Control method and control system for sinking positioning accuracy of underwater and in-mud steel cylinder

Abstract

The present invention relates to a control method and control system for the sinking positioning accuracy of an underwater and in-mud steel cylinder. The control system comprises a crane-vessel positioning module, a steel-cylinder positioning module, and an underwater and in-mud positioning module, wherein the crane-vessel positioning module is used for determining in real time the actual position coordinates of a crane vessel, so as to preliminarily position and adjust the position of a steel cylinder before the steel cylinder enters water; the steel-cylinder positioning module is used for determining the center position coordinates of the steel cylinder; and the underwater and in-mud positioning module is used for acquiring the actual position coordinates of the steel cylinder after the steel cylinder enters the water and after the steel cylinder enters mud. The control method comprises above-water positioning before a steel cylinder enters water, positioning while same enters the water, positioning after same enters the water and before same enters mud, and accurate positioning and control after same enters the mud. By means of the present invention, the adjustment and control of high-accuracy sinking positioning of an underwater and in-mud large-diameter steel cylinder are implemented, thereby avoiding potential risks and resource investment of deep-water assisted positioning or investment of other devices for assisted positioning performed by professional divers.

Description

Underwater and mud steel cylinder sinking positioning accuracy control system and control method Technical Field

[0001] The present invention relates to the technical field of steel cylinder sinking in offshore deep foundation pit enclosure technology, in particular to a positioning accuracy control system and a control method for steel cylinder sinking underwater and in mud. Background Art

[0002] Steel cylinders are generally used as the wall structure of artificial islands in the offshore area, and also take into account the functions of deep foundation pit retaining structure during tunnel construction on the island. It can be said that the steel cylinder structure effectively solves the technical difficulties of rapid filling of large artificial islands on deep soft soil foundations in the offshore area and the retaining structure of deep foundation pits in the sea.

[0003] However, steel cylinders used as the wall structure of offshore artificial islands and deep foundation pit retaining structures are all considered water-based steel cylinder construction, that is, the initial positioning, high-precision positioning, and monitoring and control of steel cylinders are all considered water-based operations.

[0004] In the prior art, the length of the steel cylinder during water construction is usually relatively long, and part of the cylinder is still located above it after the construction is completed, making it easier to set up positioning devices such as GPS. Therefore, its sinking and positioning are relatively easy to achieve. However, with the advancement of technology, it is necessary to completely sink the steel cylinder into the water and completely sink it into the mud. However, the sinking construction of the steel cylinder underwater and in the mud involves the underwater positioning and mud positioning of the steel cylinder during the sinking process, and its precise positioning problem cannot be solved at present. In order to effectively solve the accuracy of the sinking and positioning of steel cylinders underwater and in the mud, and ensure that the steel cylinders are accurately positioned underwater and accurately positioned in the mud, it is necessary to develop a method for controlling the sinking and positioning of steel cylinders underwater and in the mud. This method can realize the functions of preliminary positioning and precise positioning of large-diameter steel cylinders underwater and in the mud, and provide a solution for high-quality and low-risk sinking operations of underwater steel cylinders.

[0005] Summary of the Invention

[0006] The purpose of the present invention is to overcome the shortcomings of the existing technology and provide a system for controlling the positioning accuracy of steel cylinders sunk underwater and in mud. By positioning the steel cylinder on the water before it enters the water, positioning it during entry into the water, positioning it from the time it enters the water to the time it enters the mud, and precise positioning and regulation after it enters the mud, the functions of preliminary positioning and precise positioning of large-diameter steel cylinders sunk underwater and in mud are realized.

[0007] The present invention also aims to provide a method for controlling the positioning accuracy of steel cylinders placed underwater and in mud.

[0008] The present invention solves the technical problem by the following technical solutions:

[0009] A positioning accuracy control system for sinking a steel cylinder underwater or in mud comprises a crane vessel, the crane vessel being provided with a rear beam and a crane arm, a steel cylinder hanger being hoisted at the lower portion of the crane arm, and a steel cylinder being hoisted at the lower portion of the steel cylinder hanger, and further comprising:

[0010] Crane ship positioning module: includes the first GPS module and the second GPS module located at both ends of the crane ship's rear beam. It is used to obtain the coordinates of the crane ship's rear beam and then determine the crane ship's actual position coordinates in real time after correcting the hull size parameters. It can also perform preliminary positioning and adjustment of the steel cylinder before it enters the water.

[0011] Steel cylinder positioning module: includes a third GPS module located at the top of the crane boom, in the same vertical direction as the steel cylinder hanger point, used to determine the center position of the steel cylinder when it is on the water;

[0012] Underwater and mud positioning module: includes a pair of steel cylinder brackets located vertically upward at the center of the steel cylinder hanger, the bracket height of the pair of steel cylinder brackets is such that the bracket top is just flush with the sea level when the steel cylinder reaches the set mud entry height, and a fourth GPS module and a fifth GPS module are arranged on the top of the pair of steel cylinder brackets for obtaining the bracket top position coordinates when the steel cylinder is underwater. A first bracket inclinometer and a second bracket inclinometer are respectively arranged in the middle of the pair of steel cylinder brackets; the first bracket inclinometer and the second bracket inclinometer are used to collect tilt signals generated by the bracket tilting due to the sea breeze before entering the water and due to the water flow after entering the water. The collected bracket top position coordinates, the tilt signal, and the bracket height are calculated to obtain the actual position coordinates of the underwater steel cylinder;

[0013] The signals of the first GPS module and the second GPS module of the crane vessel positioning module, the third GPS module of the steel cylinder positioning module, and the fourth GPS module, the fifth GPS module, the first bracket inclinometer, and the second bracket inclinometer of the underwater and mud positioning module are all output to the computer control module of the positioning operation room. The computer control module of the positioning operation room controls the position adjustment of the crane vessel anchor cable and the crane arm, and then adjusts the sinking position of the steel cylinder.

