CN113093247A - Pile sinking positioning system suitable for operation in deep and distant sea areas - Google Patents
Pile sinking positioning system suitable for operation in deep and distant sea areas Download PDFInfo
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- CN113093247A CN113093247A CN202110357431.3A CN202110357431A CN113093247A CN 113093247 A CN113093247 A CN 113093247A CN 202110357431 A CN202110357431 A CN 202110357431A CN 113093247 A CN113093247 A CN 113093247A
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- 238000009434 installation Methods 0.000 claims description 6
- 238000004891 communication Methods 0.000 claims description 4
- 238000000034 method Methods 0.000 abstract description 5
- 239000010410 layer Substances 0.000 description 9
- 238000010276 construction Methods 0.000 description 4
- 238000012986 modification Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 229910000831 Steel Inorganic materials 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 230000036544 posture Effects 0.000 description 2
- 239000002356 single layer Substances 0.000 description 2
- 239000010959 steel Substances 0.000 description 2
- 238000012937 correction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000003203 everyday effect Effects 0.000 description 1
- 239000013307 optical fiber Substances 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02D—FOUNDATIONS; EXCAVATIONS; EMBANKMENTS; UNDERGROUND OR UNDERWATER STRUCTURES
- E02D13/00—Accessories for placing or removing piles or bulkheads, e.g. noise attenuating chambers
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02D—FOUNDATIONS; EXCAVATIONS; EMBANKMENTS; UNDERGROUND OR UNDERWATER STRUCTURES
- E02D13/00—Accessories for placing or removing piles or bulkheads, e.g. noise attenuating chambers
- E02D13/04—Guide devices; Guide frames
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/22—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring angles or tapers; for testing the alignment of axes
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Remote Sensing (AREA)
- Radar, Positioning & Navigation (AREA)
- General Physics & Mathematics (AREA)
- General Engineering & Computer Science (AREA)
- Paleontology (AREA)
- Civil Engineering (AREA)
- Mining & Mineral Resources (AREA)
- Structural Engineering (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Computer Networks & Wireless Communication (AREA)
- Electromagnetism (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The invention aims to provide a pile sinking positioning system suitable for operation in deep and distant sea areas, which comprises: the device comprises a GNSS receiver, a laser range finder, a double-shaft inclination angle sensor, a display and an upper computer which are arranged on a piling ship, wherein the upper computer is respectively connected with the GNSS receiver, the laser range finder, the double-shaft inclination angle sensor and the display to finish deep and far sea area pile sinking operation for quality and quantity guarantee. The method can realize the high-precision positioning without the base station in the deep and far sea area, and solves the problem that the operation radius of an RTK positioning mode is limited.
Description
Technical Field
The invention relates to a pile sinking positioning system suitable for operation in deep and remote sea areas.
Background
At present, a positioning system on a domestic wind power construction ship adopts RTK-GPS positioning, a positioning base station is erected at a shore-based fixed point, 3 mobile stations are erected on the ship in an L shape, the rolling and pitching of a ship body are measured by a high-precision inclinometer, and pile holding correction is carried out by using the high-precision ranger, so that the pile sinking precision of 5cm for pile foundation positioning is met, the distance between the mobile station on the ship and the shore-based base station is more and more far along with the gradual advance of a construction area to a deep water area, when the distance exceeds more than 20 kilometers, the operation radius needs to be increased in a mode of erecting a relay station on the sea, the positioning precision cannot be influenced by theoretically increasing the transfer of a signal, but due to the overlong distance, the projection can deform, the RTK positioning precision is found in practical engineering application to gradually reduce along with the increase of the operation radius, and the relay station is, therefore, in order to meet the requirement of deep open sea construction positioning, a set of positioning system suitable for deep open sea construction needs to be developed.
In the existing positioning means, most of the single-layer distance measuring instruments are used for positioning the pile postures, and the single-layer measuring mode has many defects, for example, only two distance measuring points are used, high-precision convergence cannot be achieved, accurate pile positions cannot be calculated, and when a ship body shakes, the side-tipping tendency of a pile body cannot be captured, so that positioning errors are caused.
Disclosure of Invention
One object of the present invention is to provide a pile sinking positioning system suitable for deep and distant sea work
According to an aspect of the present invention, there is provided a pile sinking positioning system suitable for operations in deep and remote sea areas, comprising: a GNSS receiver, a laser range finder, a double-shaft tilt angle sensor, a display and an upper computer which are arranged on the piling ship, wherein,
and the upper computer is respectively connected with the GNSS receiver, the laser range finder, the double-shaft tilt sensor and the display.
