Method, equipment and system for intelligent adjustment and control of positioning and sinking rope of open caisson

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, the number of large-span bridges is rapidly increasing worldwide, 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 be sunk into an ideal deep base or directly seated 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] The open caisson sinking is a crucial step in the open caisson installation process. The open caisson has high requirements for precision during the sinking and installation process, so the position of the open caisson must be adjusted in a timely manner to meet the requirements. This requires accurate and effective control and adjustment of the ropes 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 and 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 embodiments of the present specification include: a data receiving solver module for 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 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 prompt the user to switch to manual operation; a deviation calculation module for calculating the length deviation value of the plurality of ropes at the current sinking height of the open caisson; a rope calibration module for sorting the absolute values ​​of the length deviation values ​​of multiple ropes, obtaining rope A with the largest absolute value, and using rope A as a reference to wind up or wind down other ropes; a second judgment module for judging whether the length deviation value satisfies a predetermined condition, and if so, stopping the cylinder to complete 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. This invention provides intelligent adjustment and control equipment for the positioning and sinking rope of open caisson.

[0006] Embodiments herein include A step of receiving predetermined data including GPS data of the open caisson and cylinder stroke and oil 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; A step of calculating length deviation values ​​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 a step of calculating an adjustment range of the cylinder acting force using PID based on the deviation change error, and returning to the step of determining whether the cylinder acting force is within an effective range. A method for intelligently adjusting and controlling the positioning and sinking rope of an open caisson is provided.

[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 the current sinking height of the open caisson Calculating TIFF0007817510000001.tif86, Actual length of multiple ropes at the current sinking height of the open caisson Calculating TIFF0007817510000002.tif86, Length deviation value of multiple ropes at the current sinking height of an open caisson TIFF0007817510000003.tif827.

[0008] In a preferred embodiment, in the step of determining whether the length deviation value satisfies a predetermined condition, the predetermined condition is: TIFF0007817510000004.tif863, where TIFF0007817510000005.tif813 refers to the length deviation value of multiple ropes at the previous sinking height of the open caisson, TIFF0007817510000006.tif810 refers to the absolute value of the length deviation value 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 Calculating TIFF0007817510000007.tif830, The deviation change rate of rope A is TIFF0007817510000008.tif84, deviation change error TIFF0007817510000009.tif823.

[0010] however, TIFF0007817510000010.tif815 refers to the absolute value of the length deviation value of multiple ropes at the previous sinking height of the open caisson, TIFF0007817510000011.tif810 refers to the absolute value of the length deviation value 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 acting force using the PID comprises calculating the flow valve PWM value using the PID. This involves calculating TIFF0007817510000012.tif830.

[0012] Embodiments herein include A cylinder fixed to an open caisson, with one cylinder arranged on each rope and a cylinder sensor provided for feedback of the cylinder stroke and hydraulic pressure; Pump stations fixedly installed on the open caisson, the number of which is half the number of cylinders, each 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 for monitoring GPS data of the open caisson; The industrial 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 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 sensors include a stroke sensor, an anchor sensor, and a pressure sensor, and each cylinder is equipped with one stroke sensor for providing feedback on the cylinder position in real time, and each upper anchor cylinder and lower anchor cylinder is equipped with one anchor sensor for providing feedback on the anchor state in real time, and each cylinder is equipped with one pressure sensor for monitoring the force received by the tension 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 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 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. [Effects of the Invention]

[0017] As a beneficial effect, The intelligent adjustment control method for the positioning and sinking ropes of an open caisson provided in this embodiment first accepts predetermined data, solves the posture data of the open caisson, and determines whether the cylinder force is within the effective range before adjustment, thereby determining whether the rope can be tightened or loosened. Controlling the position of the open caisson solely by distance may result in excessive deviation in the rope's force. Therefore, it is necessary to determine whether the force of each rope is within a safe range using the cylinder pressure. After confirming that the cylinder force is within the effective range, the length deviation of each rope is calculated. Rope A, which has the largest absolute value of the length deviation, is used as the reference to wind or lower the other ropes. If the length deviation value meets the predetermined condition, the adjustment process is complete. If the length deviation value does not meet the predetermined condition, the deviation change error is again calculated using rope A as the reference after winding or lowering, and the adjustment range of the cylinder force is calculated based on the deviation change error using PID. Then, the adjustment process returns to the step of determining whether the cylinder force is within the effective range and continues. This intelligent adjustment control method for the positioning and sinking rope of an open caisson can improve the accuracy of the open caisson during sinking and landing by controlling the rope and intelligently adjusting the position of the open caisson during sinking and landing in a timely manner.

