CN117805869B - Marine steel pipe pile measuring and positioning method based on multi-ship joint measurement - Google Patents
Marine steel pipe pile measuring and positioning method based on multi-ship joint measurement Download PDFInfo
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- CN117805869B CN117805869B CN202410216830.1A CN202410216830A CN117805869B CN 117805869 B CN117805869 B CN 117805869B CN 202410216830 A CN202410216830 A CN 202410216830A CN 117805869 B CN117805869 B CN 117805869B
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- 229910000831 Steel Inorganic materials 0.000 title claims abstract description 228
- 239000010959 steel Substances 0.000 title claims abstract description 228
- 238000005259 measurement Methods 0.000 title claims abstract description 66
- 238000000034 method Methods 0.000 title claims abstract description 35
- 238000012544 monitoring process Methods 0.000 claims abstract description 36
- 238000010276 construction Methods 0.000 claims abstract description 29
- 238000012545 processing Methods 0.000 claims abstract description 21
- 238000013461 design Methods 0.000 claims description 17
- 239000007788 liquid Substances 0.000 claims description 17
- 230000008569 process Effects 0.000 claims description 11
- 238000004364 calculation method Methods 0.000 claims description 8
- 241000196324 Embryophyta Species 0.000 claims description 6
- 238000004873 anchoring Methods 0.000 claims description 6
- 238000012937 correction Methods 0.000 claims description 6
- 238000013178 mathematical model Methods 0.000 claims description 6
- 238000009826 distribution Methods 0.000 claims description 5
- 238000012806 monitoring device Methods 0.000 claims description 4
- 241001530613 Horminum pyrenaicum Species 0.000 claims description 3
- 230000005856 abnormality Effects 0.000 claims description 3
- 230000009471 action Effects 0.000 claims description 3
- 230000008859 change Effects 0.000 claims description 3
- 230000005484 gravity Effects 0.000 claims description 3
- 238000004519 manufacturing process Methods 0.000 claims description 3
- 230000036544 posture Effects 0.000 claims description 3
- 238000003825 pressing Methods 0.000 claims description 3
- 238000005096 rolling process Methods 0.000 claims description 3
- 238000003780 insertion Methods 0.000 claims description 2
- 230000037431 insertion Effects 0.000 claims description 2
- 238000012552 review Methods 0.000 claims 1
- 238000012360 testing method Methods 0.000 claims 1
- 230000008901 benefit Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 241000239290 Araneae Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 108010066114 cabin-2 Proteins 0.000 description 1
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- 238000011161 development Methods 0.000 description 1
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Classifications
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02D—FOUNDATIONS; EXCAVATIONS; EMBANKMENTS; UNDERGROUND OR UNDERWATER STRUCTURES
- E02D33/00—Testing foundations or foundation structures
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02D—FOUNDATIONS; EXCAVATIONS; EMBANKMENTS; UNDERGROUND OR UNDERWATER STRUCTURES
- E02D15/00—Handling building or like materials for hydraulic engineering or foundations
- E02D15/08—Sinking workpieces into water or soil inasmuch as not provided for elsewhere
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02D—FOUNDATIONS; EXCAVATIONS; EMBANKMENTS; UNDERGROUND OR UNDERWATER STRUCTURES
- E02D7/00—Methods or apparatus for placing sheet pile bulkheads, piles, mouldpipes, or other moulds
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C5/00—Measuring height; Measuring distances transverse to line of sight; Levelling between separated points; Surveyors' levels
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C9/00—Measuring inclination, e.g. by clinometers, by levels
-
- 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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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Physics & Mathematics (AREA)
- Structural Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Mining & Mineral Resources (AREA)
- Paleontology (AREA)
- Civil Engineering (AREA)
- Computer Networks & Wireless Communication (AREA)
- Placing Or Removing Of Piles Or Sheet Piles, Or Accessories Thereof (AREA)
Abstract
The invention relates to a marine steel pipe pile measuring and positioning method based on multi-ship joint measurement, which specifically comprises the following steps: rechecking the control point and establishing a measurement control network; processing and transporting the steel pipe pile; positioning measurement monitoring equipment is arranged on a piling ship and comprises three GPS-RTK receivers, two range finders, four groups of liquidometers and a 360-degree reflecting prism device; lifting the steel pipe pile by using a piling ship, performing rough positioning on the steel pipe pile, and then inserting the pile; the positioning, measuring and monitoring equipment is arranged on the positioning barge and comprises two GPS-RTK receivers, two laser scanners, two inclinometers, three automatic tracking total stations and a computer processing system; and (3) positioning the positioning barge in place, rechecking the plane position, the elevation and the slope of the steel pipe pile by using positioning barge positioning measurement monitoring equipment, and performing steel pipe pile inserting and driving construction after rechecking without errors. According to the invention, the positioning accuracy of the marine steel pipe pile measurement is improved by using a mode of mutually rechecking the positioning barge and the positioning measurement monitoring equipment of the piling ship.