[0014] Moreover, the fourth GPS module and the fifth GPS module are 3 meters apart.

[0015] Moreover, the fourth GPS module and the fifth GPS module are arranged in a waterproof float, and a strong magnetic buckle is fixedly installed on the outer surface of the waterproof float, and the strong magnetic buckle is adsorbed and fixed to the top of the steel cylinder bracket.

[0016] A control method based on the underwater and mud steel cylinder sinking positioning accuracy control system, the control method comprising the following steps:

[0017] 1) Initial positioning of the steel cylinder on water:

[0018] During the water lowering stage, the steel cylinder is initially positioned on the water. After the crane ship lifts the steel cylinder through the steel cylinder hanger, it is lowered from the highest point to near the sea level. The steel cylinder is located above the water surface. The crane ship positioning module and the steel cylinder positioning module are used to perform preliminary positioning and pre-water verification positioning of the steel cylinder before entering the water. The pre-water positioning data is recorded and marked. This data also serves as the verification data before the steel cylinder is placed in the mud.

[0019] 2) Positioning of steel cylinder in water:

[0020] The underwater steel cylinder positioning is performed during the underwater sinking stage, that is, from the beginning of the steel cylinder entering the water to the stage when the top steel cylinder hanger is fully submerged in the water, that is, the steel cylinder is partially submerged in the water. The crane ship positioning module and the steel cylinder positioning module only collect positioning information, and the position of the steel cylinder partially submerged in the water during this stage is not adjusted;

[0021] 3) Underwater steel cylinder calibration and positioning:

[0022] During the underwater sinking stage, the underwater steel cylinder is calibrated and positioned. From the time the steel cylinder hanger at the top of the steel cylinder enters the water to the time the bottom of the steel cylinder enters the mud, the data of the third GPS module of the steel cylinder positioning module, the fourth GPS module of the underwater and mud positioning module, and the fifth GPS module are checked. The difference between the three sets of data from the third GPS module, the fourth GPS module, and the fifth GPS module and the positioning data before entering the water is no more than 2 cm, completing the underwater steel cylinder calibration and positioning before entering the mud.

[0023] 4) Accurate positioning of the steel cylinder before entering the mud:

[0024] During the underwater sinking stage, the steel cylinder is accurately positioned before it enters the mud. From the time the steel cylinder hanger at the top of the steel cylinder enters the water to the time the bottom of the steel cylinder enters the mud, the ship and cylinder are accurately positioned together.

[0025] 5) Positioning adjustment of the steel cylinder after entering the mud:

[0026] During the sinking stage in the mud, the positioning of the steel cylinder is adjusted after it enters the mud. The bottom of the steel cylinder begins to sink below the mud surface on the seabed until its own weight can no longer allow the steel cylinder to sink further in the mud. The positioning of the steel cylinder after entering the mud is adjusted.

[0027] 5. The method for controlling the positioning accuracy of a steel cylinder sunk underwater and in mud according to claim 4 is characterized in that: the preliminary positioning before entering the water in step 1) includes adjusting the position of the crane ship through the third GPS module at the top of the crane arm to perform the first positioning of the steel cylinder, adjusting the anchor cable of the crane ship in combination with the third GPS module of the crane arm to perform the second positioning of the steel cylinder, and rotating the crane arm in combination with the third GPS module at the top of the crane arm to perform the third positioning of the steel cylinder.

[0028] Moreover, the verification and positioning before entering the water in step 1) includes real-time monitoring data based on the fourth GPS module and the fifth GPS module of the steel cylinder hanger on the top of the steel cylinder, and the fourth positioning of the steel cylinder before entering the water is performed by adjusting the anchor cable of the crane ship or rotating the crane arm again until the data is no more than 2 cm away from the design data. The positioning data before entering the water is recorded and marked, and the data is also used as verification data before the steel cylinder enters the mud.

[0029] Moreover, the positioning data before entering the water is the actual position coordinate data of the underwater steel cylinder obtained by calculating the real-time monitoring data of the fourth GPS module and the fifth GPS module through the first bracket inclinometer data and the second bracket inclinometer data and the bracket height.

[0030] Moreover, the underwater steel cylinder verification positioning described in step 3) is as follows: after the steel cylinder enters the water as a whole, it continues to sink until it is sunk to a position about 2m away from the mud surface on the seabed. The crane ship stops sinking the steel cylinder, stays still for 3 minutes or tightens the sinking wire rope by 1-2cm, and verifies the GPS data of the third GPS module at the top of the crane arm and the fourth GPS module and the fifth GPS module at the top of the steel cylinder bracket. If the three sets of data recorded by the third GPS module, the fourth GPS module, and the fifth GPS module differ from the verification data before entering the water by no more than 2cm, the crane ship is started to slowly sink it; otherwise, the first precise positioning of the underwater steel cylinder is performed by slowly rotating the crane arm or inching the crane ship's anchor cable until the difference between the three sets of recorded data and the positioning data before entering the water meets the requirement of no more than 2cm.

[0031] Furthermore, the precise positioning of the steel cylinder before entering the mud in step 4) includes:

[0032] 4.1 Primary ship-drum joint positioning: The steel cylinder is sunk to about 1m from the mud surface and then positioned underwater. If the three sets of data from the third, fourth, and fifth GPS modules differ from the calibration data before entering the water by no more than 1cm, the crane vessel is started to slowly sink the steel cylinder. Otherwise, the second accurate underwater positioning of the steel cylinder is performed again by slowly rotating the crane arm and inching the crane vessel's anchor cable until the three sets of data differ from the positioning data before entering the water by no more than 1cm.

