround the outside of the lower anchor cylinder 64.

[0055] The cylinder sensors include a stroke sensor, an anchor sensor, and a pressure sensor. Each cylinder 6 was fitted with one stroke sensor for providing feedback on the position of the cylinder 6 in real time. The upper anchor cylinder 62 and the lower anchor cylinder 64 of each cylinder 6 were each fitted with one anchor sensor for providing feedback on the anchor state in real time. Each cylinder 6 was fitted with one pressure sensor for monitoring the force received by the tension wire, and the pressure sensor was attached to the large cavity side of the cylinder 6. The various sensors were connected to their respective communication modules.

[0056] As shown in Fig. 3, the pump stations 7 were fixedly installed on the open caisson 1. The number of the pump stations 7 is half the number of the cylinders 6. One pump station 7 is provided between two adjacent cylinders 6 and is used to drive the two cylinders 6. The pump station 7 in this application is a hydraulic pump station 7.

[0057] When arranging the pump stations 7, the power supplied by the pump stations 7 should be able to ensure a sufficient rising speed, and they should be arranged close to each other and the length of the oil pipes should be short. The types of cylinders 6 driven by the pump stations 7 are the same, which increases the utilization efficiency of the pump stations 7. Specifically, six pump stations 7 are selected for positioning, and each pump station 7 is arranged in the center of two cylinders 6. The arrangement of the pump stations 7 is shown in Figure 3.

[0058] When installing the pump station 7, the weight of the pump station 7 is about 3 tons, and two wire ropes are required for hanging, and the diameter must be more than 15 mm. Each pump station 7 requires a 380V distribution box and a 160A air switch is placed, and six distribution boxes are placed for the entire positioning of the open caisson 1 platform, and the distribution box must be placed next to the pump station 7. The power of each pump station 7 is 55KW, and the total power is 330KW. To ensure smooth hoisting, the hoisting power source needs to be monitored by the person in charge during positioning. When constructing the platform positioning, each pump station 7 drives two cylinders 6, and the oil pipe connects the pump station 7 and the two cylinders 6.

[0059] The pump station 7 drives the cylinders 6, and generally, one pump station 7 can drive four cylinders 6 simultaneously. The pump station 7 includes two power paths, E and F, which lift and drive the master cylinder 63. The hydraulic principle of these two paths is the same. Two cylinders 6 are connected to each path, and the direction of motion of the cylinders 6 is changed by controlling the solenoid valves SU_E (SU_F) and SE_E (SE_F), and the speed of motion of the cylinders 6 is adjusted by controlling the proportional speed control valve PWM_E (PWM_F). Since two cylinders 6 are connected to the same circuit, it is necessary to control the operation of each cylinder 6 individually by controlling the shutoff valves T1, T2, T3, and T4. The pump station 7 also includes two circuits that control the upper anchor cylinder 62 and the lower anchor cylinder 64, and realizes the tightening and loosening operations that are offset up and down by controlling the solenoid valves SS, SJ, XS, and XJ.

[0060] After power is sent to the air switch in the pump station 7 and the power is turned on, the motor can be started by directly operating the button on the panel of the electrical cabinet. The 22kW main pump motor is a Y- TIFF2025073041000038.tif83 Startup, the motor of the anchor pump is star-connected and starts directly. Pump station 7 has a motor TIFF2025073041000039.tif83It can only be operated once it is switched to the working state.

[0061] When starting the motors, pay attention to their direction of rotation, look down from the top of pump station 7, the motor fan should rotate clockwise (or start the anchor pump and check whether there is pressure indication in the anchor oil passage, if there is pressure, it is forward rotation), if not, replace the two phases in the wiring. When starting the motors, pay attention to make sure that all operation buttons are in the "Stop" position, otherwise the motor may be overloaded and damaged due to excessive load.