Description
Technical Field
The invention relates to the technical field of steel pipe pile construction, in particular to a marine steel pipe pile measuring and positioning method based on multi-ship joint measurement.
Background
Along with the high-speed development of the economy in China, in order to meet the requirements of offshore construction, china is continuously innovated and broken through in the aspects of construction of large-scale cross-sea bridges, deepwater wharfs and shore protection projects, the offshore construction technology is continuously developed, and water traffic construction is increasingly emphasized.
However, the problem of accurate positioning at sea is a permanent problem in offshore construction, and single GPS (global positioning system) measurement positioning cannot meet the requirement of measurement accuracy due to bump, sink and float at sea. In the prior art, the pile driving ship is provided with positioning equipment, so that the construction precision of the pile driving ship is higher under the normal construction condition, and the construction requirement can be met; and in special situations, such as deeper water depth and larger sea wave, the construction precision of the piling ship is difficult to meet the construction requirement.
Disclosure of Invention
The invention aims to solve the defects of the prior art and provides a marine steel pipe pile measuring and positioning method based on multi-ship joint measurement.
The invention adopts the following technical scheme to realize the aim:
a marine steel pipe pile measuring and positioning method based on multi-ship joint measurement specifically comprises the following steps:
s1, before construction measurement is carried out, checking and encrypting coordinate points and elevation control points, establishing a measurement control network of a measurement area, and checking the control points regularly;
s2, manufacturing a steel pipe pile in a processing plant, transporting the steel pipe pile from the processing plant to a designated position of a construction site by using a barge according to a designated route, and lowering an anchor position as required;
S3, installing measurement monitoring equipment on the pile driving ship, towing the pile driving ship to a designated position, performing coarse positioning by using the measurement monitoring equipment carried on the pile driving ship, and then anchoring and positioning;
the measuring and monitoring equipment on the piling ship comprises three GPS-RTK (real-time dynamic measurement technology) receivers, two distance meters, four groups of liquidometers and a 360-degree reflecting prism combination device;
S4, piling a ship hanging pile and standing a pile, opening a pile gripper to enable the steel pipe pile to enter the dragon mouth, closing the pile gripper, locking the steel pipe pile, and then sleeving and driving;
S5, installing measurement monitoring equipment on the positioning barge, guiding the positioning barge to be in place, and anchoring the positioning barge to reside;
The measuring and monitoring equipment on the positioning barge comprises two GPS-RTK receivers, two laser scanners, two inclinometers, three automatic tracking total stations and a computer processing system, and the four groups of liquid level meters and 360-degree reflecting prism combination devices arranged on the rigid vibrating beams of the vibration and sinking system of the piling ship form a set of measuring and monitoring system for positioning the positioning barge and monitoring and measuring the plane position, elevation and slope of the steel pipe pile;
S6, determining the slope of the steel pipe pile by analyzing the observation data of each group of liquid level meters and the 360-degree reflecting prism combination device, and adjusting the steel pipe pile to a designed slope; determining the plane position coordinates of the center of the steel pipe pile at the pile gripper by using three GPS-RTK receivers and two distance meters on the pile driving vessel, and comparing the plane position coordinates with the design coordinates of the center plane position of the steel pipe pile at the design elevation;
The GPS-RTK receiver is used for determining the position of the piling ship, the absolute position of the distance meter is obtained by measuring the coordinate position of the distance meter on the ship body relative to the GPS-RTK receiver, the distance between the pile body of the steel pipe pile and the pile frame of the piling ship is measured by using the GPS-RTK receiver and the distance meter, and therefore the actual position of the pile body at the designed elevation can be calculated;