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

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

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

[0021] In order to more clearly describe the technical contents of 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. [Figure 2] FIG. 1 is a schematic diagram of the intelligent adjustment control system for the positioning and sinking rope of an open caisson provided in this embodiment. [Figure 3] FIG. 2 is a schematic view of the mounting structure of the cylinder and 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 INVENTION

[0023] In order to help those skilled in the art better understand the technical solutions of the present invention, the following will clearly and completely describe the technical solutions of 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, and not all of the embodiments of the present invention. All other embodiments that those skilled in the art can obtain based on the embodiments of the present invention without making any inventive efforts should fall within the scope of the present invention.

[0024] It should be noted that when an element is referred to as being "mounted" on another element, it may be directly located on the other element or may be interspersed with other elements. When an element is referred to as being "connected" to another element, it may be directly connected to the other element or may be interspersed with other elements. Terms such as "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. Terms used in the present specification are intended to describe specific embodiments only 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 Figure 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 predetermined 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, we need to clarify the 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, we need to provide a formula to convert the original data into this coordinate system. The origin of the local coordinate system is the center of the platform (the center of the same plane of the multiple rope connection points 4) when the open caisson 1 is in the target position, and we establish the local coordinate system 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 four vertices 5 (coplanar with each rope connection point 4) in the local coordinate system, and a maximum error limit. The maximum error limit includes the deflection angle (angular 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 via the local area network 14, and specifically includes data from an inclinometer attached to the platform of the open caisson 1, and the real-time coordinates of the four vertices 5, the multiple 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, where the hydraulic oil pressure is the oil 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 distance, there is a possibility that the deviation in the force received by the ropes 2 will be excessive, so it is necessary to determine whether the force received by each rope 2 is within a safe range using the cylinder 6 pressure; in other words, whether tightening or loosening of each rope 2 can be performed is determined depending on whether the cylinder 6 pressure is within the allowable range.

[0033] In step S30, the length deviation values ​​of the multiple ropes 2 at the current sinking height of the open caisson 1 are 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 ( TIFF0007817510000013.tif814), and the spatial coordinates of point B are ( TIFF0007817510000014.tif814), then the distance between point C and point B is The result is TIFF0007817510000015.tif867.

[0035] Specifically, step S30 includes the following steps: The target length of each of the multiple ropes 2 at the current sinking height of the open caisson 1 Step S301 of calculating TIFF0007817510000016.tif86; Actual length of each of the multiple ropes 2 at the current sinking height of the open caisson 1 Step S302 of calculating TIFF0007817510000017.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 TIFF0007817510000018.tif827.

[0036] where n = 1, 2, 3, ..., k, and k is the total number of ropes 2. TIFF0007817510000019.tif86 is the target length of the nth rope at the current sinking height of open caisson 1. TIFF0007817510000020.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 will be omitted.

[0037] Target length TIFF0007817510000021.tif86 is the distance between the connection point of the rope 2 and the open caisson 1 and the submerged fixed anchor 3 when the open caisson 1 is in its theoretical position. TIFF0007817510000022.tif86 is specifically 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. Based on TIFF0007817510000023.tif88, the operating state (tightening or loosening) of each rope 2 is determined. Details will be explained 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 tightened 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 by which the rope 2 should actually move (the effect of the rope 2 being deformed), and in fact, as the rope 2 moves, the smaller the deviation of the distance between the characteristic points, the closer the open caisson 1 approaches the target position.