Further, the above system further includes:
the satellite transceiver is connected with the upper computer;
an onshore server in communication with the satellite transceiver.
Further, in the above system, the number of the GNSS receivers is 3.
Further, in the above system, the installation positions of the 3 GNSS receivers form a triangle.
Further, in the above system, the GNSS receiver is installed on a roof, a port and starboard deck, or a landing leg platform of a master control room of the pile driving vessel.
Further, in the above system, the number of the laser range finders is 4.
Furthermore, in the system, 4 laser range finders are arranged in an upper layer and a lower layer and symmetrically arranged, and 2 laser range finders are arranged on each layer.
Furthermore, in the system, the height difference of the two layers of laser range finders is more than 1.2 meters.
Further, in the system, the upper computer is installed on a control console of the cockpit.
Further, in the above system, the display is a red dot and stake position display.
Compared with the prior art, the invention comprises the following steps: the device comprises a GNSS receiver, a laser range finder, a double-shaft inclination angle sensor, a display and an upper computer which are arranged on a piling ship, wherein the upper computer is respectively connected with the GNSS receiver, the laser range finder, the double-shaft inclination angle sensor and the display to finish deep and far sea area pile sinking operation for quality and quantity guarantee. The method can realize the high-precision positioning without the base station in the deep and far sea area, and solves the problem that the operation radius of an RTK positioning mode is limited.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments made with reference to the following drawings:
FIG. 1 shows a schematic view of a GPS in a ship deck deployment location in accordance with an embodiment of the present invention;
FIG. 2 shows a laser rangefinder installation schematic of a bow position standing from a perspective looking straight ahead from the bow according to one embodiment of the present invention;
FIG. 3 illustrates a laser rangefinder mounting at the bow of the ship from a right side view looking into the hull according to one embodiment of the present invention;
fig. 4 shows a schematic view of a pile sinking positioning system suitable for deep sea operations according to an embodiment of the present invention;
fig. 5 shows a deep sea piling flow chart according to an embodiment of the present invention.
The same or similar reference numbers in the drawings identify the same or similar elements.
Detailed Description
The present invention is described in further detail below with reference to the attached drawing figures.
As shown in fig. 4, the present invention provides a pile sinking positioning system suitable for deep and remote sea work, comprising: install GNSS receiver 1(GPS receiver), laser range finder 2, biax inclination sensor 3, display 5 and host computer 4 on pile driving vessel, wherein, host computer 4 respectively with GNSS receiver 1 (global navigation satellite system), laser range finder 2, biax inclination sensor 3 and display 5 are connected.
Before the whole scheme is implemented, firstly, the hull to be measured needs to be measured, because a certain error exists between the design point and the factory welding of the piling ship, and in order to avoid the error, the positioning point of the hull needs to be measured again. The total station is used to determine the hull coordinates of key points on the pile driving vessel. The piling ship is parked in the dock, and the relative position between the piling ship and the total station is fixed.
Using total stations at the piling vessel
A datum point can be selected at the stern of a deck keel, the edge coordinates of a ship body are measured in a mode of erecting a prism, then data calculation is carried out, the ship body coordinates of a three-dimensional space rectangular coordinate system which actually takes the center of the ship body as the origin of a coordinate system are deduced, and the ship body coordinates of the distance measuring zero point of each laser distance measuring instrument and the installation parameters of the double-shaft inclination angle sensor are measured and recorded.
All parts of the system can be connected through a comprehensive cable, and the comprehensive cable comprises six types of shielding wires, an RS485 cable and optical fibers. Attached to the operator's station in the cockpit where the three axis inclinometer is mounted, the system connections may be as shown in fig. 4.
The GNSS receiver and the laser range finder can be respectively arranged on a deck and a bow, the upper computer is a computer host arranged in a cockpit console, the upper computer displays the posture of the output pile body through a display, and the upper computer can transmit data messages to appointed data receiving equipment in a TCP message form through the satellite transceiver.
In order to guarantee quality and quantity and complete pile sinking operation in deep and far sea areas, the invention starts from the angle of positioning without a base station in far sea areas, and is implemented by a GNSS receiver and a laser range finder. The method can realize the high-precision positioning without the base station in the deep and far sea area, and solves the problem that the operation radius of an RTK positioning mode is limited.