[0062] An operation control panel can be provided in the electrical cabinet of the pump station 7, when the "manual / auto" switch in the panel is switched to the "manual" range, the switch in the panel is selected to control the state locally, if it is switched to the "auto" range, the external control cabinet (i.e. the master controller) is selected to control the state remotely, at this time the button in the electrical cabinet of the pump station 7 is disabled. If the pump station 7 and the corresponding oil pipe of the cylinder 6 are properly connected, the cylinder 6 can operate accordingly. An operation check must be done before starting the hoisting operation, and there is one anchor that is always kept in the "tight" state. The following describes each operation switch in the panel. "Cylinder extension": The cylinder extension solenoid valve of the directional control valve is energized to perform the cylinder extension operation, and is electrically locked with the "cylinder retraction" "Cylinder retraction": The cylinder retraction solenoid valve of the directional control valve is energized to perform the cylinder retraction operation, and this is electrically locked together with the "cylinder extension". When "bottom tightening" and "top tightening" are performed at the same time, the cylinder extension and cylinder retraction operations are disabled.

[0063] "T1, T3": Normally, it is in the "on" range, but when it is switched to the "off" range, the T1, T3 cutoff valve solenoid valve is energized, the branch telescopic cylinder oil path is cut off, and the cylinder 6 of this path stops operating. "T2, T4": Normally, it is in the "on" range. When it is switched to the "off" range, the T2, T4 cutoff valve solenoid valve is energized, the branch telescopic cylinder oil path is cut off, and the cylinder 6 of this path stops operating. "Top tightening": The top tightening solenoid valve of the top anchor switching valve is energized, the anchor cylinder 6 of the top anchor operates, and the top anchor is tightened. "Upper loosening": The upper loosening solenoid valve of the upper anchor switching valve is energized, the anchor cylinder 6 of the upper anchor operates, and the upper anchor is loosened. “Bottom tightening”: The bottom tightening solenoid valve of the bottom anchor switching valve is energized, the anchor cylinder 6 of the lower anchor operates, and the lower anchor is tightened. “Lower loosening”: The lower loosening solenoid valve of the lower anchor switching valve is energized, the anchor cylinder 6 of the lower anchor operates, and the lower anchor is loosened. In addition to the several operating switches mentioned above, there is an "emergency stop" switch, and when the "emergency stop" button is pressed, none of the solenoid valves are activated.

[0064] The proportional flow valve can be adjusted with a knob on the operation panel, and a numeric meter displays the magnitude of the flow adjusted by the proportional flow valve.

[0065] If the pump station 7 and the corresponding oil pipes of the cylinders 6 are properly connected, each operation button (knob) corresponds to the operation of one cylinder 6. The upper anchor cylinder 62 and the lower anchor cylinder 64 can both set the upper and lower anchors to the anchor tightening state, but since it is never permitted to set both the upper and lower cylinders 6 to the anchor loosening state, when both knobs are in the anchor loosening state, all operation operations are invalid.

[0066] In this embodiment, the installation meter 9 is fixedly installed in the open caisson 1 to monitor the GPS data of the open caisson 1. As shown in Figure 2, the industrial personal computer 8, the installation meter 9 and the server 10 transmit information via a local area network 14.

[0067] The industrial PC 8 is electrically connected to the pump station 7 and the cylinder 6, and is used to execute the intelligent adjustment control method of the open caisson positioning sinking rope described in any of the above embodiments. The industrial PC 8 is arranged in the main control room, and a pump station communication line 12 and a cylinder sensor communication line 11 are drawn from the industrial PC 8. The pump station communication line 12 and the cylinder sensor communication line 11 are both CAN (Controller Area Network, Controller Local Area Network 14) buses. The cylinder sensor operating power line is drawn from the pump station 7 end.

[0068] The industrial computer 8 is the core of the adjustment system, and performs functions such as command collection, logical operation, and control command transmission, and transmits control data to the electric cabinet of the pump station 7 to be controlled after logical operation. The electric cabinet of the pump station 7 receives the control data from the industrial computer 8 and drives the output. The cylinder sensor collects stroke and hydraulic data of the cylinder 6 and feeds it back to the industrial computer 8. The server 10 is responsible for interacting with the GPS data and the computer, and transmits information through the local area network 14. When operating normally, the cylinder 6 and the pump station 7 communicate with the industrial computer 8 respectively through the CAN bus. The industrial computer 8 issues control commands based on the received feedback signal of the cylinder 6 and the GPS information downloaded from the server 10 end.