[0039] In step S40, the absolute values ​​of the length deviation values ​​of the plurality of ropes 2 are sorted, and rope A with the largest absolute value is selected, 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 value, does not need to be adjusted, and by simply adjusting the other rope 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: TIFF0007817510000024.tif825 or The file is TIFF0007817510000025.tif831. TIFF0007817510000026.tif813 is the length deviation value (abbreviated as previous length deviation value) of multiple ropes at the previous sinking height of the open caisson (or, TIFF0007817510000027.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 values ​​(length deviation values ​​at the current sinking height of the open caisson) are 0 but have opposite signs.

[0043] Step S60: length deviation value for each rope 2 It is determined whether TIFF0007817510000028.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 TIFF0007817510000029.tif88 is less than 0, that is, if the target length of rope 2 is smaller than the actual length, rope 2 needs to be tightened, so cylinder 6 winds up rope 2, and the length deviation value If TIFF0007817510000030.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 unwind rope 2.

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

[0046] Specifically, step S70 includes the following steps: Deviation change rate Step S701 of calculating TIFF0007817510000031.tif830; deviation change error and step S702 of calculating TIFF0007817510000032.tif823.

[0047] however, TIFF0007817510000033.tif815 is the absolute value of the length deviation value of multiple ropes at the previous sinking height of the open caisson, TIFF0007817510000034.tif810 is the absolute value of the length deviation value of multiple ropes at the current sinking height of the open caisson, TIFF0007817510000035.tif84 is the deviation change rate of rope A.

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

[0049] Specifically, step S80 uses PID to calculate the PWM (Pulse Width Modulation Wave) value of the flow valve. This includes calculating TIFF0007817510000036.tif830.

[0050] The intelligent adjustment control method for the positioning and sinking rope of an open caisson provided in this embodiment first accepts predetermined data, solves the posture data of the open caisson 1, and determines whether the cylinder 6 acting force is within the effective range before adjustment, thereby determining whether tightening or loosening of the rope 2 is feasible. Controlling the position of the open caisson 1 solely by distance may result in excessive deviation in the force received by the rope 2. Therefore, it is necessary to determine whether the force received by each rope 2 is within a safe range using the cylinder 6 pressure. After confirming that the cylinder 6 acting force is within the effective range, the length deviation value of each rope 2 is calculated, and the other ropes 2 are wound up or lowered using rope A, which has the largest absolute value of the length deviation value, as the reference. 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, the deviation change error is again calculated using rope A as the reference after winding or lowering, and the adjustment range of the cylinder 6 acting force is calculated using PID based on the deviation change error. Then, the adjustment process returns to the step of determining whether the cylinder 6 acting force is within the effective range and continues. This intelligent adjustment control method for the positioning and sinking rope of an open caisson 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 of the rope 2 and intelligent adjustment control.

[0051] 2 to 4, the embodiment of the present application further provides an intelligent adjustment control system for an open caisson positioning and sinking 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 fixedly installed on the open caisson 1. One cylinder 6 was arranged for each rope 2. The cylinder 6 was equipped with a cylinder sensor to provide feedback on the stroke and hydraulic pressure of the cylinder 6. As shown in Figure 3, when installing the platform of the open caisson 1, 12 ropes 2 were arranged, including 8 main ropes (8 ropes 2 located on the left and right sides of Figure 3) and 4 edge ropes (4 ropes 2 located on the upper and lower sides of Figure 3), and one 350t cylinder 6 was arranged for each rope 2, requiring a total of 12 350t cylinders 6, and the arrangement of the cylinders 6 is as shown in Figure 3.

[0053] When installing the cylinders 6, positioning marks are made on the tension beam and the 350t cylinders 6 are hung in the corresponding positions using a crane. Once the 350t cylinders 6 are hung, each cylinder 6 is fixed by welding with four figure-7 chucks, which hook the cylinders 6 onto the lower anchor bottom plate 65, requiring a total of 48 figure-7 chucks (plate thickness 20 mm). When hanging the cylinders 6, attention should be paid to the hole position directions for the hydraulic lock and stroke sensor to make it easier to connect the high-pressure oil pipes and install the sensors.