[0033] 4.2 Secondary ship-drum joint positioning: When the steel cylinder continues to sink to the position before entering the mud, that is, when the bottom surface of the steel cylinder is at the same level as the seabed mud surface, check the real-time GPS monitoring data of the fourth and fifth GPS modules on the top of the steel cylinder bracket. If the real-time GPS monitoring data of the fourth and fifth GPS modules on the top of the steel cylinder bracket differ from the positioning data before entering the water by no more than 0.5 cm, start the crane ship to slowly sink the steel cylinder to prepare for entering the mud; otherwise, it is necessary to accurately position the steel cylinder underwater for the third time by inching the anchor cable of the crane ship until the difference between the two sets of data and the positioning data before entering the water is no more than 0.5 cm.

[0034] The real-time monitoring data of the fourth GPS module and the fifth GPS module are all actual position coordinate data of the underwater steel cylinder obtained by converting the data of the first bracket inclinometer and the second bracket inclinometer with the bracket height.

[0035] Furthermore, in step 5), after the steel cylinder is placed into the mud, it is lowered to a shallow area of ​​soft mud with a depth of less than 3m. At this time, the steel cylinder support can also be used for data collection, including the following steps:

[0036] 5.1 When the steel cylinder reaches a depth of 1.5m in the mud, stop lowering the cylinder and check the GPS monitoring data of the fourth and fifth GPS modules on the top of the steel cylinder hanger. If the GPS monitoring data of the fourth and fifth GPS modules on the top of the steel cylinder hanger differ from the pre-immersion calibration data by no more than 0.5cm, continue to slowly lower the steel cylinder. Otherwise, slowly lift the steel cylinder above the mud surface, that is, to the position before immersion in the mud, and adjust the positioning by using the crane's anchor cable inching function until the GPS monitoring data of the fourth and fifth GPS modules on the top of the steel cylinder hanger differ from the pre-immersion calibration data by no more than 0.5cm.

[0037] 5.2 After completing the precise positioning, slowly lower the steel cylinder into the mud again. When the steel cylinder reaches a depth of 3m in the mud, check the deviation of the two sets of data from the fourth and fifth GPS modules again. When the difference is less than 0.5cm, sink it;

[0038] 5.3 When the steel cylinder is sunk deeper than 3m into the mud, the fourth and fifth GPS modules of the steel cylinder bracket are submerged in water and lose their positioning function. At this time, the steel cylinder is sunk deeper into the mud and its position no longer changes. That is, the 3m depth of the steel cylinder into the mud is the fixed thickness of the final position of the steel cylinder before vibration sinking.

[0039] The advantages and beneficial effects of the present invention are:

[0040] 1. The control system and control method for the underwater and mud-sinking positioning accuracy of the steel cylinder of the present invention: after the steel cylinder is processed and manufactured, it is transported to the operation site, the steel cylinder hanger is connected to the steel cylinder, and the steel cylinder is lifted to the vicinity of the water surface by a crane ship, and the steel cylinder is initially positioned and adjusted before entering the water by the steel cylinder hanger and the crane ship positioning module; when the steel cylinder is sunk into the water and close to the mud surface of the seabed, the steel cylinder is accurately positioned before entering the mud by the underwater positioning device combined with the crane ship positioning device; when the steel cylinder is sunk to a certain depth in the mud, the positioning data before entering the water and the real-time data of the underwater positioning device are checked, the steel cylinder is lifted and sunk by rotating the crane arm, and the anchor cable inch movement function of the crane ship is combined to realize the precise adjustment of the steel cylinder in the mud, complete the adjustment and control of the high-precision sinking positioning of the steel cylinder underwater and in the mud, and meet the final positioning accuracy of the steel cylinder before vibration sinking.

[0041] 2. The underwater and mud-based steel cylinder sinking positioning accuracy control system and control method of the present invention, the steel cylinder sinking is divided into four stages: sinking on the water, sinking in the water, sinking underwater and sinking in the mud, which effectively solves the technical problem that conventional positioning methods cannot solve the difficult control of the positioning accuracy of underwater and mud-based steel cylinder sinking, and provides a staged high-precision positioning control method, which achieves the same level of positioning accuracy of underwater and mud-based steel cylinders as that of surface steel cylinders, ensuring the positioning accuracy of underwater and mud-based steel cylinders; avoiding the potential risks and resource investment of professional divers assisting in underwater positioning or investing other equipment to assist in positioning due to high-precision requirements.

[0042] 3. The underwater and mud steel cylinder sinking positioning precision control system and control method of the present invention have been successfully applied to actual projects, with good on-site application effects. It has effectively solved the technical difficulties in the underwater and mud steel cylinder sinking positioning, filling the gap in my country's high-precision positioning of steel cylinders underwater or in mud. It has extremely strong creativity and broad prospects for promotion and application. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] FIG1 is a schematic diagram of a positioning accuracy control system for sinking a steel cylinder underwater and in mud according to the present invention;

[0044] FIG2 is an enlarged view of portion A of FIG1 ;

[0045] FIG3 is an enlarged view of portion B of FIG1 ;

[0046] FIG4 is a schematic structural diagram of a fourth GPS module and a fifth GPS module of the present invention;

[0047] FIG5 is a flow chart of a method for controlling the positioning accuracy of a steel cylinder placed underwater or in mud according to the present invention;

[0048] Explanation of the accompanying numbers 1-steel cylinder; 2-steel cylinder hanger; 3-crane ship; 4-positioning operation room; 5-rear beam of the crane ship; 6-first GPS module; 7-second GPS module; 8-third GPS module; 9-crane arm; 10-steel cylinder bracket; 11-fourth GPS module; 12-first bracket inclinometer, 13-GPS antenna; 14-GPS host; 15-micro-power radio; 16-power supply; 17-strong magnetic buckle; 18-fifth GPS module, 19-second bracket inclinometer. DETAILED DESCRIPTION

[0049] The present invention will be further described in detail below through specific examples. The following examples are only illustrative and not restrictive, and the scope of protection of the present invention cannot be limited thereto.