For a vertical steel pipe pile, the plane position of the center of the steel pipe pile at the pile gripper is consistent with the plane position of the center of the steel pipe pile at the designed elevation; for the steel pipe pile with a certain slope, the plane position of the center of the steel pipe pile at the pile gripper is consistent with the plane position coordinate of the center of the steel pipe pile at the designed elevation by considering the height difference between the center of the steel pipe pile at the pile gripper and the center of the steel pipe pile at the designed elevation and the plane position coordinate of the center of the steel pipe pile obtained after the slope calculation; comparing the design coordinates with the design coordinates, moving the piling ship by the elastic anchor cable, and adjusting the plane position of the steel pipe pile until the position deviation of the steel pipe pile meets the requirements;
S7, slowly lowering the main sling after the plane position and slope of the steel pipe pile meet the requirements, enabling the steel pipe pile to be automatically inserted under the action of gravity, and gradually releasing the auxiliary sling from the shackle in the pile insertion process;
S8, rechecking the plane position and pile body slope at the designed elevation of the steel pipe pile by using positioning connection measurement monitoring equipment in the pile inserting process and after pile inserting, and after confirming that the pile is correct, pile pressing and pile stabilizing are carried out, and the pile driving ship carries out pile inserting construction on the steel pipe pile;
For a vertical steel pipe pile, the central plane positions of the two steel pipe piles measured by the two laser scanners are consistent with the plane position of the center of the steel pipe pile at the designed elevation; for a steel pipe pile with a certain slope, firstly, calculating to obtain the slope of the steel pipe pile by utilizing the position data of the central planes of the two steel pipe piles measured by the two laser scanners and the height difference of the two laser scanners, then, calculating the actual position of the steel pipe pile at the designed elevation by utilizing the position of the central plane of the steel pipe pile measured by one laser scanner, the calculated pile body slope and the height difference of the laser scanners and the designed elevation of the steel pipe pile, and finally, comparing the calculated actual position coordinates of the steel pipe pile at the designed elevation with the designed coordinates of the central plane of the steel pipe pile at the designed elevation;
S9, continuously monitoring the plane position, elevation and pile body slope of the steel pipe pile by the positioning barge in the process of inserting and driving the steel pipe pile;
S10, after the steel pipe pile inserting and driving construction is completed, rechecking the plane position, the elevation and the pile body slope of the steel pipe pile by using the positioning barge, stopping hammering after rechecking, lifting to drive instead, and moving the piling ship to repeat the steps to carry out pile sinking construction of the next pile.
In step S3, the distribution of measurement monitoring devices on the pile ship is as follows:
the two distance meters are arranged on one side close to the steel pipe pile and are symmetrically arranged along the longitudinal axis of the piling ship; two GPS-RTK receivers are symmetrically arranged along the longitudinal axis of the piling ship, the other GPS-RTK receiver is positioned at one side of the longitudinal axis of the piling ship, and three GPS-RTK receivers form a triangle; the four groups of liquid level meters and the 360-degree reflecting prism combination device are arranged on the orthogonal axes of the rigid vibration beams of the vibration and sinking system of the piling ship and are symmetrically divided into two pairs.
In step S5, the distribution of the measurement monitoring devices on the positioning barge is as follows:
Three automatic tracking total stations are equidistantly distributed on one side, close to the steel pipe pile, of the upper surface of the positioning barge; two GPS-RTK receivers are distributed on one side of the upper surface of the positioning barge, which is far away from the steel pipe pile; the connecting lines of the three automatic tracking total stations, the connecting lines of the two GPS-RTK receivers and the longitudinal axis of the positioning barge are all arranged in parallel; a bracket is fixed on the side surface of the positioning barge, which is close to the steel pipe pile, and two laser scanners are fixed on the side of the bracket, which faces the steel pipe pile, up and down; one side of the bracket, which is away from the steel pipe pile, is provided with a supporting plate above the middle automatic tracking total station, wherein one inclinometer is arranged on the supporting plate, and the other inclinometer is arranged between two GPS-RTK receivers; the computer processing system is disposed at an intermediate location on the upper surface of the positioning barge.