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

[0056] As shown in Figure 3, the pump stations 7 are 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 stations 7 in this application are hydraulic pump stations 7.

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

[0058] When installing pump station 7, the pump station 7 weighs approximately 3 tons, and two wire ropes with a diameter of at least 15 mm are required for suspension. Each pump station 7 requires a 380V distribution box and a 160A air switch. Six distribution boxes are required for the entire open caisson 1 platform, and the distribution boxes must be placed next to the pump stations 7. The power consumption of each pump station 7 is 55 kW, for a total power of 330 kW. To ensure smooth hoisting, the hoisting power source must be monitored by a person in charge during positioning. When constructing the platform, each pump station 7 drives two cylinders 6, and oil pipes connect the pump station 7 to the two cylinders 6.

[0059] The pump station 7 drives the cylinders 6. Typically, one pump station 7 can simultaneously drive four cylinders 6. The pump station 7 includes two power paths, E and F, that drive the master cylinder 63 for lift. These two paths operate on the same hydraulic principle. Each path connects two cylinders 6. The solenoid valves SU_E (SU_F) and SE_E (SE_F) control the direction of the cylinders 6, and the proportional speed control valve PWM_E (PWM_F) controls the speed of the cylinders 6. Because two cylinders 6 are connected to the same circuit, the operation of each cylinder 6 must be controlled 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. The solenoid valves SS, SJ, XS, and XJ control the offset tightening and loosening operations.

[0060] After powering up the air switch at pump station 7, 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- TIFF0007817510000037.tif83Starting, the anchor pump motor is star-connected and starts directly. Pump station 7 has a motor TIFF0007817510000038.tif83It can only be operated once it has switched to operating mode.

[0061] When starting the motors, pay attention to their direction of rotation. Looking 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 in the anchor oil passage; if there is pressure, it is rotating forward). If not, replace the two phases in the wiring. When starting the motors, make sure all operation buttons are in the "Stop" position. Otherwise, excessive load may cause the motor to overload and be damaged.

[0062] An operation control panel can be provided in the electrical cabinet of the pump station 7. When the "manual / auto" switch on the panel is switched to the "manual" range, the switch on the panel can be selected to control the status locally; if it is switched to the "auto" range, the external control cabinet (i.e., the master controller) can be selected to control the status remotely, and at this time, the button on the electrical cabinet of the pump station 7 will be 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 carried out before starting the hoisting operation, and there is one anchor that is always kept in the "firm" state. The following explains each operation switch on the panel. "Cylinder extension": The cylinder extension solenoid valve of the directional control valve is energized to perform the cylinder extension operation, and this 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" function. If "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 and T3 shutoff valve solenoid valves are energized, the branch telescopic cylinder oil path is cut off, and the cylinder 6 in this path stops operating. "T2, T4": Normally, these are in the "ON" range. When they are switched to the "OFF" range, the T2 and T4 shutoff valve solenoid valves are energized, the branch telescopic cylinder oil passage is cut off, and the cylinder 6 in this passage stops operating. "Top tightening": The top tightening solenoid valve of the top anchor switching valve is energized, and the anchor cylinder 6 of the top anchor operates to tighten the top anchor. "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 lower anchor switching valve is energized, and the anchor cylinder 6 of the lower anchor operates to tighten the lower anchor. "Lower loosening": The lower loosening solenoid valve of the lower anchor switching valve is energized, causing the anchor cylinder 6 of the lower anchor to operate and loosen the lower anchor. 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 digital meter displays the magnitude of the flow adjusted by the proportional flow valve.

[0065] If the pump station 7 and the corresponding oil pipe of the cylinder 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 it is never permitted to set both the upper and lower cylinders 6 to the anchor loosening state, so when both knobs are in the anchor loosening state, all operating operations are invalid.

[0066] In this embodiment, the installed 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 computer 8, the installed meter 9 and the server 10 transmit information via a local area network 14.