[0050] A positioning accuracy control system for sinking a steel cylinder underwater or in mud, as shown in Figures 1 to 4, includes a crane vessel 3, which is provided with a rear beam, a crane arm 9 and a steel cylinder hanger 2, and further includes:

[0051] Crane vessel positioning module: includes a first GPS module 6 and a second GPS module 7 located at both ends of the crane vessel rear beam 5, which are used to obtain the position coordinates of the crane vessel rear beam 5 and then determine the actual position coordinates of the crane vessel 3 in real time after correction by the hull size parameters, and preliminarily determine the position of the steel cylinder 1 in the sea;

[0052] Steel cylinder positioning module: includes a third GPS module 8 located at the top of the crane arm 9 of the crane ship, which is in the same vertical direction as the lifting point of the steel cylinder hanger 2. The position information of the steel cylinder positioning module is compared with the position information of the crane ship positioning module to further verify the accurate position of the steel cylinder 1;

[0053] The underwater and mud positioning module includes a pair of vertically upward steel cylinder supports 10 located at the center of the steel cylinder hanger 2. The support height of the pair of steel cylinder supports 10 is such that the tops of the steel cylinder supports 10 are flush with sea level when the steel cylinder 1 reaches the set mud depth. In this embodiment, the support height is such that the tops of the steel cylinder supports 10 are flush with sea level when the steel cylinder 1 is 3 meters into the mud.

[0054] Underwater and mud positioning module: includes a pair of steel cylinder supports 10 located vertically upward at the center of the steel cylinder hanger 2, and the support height of the pair of steel cylinder supports 10 is such that the top of the support is just flush with the sea level when the steel cylinder 1 reaches the set mud entry height. A fourth GPS module 11 and a fifth GPS module 18 are arranged on the top of the pair of steel cylinder supports 10, which are used to obtain the position coordinates of the top of the support when the steel cylinder 1 is underwater. A first support inclinometer 12 and a second support inclinometer 19 are respectively arranged in the middle of the pair of steel cylinder supports 10; the first support inclinometer 12 and the second support inclinometer 19 are used to collect tilt signals generated by the tilt of the support due to the sea breeze before entering the water and due to the water flow after entering the water. The collected support top position coordinates, the tilt signal and the support height are calculated to obtain the actual position coordinates of the underwater steel cylinder 1; the fourth GPS module 11 and the fifth GPS module 18 are 3m apart.

[0055] Each of the first through fifth GPS modules 18 includes a GPS antenna 13, a micro-power radio 15, a GPS host 14, and a power supply 16. The fourth and fifth GPS modules 11 and 18 are housed within a waterproof buoy, as shown in Figure 2. A strong magnetic clasp 17 is fixed to the outer surface of the buoy, which is securely attached to the top of the steel cylinder support 10. Once lowered, the inclinometers 19 of the first and second supports are lowered into the sea along with the steel cylinder 1, eliminating the need for removal. The fourth and fifth GPS modules 11 and 18 can be removed and reused.

[0056] When the steel cylinder 1 is immersed in the mud for less than 3m, the fourth GPS module 11 and the fifth GPS module 18 are located above the water surface, and the real-time position of the steel cylinder 1 can be determined. When the steel cylinder 1 is immersed in the mud for more than 3m, the position of the steel cylinder 1 changes very little, and it can be considered that the steel cylinder 1 has reached the fixed mud depth of the final position (design position); after the steel cylinder 1 is immersed in the mud for more than 3m, the waterproof float has been submerged in the water, and the GPS device has lost its positioning function, so it can be directly retrieved.

[0057] Signals from the crane vessel's positioning module's first and second GPS modules 6 and 7, the steel cylinder's positioning module's third GPS module 8, and the underwater and mud positioning modules' fourth and fifth GPS modules 11 and 18, as well as the first and second support inclinometers 12 and 19, are all output to the computer control module in the positioning operation room 4. This computer control module in the positioning operation room 4 controls the position adjustment of the crane vessel's anchor cable and boom 9, thereby adjusting the sinking position of the steel cylinder 1. The first, second, third, fourth, and fifth GPS modules 6, 7, 8, and first and second support inclinometers 11 and 19 are wirelessly connected to the computer control module in the positioning operation room 4; the first and second support inclinometers 12 and 19 are connected to the computer control module in the positioning operation room 4 via data cables.

[0058] A method for controlling the positioning accuracy of a steel cylinder placed underwater or in mud, as shown in FIG5 , includes the following steps:

[0059] 1) Initial positioning of the steel cylinder on water:

[0060] First, complete the installation and inspection of the positioning equipment: before installation, perform calibration and environmental testing on the positioning device to determine its key parameters such as acquisition frequency, sensitivity, and the impact of the seawater environment on the data.

[0061] Positioning equipment installation is mainly divided into:

[0062] First, install the three GPS devices on the crane vessel 3 and the crane arm 9: the first GPS module 6, the second GPS module 7, and the third GPS module 8. Next, install the two steel cylinder supports 10 and two support inclinometers: the first support inclinometer 12 and the second support inclinometer 19, on the steel cylinder hanger 2 atop the steel cylinder 1. Finally, install the two GPS devices on the waterproof floats atop the supports: the fourth GPS module 11 and the fifth GPS module 18. Once all the positioning devices are installed, pre-operation testing is conducted to determine the equipment's performance, installation effectiveness, and the accuracy of the analytical data.