The working scheme of the system can be as shown in fig. 5. The ship body is differentially positioned in the planetary station through the GNSS receiver, the pile position of the pile 6 is calculated by the upper computer, and the ship is moved and adjusted for obtaining a standard ship body coordinate system. The standard ship body coordinate system is a special case of a real-time ship body coordinate system, namely the real-time ship body coordinate system when the height of the central axis of the ship body is the same as the elevation of the top of a designed pile and the ship body is in a horizontal state. Through continuous ship position adjustment and star station differential positioning, the positioning precision reaches the expected requirement, and the real-time pile position is matched with the expected pile position.
By combining the satellite station difference realization through the GNSS receiver and the pile body positioning realization through the public laser range finder, compared with the traditional RTK-GPS technology, the satellite station difference positioning of the GNSS receiver without the base station gets rid of the constraint of the base station, and the single machine can complete the work of the traditional RTK without being limited by the distance, thereby greatly reducing the field labor intensity of measuring personnel. The system has high positioning precision and high observation speed, does not need to be corrected at a known point every day, and can meet the positioning requirement of deep and far sea pile sinking operation.
As shown in fig. 4, in an embodiment of the present invention, the pile sinking positioning system suitable for deep and offshore operations further includes:
a satellite transceiver 7 connected with the upper computer;
an onshore server in communication with said satellite transceiver 7.
Here, the upper computer may transmit the work process data to the onshore server through the remote data transmission system via the satellite transceiver.
In an embodiment of the pile sinking positioning system applicable to deep and remote sea area operation of the present invention, the display is a red point and pile position display.
As shown in fig. 1, in an embodiment of the present invention, in which a pile sinking positioning system is adapted for deep and offshore operations, the number of GNSS receivers 1(GPS receivers) is 3, and the installation positions of the 3 GNSS receivers form a triangle.
Here, the system uses a total of 3 GPS receivers. And the GPS receiver is arranged on a roof, a port and starboard deck or a landing leg platform of a master control room of the pile driving barge. On the driving roof, the GPS is installed on the edge of the roof along the transverse axis of the ship so that the distance and the height meet the requirements. The two GPS devices at the back are arranged on the port and starboard deck or the landing leg platform, and a stable steel pipe frame is customized and welded on the deck to reinforce and ensure the stability of the steel pipe frame. The positions of the 3 GPS form a stable triangle so that the relative relationship can be used to measure fore, aft, left and right movement of the vessel as shown in figure 1.
As shown in fig. 2 and fig. 3, in an embodiment of the pile sinking positioning system suitable for deep and offshore operations according to the present invention, the number of the laser distance measuring devices 2 is 4, the 4 laser distance measuring devices 2 are installed on an upper layer and a lower layer and symmetrically placed, and 2 laser distance measuring devices are installed on each layer.
Here, the pile body range finding scheme adopts 4 laser range finders to carry out the pile body location, two-layer installation about, the symmetry is put, as shown in fig. 2 and fig. 3, the upper strata is 2 laser range finders 1#, 4#, the lower floor is 2 laser range finders 2#, 3#, can realize double-deck distancer redundancy complementation, the loss that the equipment damaged and brought under the abominable condition of reduction that can be very big, including because of the shutdown loss that the equipment failure caused, utilize satellite communication or public network data remote real-time transmission function. The height difference of the two layers of laser range finders is more than 1.2 meters.
For details of embodiments of each device and storage medium of the present invention, reference may be made to corresponding parts of each method embodiment, and details are not described herein again.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present application without departing from the spirit and scope of the application. Thus, if such modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is intended to include such modifications and variations as well.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned. Furthermore, it is obvious that the word "comprising" does not exclude other elements or steps, and the singular does not exclude the plural. A plurality of units or means recited in the apparatus claims may also be implemented by one unit or means in software or hardware. The terms first, second, etc. are used to denote names, but not any particular order.
Claims (10)
1. A pile sinking positioning system suitable for operation in deep and remote sea areas, wherein the system comprises: a GNSS receiver, a laser range finder, a double-shaft tilt angle sensor, a display and an upper computer which are arranged on the piling ship, wherein,
and the upper computer is respectively connected with the GNSS receiver, the laser range finder, the double-shaft tilt sensor and the display.