[0067] The industrial computer 8 is electrically connected to the pump station 7 and the cylinder 6, and is used to execute the intelligent adjustment control method for the open caisson positioning and sinking rope described in any of the above embodiments. The industrial computer 8 is located in the main control room, and a pump station communication line 12 and a cylinder sensor communication line 11 are drawn from the industrial computer 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, performing functions such as collecting commands, performing logical operations, and sending control commands. After logical operations, it sends the control data to the electrical cabinet of the pump station 7 to be controlled. The electrical 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, transmitting information via a local area network 14. During normal operation, the cylinder 6 and the pump station 7 each communicate with the industrial computer 8 via a CAN bus. The industrial computer 8 issues control commands based on the feedback signal received from the cylinder 6 and the GPS information downloaded from the server 10.

[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 oil 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 anchor status, cylinder 6 formation, and oil 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 sent to a server 10 via a 4G or wifi network. 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 an industrial computer 8 via a wireless network. The network communication protocol uses the HTTP protocol.

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

[0072] The position adjustment of the open caisson 1 requires lateral movement, vertical movement and horizontal rotation, and the master controller controls the unified operation of continuously raising the cylinders 6 at each adjustment point, while monitoring the tensile load to avoid overload. Each cylinder 6 corresponds to one adjustment point, and each adjustment point meets the needs of hoisting and sinking as required for adjusting the position of the open caisson 1. By adjusting the hoisting and sinking of each cylinder 6, changes in the position of the open caisson 1 in the forward, backward, left and right directions can be achieved, and the position of the open caisson 1 can be reached according to the design requirements.

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

[0074] It should be noted that the industrial computer 8 can execute the intelligent adjustment control method for the positioning and sinking rope of an open caisson described in any of the above embodiments, and for a detailed description of the relevant content, please refer to the above method section, so a detailed description will be omitted here. In this embodiment, the embodiment of the intelligent adjustment control system for the positioning and sinking rope of the open caisson corresponds to the method embodiment, can solve the technical problems solved by the method embodiment, and accordingly achieve the technical effects of the method embodiment, and specifically, a detailed description will be omitted here in this application.

[0075] The present embodiment further provides an intelligent adjustment control equipment for positioning and subsidence ropes of an open caisson, 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 method for positioning and subsidence ropes of a caisson described in any of the above embodiments can be applied to the intelligent adjustment control equipment for positioning and subsidence ropes of an open caisson.

[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 above-mentioned intelligent adjustment control method for the positioning and sinking rope of the open caisson.

[0077] The first judgment module is used to determine whether the cylinder acting force is within the valid range. If yes, proceed to the next step. If no, stop the operation and issue an alarm to notify the user 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 and 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 and sinking ropes 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 intelligently adjusting and controlling the positioning and sinking ropes of an open caisson.

[0080] The second judgment module is used to determine whether the length deviation value meets a predetermined condition. If it does, the cylinder stops operating and the adjustment is completed. If it does not meet the predetermined condition, the process proceeds 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 and sinking rope of an open caisson.

[0081] The third judgment module is used to determine 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. That is, the third judgment module is used to perform step S60 in the above-mentioned intelligent adjustment control method for the positioning and subsidence rope of an open caisson.

[0082] The error calculation module is used to calculate the deviation change error based on 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 an open caisson.

[0083] The width adjustment module is used to calculate the adjustment range of the cylinder acting force using PID based on the deviation change error, and 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 and sinking rope of the open caisson.

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

[0085] In the description of this specification, the terms "first," "second," etc. are used only to distinguish between similar objects, and no priority exists between them, nor is it understood that they indicate or imply relative importance. Also, in the description of this specification, "plurality" means two or more, unless otherwise specified.