In step S5, two GPS-RTK receivers on the positioning barge receive the reference station differential signals, real-time three-dimensional data are obtained, accurate positioning precision information is rapidly provided, the positioning precision information is used for determining the positions of a piling ship and the positioning barge, and the absolute position of the measuring equipment is determined by setting a ship body coordinate system of the measuring and monitoring equipment.
In the step S5, two laser scanners on the positioning barge intensively collect position coordinates of measuring points by scanning the surface of the steel pipe pile, and establish ellipsoid mathematical model calculation, and fitting the intensive measuring point data by adopting a least square method to calculate the central position of the steel pipe pile; and meanwhile, the upper laser scanner and the lower laser scanner determine the central position of the steel pipe pile at the upper measuring point and the lower measuring point, so that the slope of the steel pipe pile is obtained.
In step S5, the two inclinometers on the positioning barge correct the postures of the positioning barge and the laser scanners under the influence of wind and waves of the ship body by outputting the heading, rolling and pitching of the positioning barge, and the relative position relation of the upper laser scanner and the lower laser scanner is calculated by position correction and elevation correction; the two inclinometers can also be mutually calibrated, and the deformation of the bracket and the abnormality of the inclinometers are monitored; the axial direction of the two inclinometers is aligned with the axial direction of the ship body coordinate system, the angle change quantity of the whole positioning system in the direction of the ship body coordinate system can be accurately measured, axial marks are needed to be made on the ship during calibration, and the axes are needed to be aligned when the inclinometers are installed.
In step S5, the three automatic tracking total stations on the positioning barge measure the angle, distance and height measurement of the steel pipe pile in real time by measuring the liquid level meter and the 360 ° reflecting prism combination device mounted on the rigid vibration beam, and transmit the data to the computer processing system in real time, so as to calculate the slope of the steel pipe pile, and check the slope of the steel pipe pile calculated by the laser scanner.
One side of the positioning barge is provided with a positioning guide frame corresponding to the steel pipe pile, and one side of the positioning guide frame facing the steel pipe pile is provided with an arc-shaped guide groove.
In the step S8, the plane position of the steel pipe pile is measured by adopting a laser scanner on a positioning barge, the laser scanner intensively collects position coordinates of measuring points by scanning the surface of the steel pipe pile, an ellipsoid mathematical model is built for calculation, and the central position of the steel pipe pile is calculated by fitting the intensive measuring point data by adopting a least square method; calculating the position deviation of the central plane of the steel pipe pile at the upper and lower measuring points according to the central coordinates of the steel pipe pile measured by the upper and lower laser scanners, and further calculating the slope of the steel pipe pile; when the steel pipe pile is vibrated and sunk to be lower than the elevation of the laser scanner, two automatic tracking total stations are adopted to measure four groups of liquid level meters and 360-degree reflecting prism combination devices, real-time angle measurement, ranging and height measurement are carried out on the steel pipe pile, data are transmitted to a computer processing system in real time, and the slope is calculated.
In the step S9, before the steel pipe pile inserting and driving construction is carried out, the design elevation of the liquid level meter and the 360-degree reflecting prism combination device is calculated in advance according to the data of the design elevation of the pile top of the steel pipe pile, the alternate driving height and the height of the rigid vibrating beam; and in the process of inserting and driving the steel pipe pile, the automatic tracking total station on the positioning barge is used for measuring the elevation data of the steel pipe pile at any time.
The beneficial effects of the invention are as follows: the invention improves the measurement positioning precision of the steel pipe pile in the sea by using the mode of mutual rechecking of the positioning barge and the measurement monitoring equipment on the piling ship, and has the advantage of quick and reliable positioning.
Drawings
FIG. 1 is a schematic plan view of a steel pipe pile measurement positioning by multi-ship joint measurement in the invention;
FIG. 2 is an elevation of a pile driving vessel according to the present invention;
FIG. 3 is a diagram of a survey monitoring apparatus on a pile driving vessel in accordance with the present invention;
FIG. 4 is an elevation view of a locating spider according to the present invention;
FIG. 5 is a diagram of the distribution of measurement monitoring equipment on a locating barge according to the present invention;
FIG. 6 is a schematic diagram of laser scanner data acquisition and fitting;
in the figure: 1-piling ship; 2-a control room; a 3-GPS-RTK receiver; 4-range finder; 5-pile frame; 6-a liquid level meter and 360-degree reflecting prism combination device; 7-steel pipe piles; 8-a rigid vibration beam; 9-positioning the barge; 10-automatically tracking a total station; 11-inclinometer; 12-a laser scanner; 13-a computer processing system; 14-positioning a guide frame; 15-a bracket; 16-a support plate;
The embodiments of the present invention will be described in detail below with reference to the accompanying drawings.