[0069] Specifically, the status data of the cylinder 6 is transmitted to the cylinder sensor communication line 11 via the cylinder sensor, and the sensor mainly detects the status of the upper / lower anchor, the stroke, and the hydraulic pressure of the cylinder 6. The industrial computer 8 and the cylinder sensor are connected via the cylinder sensor communication line 11, and the industrial computer 8 receives the status of the anchor, the cylinder 6 formation, and the hydraulic pressure of the cylinder 6 via the cylinder sensor communication line 11.

[0070] The GPS data of the open caisson 1 is measured by an installed meter 9 (i.e., a GPS base station) placed on the open caisson 1 and transmitted to the server 10 via a 4G or wifi network, and the data is solved at the server 10 end to obtain the coordinate information and attitude angle of the open caisson 1, which are then transmitted to the industrial computer 8 via a wireless network. The HTTP protocol is adopted as the network communication protocol.

[0071] The industrial computer 8 and the pump station 7 are connected via a pump station communication line 12, and the industrial computer 8 analyzes the collected information, performs logical operations, and then transmits control commands to the pump station communication line 12. The control commands mainly include the extension and contraction of the E / F line cylinder, the tightening and loosening of the upper and lower anchors, the control of the shutoff valve, and the adjustment of the E / F line proportional valve.

[0072] The position adjustment of the open caisson 1 needs to realize lateral movement, vertical movement and rotation in the horizontal plane, and the master controller controls the unified operation of continuously raising the cylinders 6 for each adjustment point, while monitoring the tensile load to avoid overloading the load. Each cylinder 6 corresponds to one adjustment point, and each adjustment point meets the needs of hoisting and sinking according to the need for adjusting the position of the open caisson 1, and by adjusting the hoisting and sinking of each cylinder 6, the change in the position of the open caisson 1 in the forward, backward, left and right directions can be realized, and the position of the open caisson 1 that meets the design requirements can be reached.

[0073] In one embodiment, the system may further include a monitor 13 electrically connected to the industrial PC 8 for displaying the equipment status on a large screen.

[0074] In addition, the industrial computer 8 can execute the intelligent adjustment control method of the positioning and sinking rope of the open caisson described in any of the above embodiments, and the detailed description of the relevant content is referred to the above method section, so that the detailed description is omitted here. In this embodiment, the embodiment of the intelligent adjustment control system of the positioning and sinking rope of the open caisson corresponds to the method embodiment, and can solve the technical problems solved by the method embodiment, and accordingly achieve the technical effects of the method embodiment, and the specifics are omitted here in this application.

[0075] The embodiment of the present application further provides an intelligent adjustment control equipment for open caisson positioning and subsidence rope, which includes a data receiving solver module, a first judgment module, a deviation calculation module, a rope calibration module, a second judgment module, a third judgment module, an error calculation module and a width adjustment module. The intelligent adjustment control equipment for open caisson positioning and subsidence rope can apply the intelligent adjustment control method for caisson positioning and subsidence rope described in any of the above embodiments.

[0076] Here, the data receiving solver module is used to receive predetermined data and solve the attitude data of the open caisson. The predetermined data includes the GPS data of the open caisson, the stroke and hydraulic pressure of the cylinder, and the attitude data includes coordinate information and attitude angle. That is, the data receiving solver module is used to perform step S10 in the intelligent adjustment control method of the positioning sinking rope of the open caisson.

[0077] The first judgment module is used to judge whether the cylinder acting force is within the effective range. If yes, proceed to the next step, and if no, stop the operation and issue an alarm to switch to manual operation. That is, the first judgment module is used to perform step S20 in the intelligent adjustment control method for the positioning sinking rope of the open caisson.