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

[0088] All texts and references disclosed (including patent applications and publications) are incorporated herein by reference for various purposes. The term "consisting essentially of" describing a combination shall include the specified elements, components, parts, or steps and any 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 "comprises," embodiments consisting essentially of those elements, components, parts, or steps are also contemplated. The use of the term "may" herein is intended to describe that any described attribute included in "may" 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] The foregoing description should be understood as illustrative and explanatory, and not restrictive. Many embodiments and applications other than the examples provided will be apparent to those skilled in the art upon review of the above description. Accordingly, the scope of the present teachings should be determined not with reference to the above description, but with reference to the appended claims, along with the full scope of equivalents to which such claims are entitled. For purposes of comprehensiveness, 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 such subject matter or as a reason that the inventors do not consider such 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, vertex; 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 reception solver module for receiving predetermined data including GPS data of the open caisson and cylinder stroke and hydraulic pressure, and calculating 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 prompt the user to switch to manual operation; a deviation calculation module for calculating the length deviation value of the plurality of ropes at the current sinking height of the open caisson; a rope calibration module for sorting the absolute values ​​of the length deviation values ​​of multiple ropes, obtaining rope A with the largest absolute value, and winding up or winding down other ropes so that their length deviation values ​​are the same as that of rope A without adjusting rope A; a second determination module for determining whether the length deviation value satisfies a predetermined condition, If yes, the cylinder stops operating and the adjustment is completed; if no, the next step shall be performed. a third determining module for determining 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 length deviation change error, which is the difference between the length deviation change rate of rope A and the length deviation change rate of other ropes; a width adjustment module for calculating an adjustment width of a cylinder acting force by using a PID based on the length deviation change error, and returning to the step of determining whether the cylinder acting force is within an effective range; The length deviation value of the plurality of ropes at the current sinking height of the open caisson is the difference between the target length of the plurality of ropes at the current sinking height of the open caisson and the actual length of the plurality of ropes at the current sinking height of the open caisson, The length deviation change rate is the ratio of the difference between the previous length change value and the current length change value to the previous length change value. This intelligent adjustment and control equipment is characterized by the positioning and sinking rope of the open caisson.

2. receiving predetermined data including GPS data of the open caisson and cylinder stroke and hydraulic pressure, and calculating 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; A step of calculating length deviation values ​​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 winding down the other ropes so that their length deviation values ​​are the same as that of the rope A without adjusting 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 length deviation change error, which is the difference between the length deviation change rate of rope A and the length deviation change rate of the other ropes; and calculating an adjustment range of the cylinder acting force using PID based on the length deviation change error, and returning to the step of determining whether the cylinder acting force is within an effective range. The length deviation value of the plurality of ropes at the current sinking height of the open caisson is the difference between the target length of the plurality of ropes at the current sinking height of the open caisson and the actual length of the plurality of ropes at the current sinking height of the open caisson, The length deviation change rate is the ratio of the difference between the previous length change value and the current length change value to the previous length change value. The present invention provides 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 the current sinking height of the open caisson and Actual length of multiple ropes at the current sinking height of the open caisson and Length deviation value of multiple ropes at the current sinking height of an open caisson 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 length deviation change error comprises: Length deviation change rate and The length deviation change rate of rope A is and the length 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, with one cylinder arranged on each rope and a cylinder sensor provided for feedback of the cylinder stroke and hydraulic pressure; Pump stations fixedly installed on the open caisson, the number of which is half the number of cylinders, each 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 an open caisson according to any one of claims 2 to 6; an installation meter fixedly installed in the open caisson, the installation meter being for monitoring GPS data of the open caisson; The industrial computer, the installation meter, and the server include a server that transmits information via a local area network. The intelligent adjustment control system for 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; Each cylinder is fitted with one of the stroke sensors for providing feedback on the position of the cylinder in real time, and each of the upper anchor cylinder and lower anchor cylinder is fitted with one of the anchor sensors for providing feedback on the state of the anchor in real time. Each cylinder is fitted with one of the pressure sensors for monitoring the force received by the tension wire, and the pressure sensor is fitted to 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 computer and the cylinder sensor are connected via a cylinder sensor communication line, and the industrial computer 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 analyzes 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 computer. The industrial computer and the pump station are connected via a pump station communication line, and the industrial computer 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 cylinders are 350 t cylinders, 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.

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