2. The system of claim 1, further comprising:
the satellite transceiver is connected with the upper computer;
an onshore server in communication with the satellite transceiver.
3. The system of claim 1, wherein the number of GNSS receivers is 3.
4. The system of claim 3, wherein the installation locations of the 3 GNSS receivers form a triangle.
5. The system of claim 1, wherein the GNSS receiver is mounted on a roof, port and starboard deck, or leg platform of a pile driving vessel main control room.
6. The system of claim 1, wherein the number of laser range finders is 4.
7. The system of claim 6, wherein 4 laser rangefinders are mounted and symmetrically placed on top and bottom floors, with 2 laser rangefinders mounted on each floor.
8. The system of claim 1, wherein the difference in height of the two layers of laser rangefinders is 1.2 meters or more.
9. The system of claim 1, wherein the host computer is mounted on a cockpit console.
10. The system of claim 1, wherein the display is a red dot and stake point display.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110357431.3A CN113093247A (en) | 2021-04-01 | 2021-04-01 | Pile sinking positioning system suitable for operation in deep and distant sea areas |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110357431.3A CN113093247A (en) | 2021-04-01 | 2021-04-01 | Pile sinking positioning system suitable for operation in deep and distant sea areas |
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| CN113093247A true CN113093247A (en) | 2021-07-09 |
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| CN202110357431.3A Pending CN113093247A (en) | 2021-04-01 | 2021-04-01 | Pile sinking positioning system suitable for operation in deep and distant sea areas |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114110354A (en) * | 2022-01-24 | 2022-03-01 | 广东海洋大学 | Automatic lifting device of ship-assisted berthing laser range finder |
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| JPS63187174A (en) * | 1987-01-30 | 1988-08-02 | Japan Radio Co Ltd | Composite position measuring system |
| JP2004012258A (en) * | 2002-06-06 | 2004-01-15 | Hitachi Industrial Equipment Systems Co Ltd | Remote positioning system, remote positioning method, and computer software |
| CN201780370U (en) * | 2010-07-08 | 2011-03-30 | 红阳建设集团有限公司 | Coastal engineering ship positioning device |
| CN208668410U (en) * | 2018-08-01 | 2019-03-29 | 浙江省交通规划设计研究院有限公司 | A kind of marine engineering Beidou is driven piles device systems at a distance |
| CN110158634A (en) * | 2019-05-14 | 2019-08-23 | 中交第一航务工程局有限公司 | Construction system and construction method for offshore wind farm steel-pipe pile band hammer staking out pile sinking |
| CN209923999U (en) * | 2019-03-26 | 2020-01-10 | 中交上海三航科学研究院有限公司 | System for single-pipe pile axis perpendicularity real-time monitoring |
| CN215340341U (en) * | 2021-04-01 | 2021-12-28 | 中交上海港湾工程设计研究院有限公司 | Pile sinking positioning system suitable for operation in deep and distant sea areas |
-
2021
- 2021-04-01 CN CN202110357431.3A patent/CN113093247A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS63187174A (en) * | 1987-01-30 | 1988-08-02 | Japan Radio Co Ltd | Composite position measuring system |
| JP2004012258A (en) * | 2002-06-06 | 2004-01-15 | Hitachi Industrial Equipment Systems Co Ltd | Remote positioning system, remote positioning method, and computer software |
| CN201780370U (en) * | 2010-07-08 | 2011-03-30 | 红阳建设集团有限公司 | Coastal engineering ship positioning device |
| CN208668410U (en) * | 2018-08-01 | 2019-03-29 | 浙江省交通规划设计研究院有限公司 | A kind of marine engineering Beidou is driven piles device systems at a distance |
| CN209923999U (en) * | 2019-03-26 | 2020-01-10 | 中交上海三航科学研究院有限公司 | System for single-pipe pile axis perpendicularity real-time monitoring |
| CN110158634A (en) * | 2019-05-14 | 2019-08-23 | 中交第一航务工程局有限公司 | Construction system and construction method for offshore wind farm steel-pipe pile band hammer staking out pile sinking |
| CN215340341U (en) * | 2021-04-01 | 2021-12-28 | 中交上海港湾工程设计研究院有限公司 | Pile sinking positioning system suitable for operation in deep and distant sea areas |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114110354A (en) * | 2022-01-24 | 2022-03-01 | 广东海洋大学 | Automatic lifting device of ship-assisted berthing laser range finder |
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