[0078] The deviation calculation module is used to calculate the length deviation value of the multiple ropes at the current sinking height of the open caisson, that is, the deviation calculation module is used to perform step S30 in the above-mentioned intelligent adjustment control method for the positioning sinking rope of the open caisson.

[0079] The rope calibration module is used to sort the absolute values ​​of the length deviation values ​​of multiple ropes to obtain rope A with the largest absolute value, and then wind up or wind down other ropes based on rope A. That is, the rope calibration module is used to perform step S40 in the above-mentioned method for intelligent adjustment control of the positioning and sinking rope of an open caisson.

[0080] The second judgment module is used to judge whether the length deviation value meets the predetermined condition. If it meets the predetermined condition, the cylinder stops working and completes the adjustment. If it does not meet the predetermined condition, proceed to the next step. That is, the second judgment module is used to perform step S50 in the above-mentioned intelligent adjustment control method for the positioning sinking rope of the open caisson.

[0081] The third judgment module is used to judge whether the length deviation value is less than 0. If yes, the cylinder winds up the rope, and if no, the cylinder winds down the rope. That is, the third judgment module is used to perform step S60 in the above-mentioned intelligent adjustment control method for the positioning and sinking rope of the open caisson.

[0082] The error calculation module is used to calculate the deviation change error based on the rope A. That is, the error calculation module is used to perform step S70 in the above-mentioned intelligent adjustment control method for the positioning and sinking rope of the open caisson.

[0083] The width adjustment module is used to calculate the adjustment width of the cylinder acting force by using PID according to the deviation change error, and to return to the step of determining whether the cylinder acting force is within the effective range. That is, the width adjustment module is used to perform step S80 in the intelligent adjustment control method for the positioning sinking rope of the open caisson.

[0084] It should be noted that each module in the intelligent adjustment control equipment for the positioning and sinking rope of the open caisson is respectively used to perform each step in the above-mentioned intelligent adjustment control method for the positioning and sinking rope of the open caisson, and the detailed description of the relevant content can be referred to the above-mentioned method part, and the detailed description is omitted here. In this embodiment, the embodiment of the intelligent adjustment control equipment for the positioning and sinking rope of the open caisson corresponds to the method embodiment, and can solve the technical problems solved by the method embodiment, and accordingly achieve the technical effects of the method embodiment, and the specifics are omitted here in this application.

[0085] In the description of this specification, the terms "first", "second", etc. are used only to distinguish between similar objects in the description of this specification, and no priority exists between the two, and it is not understood that they indicate or imply relative importance. In addition, in the description of this specification, "plurality" means two or more, unless otherwise specified.

[0086] Any numerical value recited herein includes all values ​​from the lower limit to the upper limit, with an interval of at least two units between any lower value and any upper value. For example, if the value of a component or process variable (e.g., temperature, pressure, time, etc.) is recited as 1 to 90, then it is intended to explain that values ​​from 20 to 80 are preferred, and 30 to 70 are more preferred, and that the specification also expressly recites values ​​such as 15 to 85, 22 to 68, 43 to 51, 30 to 32, etc. For values ​​less than 1, it is appropriate to consider a unit as 0.0001, 0.001, 0.01, 0.1. These are merely examples intended to be expressly described, and all possible combinations of numerical values ​​recited between the lowest and highest values ​​are deemed to be expressly described in the specification in a similar manner.

[0087] Unless otherwise stated, all ranges include the endpoints and all numbers between the endpoints. "About" or "approximately" used in conjunction with a range refers to the two endpoints of the range. Thus, "about 20 to 30" is intended to cover "about 20 to about 30" and includes at least the endpoints specified.

[0088] All articles and references disclosed (including patent applications and publications) are incorporated herein by reference for various purposes. The term "consisting essentially of" describing a combination should include the identified elements, components, parts or steps and other elements, components, parts or steps that do not substantially affect the basic novelty requirement of the combination. When describing a combination of elements, components, parts or steps herein using the terms "comprise" or "include", embodiments consisting essentially of those elements, components, parts or steps are also contemplated. The use of the term "optionally" herein is intended to describe that any described attribute included in "optionally" is optional.