[0063] During the water-based sinking stage, the steel cylinder 1 is initially positioned on the water. That is, after the crane ship 3 lifts the steel cylinder through the steel cylinder hanger 2, the steel cylinder 1 is lowered from the highest point to near the sea level. When the steel cylinder 1 is above the water surface during the water-based sinking stage, the crane ship positioning module and the steel cylinder positioning module are used to perform preliminary positioning and verification positioning of the steel cylinder 1 before entering the water. The pre-water positioning data is recorded and marked. This data is also used as verification data before the steel cylinder 1 is placed in the mud.

[0064] The specific steps are:

[0065] In step 1), the preliminary positioning before entering the water includes the preliminary positioning of the boom 9: the first positioning of the steel cylinder 1 is performed by adjusting the position of the crane ship 3 through the third GPS module 8 on the top of the boom 9, the second positioning of the steel cylinder 1 is performed by adjusting the anchor cable of the crane ship 3 in combination with the third GPS module 8 on the boom 9, and the third positioning of the steel cylinder 1 is performed by rotating the boom 9 in combination with the third GPS module 8 on the top of the boom 9.

[0066] The verification and positioning before entering the water in step 1) includes the verification and positioning of the steel cylinder: based on the real-time monitoring data of the fourth GPS module 11 and the fifth GPS module 18 of the steel cylinder hanger 2 on the top of the steel cylinder 1, the fourth positioning of the steel cylinder 1 before entering the water is performed by adjusting the anchor cable of the crane ship 3 or rotating the crane arm 9 again, until the data is no more than 2 cm away from the design data, and the positioning data before entering the water is recorded and marked. The data is also used as the verification data before the steel cylinder 1 enters the mud.

[0067] The positioning data before entering the water is the real-time monitoring data of the fourth GPS module 11 and the fifth GPS module 18, which is calculated by the data of the first bracket inclinometer 12 and the second bracket inclinometer 19 and the bracket height to obtain the actual position coordinate data of the underwater steel cylinder 1.

[0068] 2) Positioning of steel cylinder in water:

[0069] The underwater steel cylinder 1 is positioned during the underwater sinking stage, that is, the stage from the beginning of the steel cylinder 1 entering the water to the stage from which the top steel cylinder hanger 2 is completely entered into the water, that is, the stage from which the steel cylinder 1 is partially entered into the water. The crane ship positioning module and the steel cylinder positioning module of the positioning accuracy control system only collect positioning information, and there is no need to adjust the position of the partial entry of the steel cylinder 1 into the water during this stage. After the steel cylinder 1 is partially entered into the water, due to the large diameter of the steel cylinder 1, the water flow force or wind and wave force near the sea surface is generally large, causing the steel cylinder 1 to tilt or change position. However, since the steel cylinder 1 enters the water rather than the mud, the positioning and position adjustment of the steel cylinder 1 when it is partially entered into the water are not considered.

[0070] 3) Underwater steel cylinder calibration and positioning:

[0071] The underwater positioning of the steel cylinder 1 is verified during the underwater lowering phase, which begins after the steel cylinder hanger 2 at the top of the steel cylinder 1 enters the water and before the bottom of the steel cylinder 1 enters the mud. After the entire steel cylinder 1 enters the water, it continues to sink until it is approximately 2 meters from the mud surface. This position is very close to the seabed, where the impact of water currents on the steel cylinder 1 is minimal. Therefore, the highest precision positioning of the steel cylinder 1 begins at this position throughout the entire lowering process.

[0072] Check the data of the steel cylinder positioning module, underwater and mud positioning module, and ensure that the three sets of data obtained by the third GPS module 8, the fourth GPS module 11, and the fifth GPS module 18 are no more than 2 cm different from the positioning data before entering the water, thus completing the underwater steel cylinder calibration and positioning before entering the mud;

[0073] Specifically, the steps include: after the steel cylinder 1 enters the water as a whole, it continues to sink until it is sunk to a position about 2m away from the mud surface on the seabed; the underwater steel cylinder 1 is checked and positioned as follows: the crane ship 3 stops sinking the steel cylinder 1, remains still for 3 minutes or tightens the sinking wire rope by 1-2cm, and verifies the GPS data of the third GPS module 8 at the top of the crane arm 9 and the fourth GPS module 11 and the fifth GPS module 18 at the top of the steel cylinder bracket 10; if the difference between the three sets of recorded data and the verification data before entering the water is no more than 2cm, the crane ship 3 is started to slowly sink it; otherwise, the first precise positioning of the underwater steel cylinder 1 is performed by slowly rotating the crane arm 9 or inching the anchor cable of the crane ship 3, until the difference between the three sets of recorded data and the positioning data before entering the water meets the requirement of no more than 2cm.

[0074] 4) Accurate positioning of the steel cylinder before entering the mud:

[0075] During the underwater sinking stage, that is, from the time when the steel cylinder hanger 2 at the top of the steel cylinder 1 enters the water to the time when the bottom of the steel cylinder 1 enters the mud, the ship-cylinder joint precise positioning is carried out;

[0076] Step 4) Precise positioning of the steel cylinder before entering the mud includes:

[0077] 4.1 Primary ship-drum joint positioning: The steel cylinder 1 is sunk to a distance of about 1m from the mud surface, and the underwater steel cylinder 1 is positioned again. If the three sets of data differ from the calibration data before entering the water by no more than 1cm, the crane ship 3 is started to slowly sink it; otherwise, the underwater steel cylinder 1 needs to be accurately positioned again by slowly rotating the crane arm 9 and inching the anchor cable of the crane ship 3 until the three sets of data differ from the positioning data before entering the water by no more than 1cm.