[0089] A plurality of elements, components, parts or steps may be provided by a single integrated element, component, part or step, or a single integrated element, component, part or step may be separated into a plurality of separate elements, components, parts or steps. The use of "a" or "an" to describe an element, component, part or step does not exclude other elements, components, parts or steps.

[0090] It should be understood that the above description is illustrative and explanatory, and not limiting. Many embodiments and many applications other than the examples provided will be apparent to those skilled in the art upon reading the above description. Therefore, the scope of the present teachings should be determined not with reference to the above description, but with reference to the appended claims and the full scope of equivalents to which such claims are entitled. For the purposes of completeness, all texts and references, including patent applications and publications, are incorporated herein by reference. Any aspect of the subject matter disclosed herein that is omitted from the claims above should not be construed as a disclaimer of the subject matter, nor as a disclaimer that the inventors do not consider the subject matter to be part of the disclosed inventive subject matter. [Explanation of symbols]

[0091] 1, open caisson; 2, rope; 3, fixed anchor; 4, rope connection point; 5, apex; 6, cylinder; 61, guide plate; 62, upper anchor cylinder; 63, master cylinder; 64, lower anchor cylinder; 65, bottom plate; 66, upper support; 67, lower support; 7, pump station; 8, industrial PC; 9, installation meter; 10, server; 11, cylinder sensor communication line; 12, pump station communication line; 13, monitor; 14, local area network

Claims

1. A data receiving solver module for receiving predetermined data including GPS data of the open caisson and stroke and hydraulic pressure of the cylinder, and solving attitude data including coordinate information and attitude angle of the open caisson; A first judgment module for judging whether the cylinder acting force is within a valid range, and if yes, proceed to the next step, and if no, stop the operation and issue an alarm to inform the user to switch to manual operation; A deviation calculation module for calculating a length deviation value of the multiple ropes at a current sinking height of the open caisson; A rope calibration module for sorting absolute values ​​of length deviation values ​​of multiple ropes, obtaining rope A having the largest absolute value, and winding up or winding down other ropes based on rope A; A second judgment module for judging whether the length deviation value satisfies a predetermined condition, and if so, the cylinder stops working to complete the adjustment; if not, perform the following steps; A third judgment module for judging whether the length deviation value is less than 0, and if yes, the cylinder winds up the rope, and if no, the cylinder winds down the rope; an error calculation module for calculating a deviation change error with respect to rope A; and a width adjustment module for calculating an adjustment width of the cylinder action force by using a PID based on the deviation change error, and returning to the step of determining whether the cylinder action force is within an effective range. The intelligent adjustment and control equipment of the positioning sinking rope of the open caisson is characterized by the following.

2. Receiving predetermined data including GPS data of the open caisson and cylinder stroke and hydraulic pressure, and solving attitude data including coordinate information and attitude angle of the open caisson; A step of determining whether the cylinder acting force is within a valid range, and if the answer is yes, proceeding to the next step, and if the answer is no, stopping the operation and issuing an alarm to notify the user to switch to manual operation; Calculating the length deviation value of the multiple ropes at the current sinking height of the open caisson; Sorting the absolute values ​​of the length deviation values ​​of the plurality of ropes, obtaining the rope A with the largest absolute value, and winding up or down the other ropes based on the rope A; A step of determining whether the length deviation value satisfies a predetermined condition, and if so, stopping the cylinder to complete the adjustment, and if not, performing the next step; determining whether the length deviation value is less than 0, if yes, the cylinder winds up the rope, if no, the cylinder winds down the rope; Calculating a deviation change error based on rope A; and calculating an adjustment range of the cylinder acting force using a PID based on the deviation change error, and returning to the step of determining whether the cylinder acting force is within an effective range. The present invention relates to an intelligent adjustment control method for the positioning and sinking rope of an open caisson.

3. The step of calculating the length deviation value of the plurality of ropes at the current sinking height of the open caisson is Target length of multiple ropes at current open caisson sinking height Calculating Actual length of multiple ropes at current open caisson sinking height Calculating Length deviation value of multiple ropes at current open caisson sinking height and The intelligent adjustment control method for the positioning and sinking rope of an open caisson as claimed in claim 2.

4. In the step of determining whether the length deviation value satisfies a predetermined condition, the predetermined condition is: or where: refers to the length deviation value of multiple ropes at the previous sinking height of the open caisson, refers to the absolute value of the length deviation value of multiple ropes at the current sinking height of the open caisson The intelligent adjustment control method for the positioning and sinking rope of an open caisson as claimed in claim 3.

5. The step of calculating the deviation change error comprises: Deviation change rate Calculating The deviation change rate of rope A is and the deviation change error and calculating however, refers to the absolute value of the length deviation value of multiple ropes at the previous sinking height of the open caisson, refers to the absolute value of the length deviation value of multiple ropes at the current sinking height of the open caisson The intelligent adjustment control method for the positioning and sinking rope of an open caisson as claimed in claim 4.

6. The step of calculating the adjustment range of the cylinder acting force using the PID includes calculating the flow valve PWM value using the PID. This involves calculating The intelligent adjustment control method for the positioning and sinking rope of an open caisson as claimed in claim 5.

7. A cylinder fixed to an open caisson, one cylinder is arranged on each rope, and a cylinder sensor is provided to feed back the stroke and hydraulic pressure of the cylinder; Pump stations fixedly installed on the open caisson, the number of which is half the number of the cylinders, one of the pump stations being provided between two adjacent cylinders, for driving the two of the cylinders; An industrial computer electrically connected to the pump station and the cylinder, for executing the intelligent adjustment control method for the positioning and sinking rope of the open caisson according to any one of claims 2 to 6; A fixed meter installed in the open caisson for monitoring GPS data of the open caisson; The industrial personal computer, the installation meter and the server include a server that transmits information via a local area network. The intelligent adjustment control system of the positioning sinking rope of the open caisson is characterized by the following:

8. The cylinder includes a guide plate provided from top to bottom, an upper anchor cylinder, a master cylinder, a lower anchor cylinder, and a bottom plate, an upper support pillar provided between the guide plate and the master cylinder so as to surround the outside of the upper anchor cylinder, and a lower support pillar provided between the master cylinder and the bottom plate so as to surround the outside of the lower anchor cylinder, The cylinder sensor includes a stroke sensor, an anchor sensor, and a pressure sensor, and each cylinder is provided with one of the stroke sensors for feeding back the position of the cylinder in real time, and each upper anchor cylinder and lower anchor cylinder are provided with one of the anchor sensors for feeding back the state of the anchor in real time, and each cylinder is provided with one of the pressure sensors for monitoring the force received by the tension wire, and the pressure sensor is provided on the large cavity side of the cylinder. The intelligent adjustment control system for the positioning and sinking rope of an open caisson as claimed in claim 7.

9. The industrial PC and the cylinder sensor are connected via a cylinder sensor communication line, and the industrial PC receives the anchor state, cylinder formation and cylinder oil pressure via the cylinder sensor communication line, the installation meter transmits the GPS data to a server, and the server solves the data, obtains the coordinate information and attitude angle of the open caisson, and transmits the coordinate information and attitude angle of the open caisson to the industrial PC, the industrial PC and the pump station are connected via a pump station communication line, and the industrial PC transmits a control command to the pump station via the pump station communication line. The intelligent adjustment control system for the positioning and sinking rope of an open caisson as claimed in claim 7.

10. The number of the ropes is 12, the number of the cylinders is 12, the number of the pump stations is 6, the cylinder is a 350 t cylinder, a 380 V distribution box is provided for each pump station, a 160 A air switch is arranged in the distribution box, and the power per pump station is 55 kW. The intelligent adjustment control system for the positioning and sinking rope of an open caisson as claimed in claim 7.

Images