[0078] 4.2 Secondary ship-drum joint positioning: When the steel cylinder 1 continues to sink to the position before entering the mud, that is, when the bottom surface of the steel cylinder 1 is at the same level as the seabed mud surface, check the real-time GPS monitoring data of the fourth GPS module 11 and the fifth GPS module 18 on the top of the steel cylinder support 10. If the real-time GPS monitoring data of the fourth GPS module 11 and the fifth GPS module 18 on the top of the steel cylinder support 10 differ from the positioning data before entering the water by no more than 0.5 cm, start the crane ship 3 to slowly sink the steel cylinder 1 in preparation for entering the mud; otherwise, it is necessary to accurately position the steel cylinder 1 underwater for the third time by inching the anchor cable of the crane ship 3 until the difference between the two sets of data and the positioning data before entering the water meets the high-precision requirement of no more than 0.5 cm;

[0079] The fourth GPS module 11 and the fifth GPS module 18 are real-time monitoring data of the actual position coordinate data of the underwater steel cylinder 1 obtained by converting the data of the first bracket inclinometer 12 and the second bracket inclinometer 19 with the bracket height.

[0080] The calculation formula is:

[0081] Where: W1 is the CPS real-time position data of the support top after the steel cylinder enters the water;

[0082] W0 is the GPS calibration position data of the top of the support before the steel cylinder enters the water;

[0083] H is the support height of the top of the steel cylinder hanger, in meters;

[0084] θ is the tilt angle of the steel cylindrical support monitored in real time by the inclinometer in the middle of the support, in degrees.

[0085] 5) Positioning adjustment of the steel cylinder after entering the mud:

[0086] After the steel cylinder 1 is lowered into the mud, it is lowered to a shallow area of ​​soft mud, i.e., a depth of less than 3m. At this point, the steel cylinder bracket 10 can still collect data. During the mud sinking stage, i.e., when the bottom of the steel cylinder 1 begins to sink below the seabed mud surface, and until the weight of the steel cylinder 1 cannot allow it to sink further into the mud, the positioning of the steel cylinder 1 after entering the mud is adjusted.

[0087] Specifically, in step 5), after the steel cylinder 1 is placed into the mud, it is lowered to a shallow area of ​​soft mud with a depth of less than 3m. At this time, the steel cylinder support 10 can also perform data collection. The steps are as follows:

[0088] 5.1 When the steel cylinder 1 reaches a depth of 1.5m in the mud, stop lowering the steel cylinder 1 and check the GPS monitoring data of the fourth GPS module 11 and the fifth GPS module 18 on the top of the steel cylinder hanger 2. If the GPS monitoring data of the fourth GPS module 11 and the fifth GPS module 18 on the top of the steel cylinder hanger 2 differ from the calibration data before entering the water by no more than 0.5cm, continue to slowly lower the steel cylinder 1. Otherwise, slowly lift the steel cylinder 1 above the mud surface, that is, to the position before entering the mud, and adjust the positioning using the anchor cable inching function of the crane vessel 3 until the GPS monitoring data of the fourth GPS module 11 and the fifth GPS module 18 on the top of the steel cylinder hanger 2 differ from the calibration data before entering the water by no more than 0.5cm.

[0089] 5.2 After completing the precise positioning, the steel cylinder 1 is slowly lowered into the mud again. When the depth of the steel cylinder 1 in the mud reaches 3m, the deviation of the two sets of data from the fourth GPS module 11 and the fifth GPS module 18 is checked again. It can only be sunk when the difference is less than 0.5cm.

[0090] 5.3 When the steel cylinder 1 is immersed in the mud to a depth greater than 3m, the fourth and fifth GPS modules 18 of the steel cylinder bracket 10 are submerged in water and lose their positioning function. At this time, the position of the steel cylinder 1 will not change even if it is immersed in the mud to a great depth. That is, the 3m immersion depth of the steel cylinder 1 in the mud is the fixed thickness of the final position of the steel cylinder 1.

[0091] The present invention solves the problems of preliminary positioning of the underwater steel cylinder 1 before it enters the water, precise positioning of the underwater steel cylinder 1 before it enters the water, positioning of the underwater steel cylinder 1 after it partially enters the water, precise positioning of the underwater steel cylinder 1 from the time it enters the water to the time it enters the mud, and final positioning and adjustment of the underwater steel cylinder 1 after it partially enters the mud.

[0092] Although the embodiments and drawings of the present invention are disclosed for illustrative purposes, those skilled in the art will understand that various substitutions, changes and modifications are possible without departing from the spirit and scope of the present invention and the appended claims. Therefore, the scope of the present invention is not limited to the contents disclosed in the embodiments and drawings.

Claims

1. A positioning accuracy control system for sinking a steel cylinder underwater or in mud, comprising a crane vessel (3), the crane vessel (3) being provided with a crane vessel rear beam (5), a crane arm (9), a steel cylinder hanger (2) being hoisted at the lower part of the crane arm (9), and a steel cylinder (1) being hoisted at the lower part of the steel cylinder hanger (2), wherein: Also includes: The crane ship positioning module comprises a first GPS module (6) and a second GPS module (7) located at both ends of the crane ship rear beam (5), and is used to obtain the position coordinates of the crane ship rear beam (5), and then determine the actual position coordinates of the crane ship (3) in real time after correcting the hull size parameters, so as to perform preliminary positioning and adjustment on the position of the steel cylinder (1) before entering the water; The steel cylinder positioning module comprises a third GPS module (8) located at the top of the lifting arm (9) of the lifting vessel (3), which is in the same vertical direction as the lifting point of the steel cylinder hanger (2) and is used to determine the center position of the steel cylinder (1) when it is on water; The underwater and mud positioning module comprises a pair of steel cylinder brackets (10) located vertically upward at the center of the steel cylinder hanger (2); the bracket height of the pair of steel cylinder brackets (10) is such that the bracket top is just flush with the sea level when the steel cylinder (1) reaches a set mud entry height; a fourth GPS module (11) and a fifth GPS module (18) are arranged on the top of the pair of steel cylinder brackets (10) for obtaining the bracket top position coordinates when the steel cylinder (1) is located underwater; a first bracket inclinometer (12) and a second bracket inclinometer (19) are arranged in the middle of the pair of steel cylinder brackets (10); the first bracket inclinometer (12) and the second bracket inclinometer (19) are used to collect tilt signals generated by the bracket tilting due to the sea breeze before entering the water and due to the water flow after entering the water; the collected bracket top position coordinates and the tilt signal are calculated with the bracket height to obtain the actual position coordinates of the underwater steel cylinder (1); Signals of the first GPS module (6) and the second GPS module (7) of the crane vessel positioning module, the third GPS module (8) of the steel cylinder positioning module, the fourth GPS module (11) and the fifth GPS module (18) of the underwater and mud positioning module, the first bracket inclinometer (12) and the second bracket inclinometer (19) are all output to the computer control module of the positioning operation room (4), and the computer control module of the positioning operation room (4) controls the position adjustment of the crane vessel (3), the anchor cable and the crane arm (9), thereby adjusting the sinking position of the steel cylinder (1).

2. The underwater and mud steel cylinder sinking positioning accuracy control system according to claim 1 is characterized by: The fourth GPS module (11) and the fifth GPS module (18) are 3 meters apart.

3. The underwater and mud steel cylinder sinking positioning accuracy control system according to claim 1 is characterized by: The fourth GPS module (11) and the fifth GPS module (18) are arranged in a waterproof floating ball, and a strong magnetic buckle (17) is fixedly installed on the outer surface of the waterproof floating ball, and the strong magnetic buckle (17) is adsorbed and fixed on the top of the steel cylinder bracket (10).

4. A method for controlling the positioning accuracy of steel cylinder sinking in water and mud, characterized by: The control method comprises the following steps: 1) Initial positioning of the steel cylinder on water: During the stage of sinking in water, the steel cylinder (1) is initially positioned on the water. After the crane ship (3) lifts the steel cylinder (1) through the steel cylinder hanger (2), the steel cylinder (1) is lowered from the highest point to near the sea level. The steel cylinder (1) is located above the water surface. The crane ship positioning module and the steel cylinder positioning module are used to perform preliminary positioning and verification positioning of the steel cylinder (1) before entering the water. The positioning data before entering the water is recorded and marked. The data is also used as verification data before the steel cylinder enters the mud. 2) Positioning of steel cylinder in water: During the underwater sinking stage, the underwater steel cylinder is positioned, i.e., from the beginning of the steel cylinder (1) entering the water to the stage when the top steel cylinder hanger (2) is completely entered into the water, i.e., the stage when the steel cylinder (1) is partially entered into the water, only the positioning information is collected through the crane ship positioning module and the steel cylinder positioning module, and the position of the steel cylinder (1) partially entering the water during this stage is not adjusted; 3) Underwater steel cylinder calibration and positioning: During the underwater sinking stage, the underwater steel cylinder is calibrated and positioned. From the time when the steel cylinder hanger (2) at the top of the steel cylinder (1) enters the water to the time when the bottom of the steel cylinder (1) enters the mud, the data of the third GPS module (8) of the steel cylinder positioning module, the fourth GPS module (11) and the fifth GPS module (18) of the underwater and mud positioning module are checked until the difference between the three sets of data of the third GPS module (8), the fourth GPS module (11) and the fifth GPS module (18) and the positioning data before entering the water is no more than 2 cm, thus completing the underwater steel cylinder (1) calibration and positioning before entering the mud; 4) Accurate positioning of the steel cylinder before entering the mud: During the underwater sinking stage, the steel cylinder is accurately positioned before it enters the mud. During the stage from when the steel cylinder hanger (2) at the top of the steel cylinder (1) enters the water to before the bottom of the steel cylinder (1) enters the mud, the ship-cylinder joint accurate positioning is performed; 5) Positioning adjustment of the steel cylinder after entering the mud: During the stage of sinking in the mud, the steel cylinder (1) is positioned and adjusted after entering the mud. The bottom of the steel cylinder (1) begins to enter below the mud surface on the seabed until the steel cylinder (1) cannot be further sunk in the mud due to its own weight. The steel cylinder (1) is positioned and adjusted after entering the mud.

5. The method for controlling the positioning accuracy of steel cylinder sinking in water and mud according to claim 4 is characterized by: The preliminary positioning before entering the water in step 1) includes adjusting the stationary position of the crane ship (3) through the third GPS module (8) at the top of the crane arm (9) to perform the first positioning of the steel cylinder (1), adjusting the anchor cable of the crane ship (3) in combination with the third GPS module (8) of the crane arm (9) to perform the second positioning of the steel cylinder (1), and rotating the crane arm (9) in combination with the third GPS module (8) at the top of the crane arm (9) to perform the third positioning of the steel cylinder (1).

6. The method for controlling the positioning accuracy of steel cylinder sinking in water and mud according to claim 4 is characterized by: The verification and positioning before entering the water in step 1) includes real-time monitoring data based on the fourth GPS module (11) and the fifth GPS module (18) of the steel cylinder hanger (2) at the top of the steel cylinder (1), and the fourth positioning of the steel cylinder (1) before entering the water is performed by adjusting the anchor cable of the crane ship (3) or rotating the crane arm (9) again, until the data is no more than 2 cm away from the design data, and recording and marking the positioning data before entering the water, which is also used as the verification data before the steel cylinder (1) enters the mud.

7. The method for controlling the positioning accuracy of steel cylinder sinking in water and mud according to claim 4 is characterized by: The positioning data before entering the water is the actual position coordinate data of the underwater steel cylinder (1) obtained by real-time monitoring data of the fourth GPS module (11) and the fifth GPS module (18) through calculation of data of the first bracket inclinometer (12) and the second bracket inclinometer (19) and the bracket height.

8. The method for controlling the positioning accuracy of steel cylinder sinking in water and mud according to claim 4 is characterized by: The underwater steel cylinder calibration and positioning in step 3) is as follows: after the steel cylinder (1) is completely put into the water, it continues to sink until it is sunk to a position 2m away from the seabed mud surface, the crane ship (3) stops sinking the steel cylinder (1), and stands still for 3 minutes or tightens the sinking wire rope by 1-2cm, and checks the GPS data of the third GPS module (8) at the top of the crane arm (9) and the fourth GPS module (11) and the fifth GPS module (18) at the top of the steel cylinder bracket (10). If the difference between the three sets of data recorded by the third GPS module (8), the fourth GPS module (11) and the fifth GPS module (18) and the calibration data before entering the water is not greater than 2cm, the crane ship (3) is started to slowly sink; otherwise, the underwater steel cylinder (1) is accurately positioned for the first time by slowly rotating the crane arm (9) or inching the anchor cable of the crane ship (3) until the difference between the three sets of data recorded and the positioning data before entering the water meets the requirement of not more than 2cm.

9. The method for controlling the positioning accuracy of steel cylinder sinking in water and mud according to claim 4 is characterized by: The step 4) of accurately positioning the steel cylinder before entering the mud includes: 4.1 Joint positioning of the ship and the cylinder: The steel cylinder (1) is sunk to a distance of 1m from the mud surface, and the underwater steel cylinder (1) is positioned again. If the three sets of data from the third GPS module (8), the fourth GPS module (11), and the fifth GPS module (18) differ from the calibration data before entering the water by no more than 1cm, the crane ship (3) is started to slowly sink it; otherwise, the underwater steel cylinder (1) is accurately positioned for the second time by slowly rotating the crane arm (9) and adjusting the anchor cable of the crane ship (3) by inch motion until the three sets of data differ from the positioning data before entering the water by no more than 1cm. 4.2 Secondary ship-drum joint positioning: The steel cylinder (1) continues to be sunk to the position before entering the mud, that is, when the bottom surface of the steel cylinder (1) is at the same level as the mud surface on the seabed, the GPS real-time monitoring data of the fourth GPS module (11) and the fifth GPS module (18) on the top of the steel cylinder support (10) are checked. If the GPS real-time monitoring data of the fourth GPS module (11) and the fifth GPS module (18) on the top of the steel cylinder support (10) differ from the positioning data before entering the water by no more than 0.5 cm, the crane ship (3) is started to slowly sink the steel cylinder (1) to prepare for entering the mud; otherwise, the third accurate positioning of the underwater steel cylinder (1) is required by adjusting the anchor cable of the crane ship (3) by inch movement, until the difference between the two sets of data and the positioning data before entering the water is no more than 0.5 cm with high accuracy; The fourth GPS module (11) and the fifth GPS module (18) are GPS modules for real-time monitoring of data, which are all transmitted through the first bracket. The actual position coordinate data of the underwater steel cylinder (1) is obtained by converting the data of the inclinometer (12) and the second bracket inclinometer (19) with the bracket height.

10. The method for controlling the positioning accuracy of steel cylinder sinking in water and mud according to claim 4, characterized in that: Step 5) After the steel cylinder (1) enters the mud, it is sunk to a shallow area of ​​soft mud with a depth of less than 3m. At this time, the steel cylinder support (10) can also perform data collection, which includes the following steps: 5.1 When the depth of the steel cylinder (1) in the mud reaches 1.5m, stop lowering and check the GPS monitoring data of the fourth GPS module (11) and the fifth GPS module (18) on the top of the steel cylinder hanger (2). If the difference between the GPS monitoring data of the fourth GPS module (11) and the fifth GPS module (18) on the top of the steel cylinder hanger (2) and the calibration data before entering the water is not greater than 0.5cm, continue to slowly lower the steel cylinder (1); otherwise, slowly lift the steel cylinder (1) above the mud surface, that is, the position before entering the mud, and adjust the positioning through the anchor cable inching function of the crane ship (3) until the difference between the GPS monitoring data of the fourth GPS module (11) and the fifth GPS module (18) on the top of the steel cylinder hanger (2) and the calibration data before entering the water is less than 0.5cm; 5.2 After the precise positioning is completed, the steel cylinder (1) is slowly lowered into the mud again. When the depth of the steel cylinder (1) in the mud reaches 3 m, the deviation of the two sets of data from the fourth GPS module (11) and the fifth GPS module (18) is checked again. When the difference is less than 0.5 cm, the steel cylinder (1) is lowered; 5.3 When the steel cylinder (1) is sunk to a depth greater than 3 m in the mud, the fourth and fifth GPS modules (18) of the steel cylinder support (10) are submerged in water and lose their positioning function. At this time, the steel cylinder is sunk to a great depth in the mud and its position no longer changes. That is, the 3 m depth of the steel cylinder is the fixed thickness of the final position of the steel cylinder before vibration sinking.

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