Detailed Description
The principles and features of the present invention are described below with reference to the drawings, the illustrated embodiments are provided for illustration only and are not intended to limit the scope of the present invention. The invention is more particularly described by way of example in the following paragraphs with reference to the drawings. The advantages and features of the present invention will become more apparent from the following description. It should be noted that the drawings are in a very simplified form and are all to a non-precise scale, merely for convenience and clarity in aiding in the description of embodiments of the invention.
It will be understood that when an element is referred to as being "fixed to" another element, it can be directly on the other element or intervening elements may also be present. When a component is considered to be "connected" to another component, it can be directly connected to the other component or intervening components may also be present. When an element is referred to as being "disposed on" another element, it can be directly on the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and the like are used herein for illustrative purposes only.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and/or" as used herein includes any and all combinations of one or more of the associated listed items.
The invention is further illustrated by the following examples in conjunction with the accompanying drawings:
the marine steel pipe pile measuring and positioning method based on multi-ship joint measurement specifically comprises the following steps as shown in fig. 1 to 6:
s1, before construction measurement is carried out, checking and encrypting coordinate points and elevation control points, establishing a measurement control network of a measurement area, and checking the control points regularly;
s2, manufacturing the steel pipe pile 7 in a processing plant, transporting the steel pipe pile 7 from the processing plant to a designated position of a construction site by using a barge according to a designated route, and lowering an anchor position as required;
s3, installing measurement monitoring equipment on the piling ship 1, towing the piling ship 1 to a designated position, performing coarse positioning by using the measurement monitoring equipment carried on the piling ship 1, and then anchoring and positioning;
The measuring and monitoring equipment on the piling ship 1 comprises three GPS-RTK receivers 3, two distance meters 4, four groups of liquidometers and a 360-degree reflecting prism combination device 6;
the piling ship 1 is provided with a control cabin 2 and a pile frame 5;
The two distance meters 4 are arranged on one side close to the steel pipe pile 7 and are symmetrically arranged along the longitudinal axis of the piling ship 1; two GPS-RTK receivers 3 are symmetrically arranged along the longitudinal axis of the piling ship 1, the other GPS-RTK receiver 3 is positioned on one side of the longitudinal axis of the piling ship 1, and three GPS-RTK receivers 3 form a triangle; the four groups of liquid level meters and 360-degree reflecting prism combination devices 6 are arranged on the orthogonal axes of the rigid vibration beams 8 of the vibration sinking system of the piling ship 1 and are symmetrically divided into two pairs;
S4, pile hanging and pile standing of the piling ship 1, opening a pile gripper to enable the steel pipe pile 7 to enter the dragon mouth, folding the pile gripper, locking the steel pipe pile 7, and then sleeving and driving;
s5, installing measurement monitoring equipment on the positioning barge 9, guiding the positioning barge 9 to be in place, and anchoring the positioning barge to reside;
The measuring and monitoring equipment on the positioning barge 9 comprises two GPS-RTK receivers 3, two laser scanners 12, two inclinometers 11, three automatic tracking total stations 10 and a computer processing system 13, and the four sets of liquid level meters and 360-degree reflecting prism combination devices 6 arranged on the rigid vibration beams 8 of the vibration and sinking system of the piling ship 1 and the measuring and monitoring equipment on the positioning barge 9 are used for positioning the positioning barge 9 and monitoring and measuring the plane position, elevation and slope of the steel pipe pile 7;
A positioning guide frame 14 is arranged on one side of the positioning barge 9 corresponding to the steel pipe pile 7, and an arc-shaped guide groove is arranged on one side of the positioning guide frame 14 facing the steel pipe pile 7;
Three automatic tracking total stations 10 are equidistantly distributed on one side, close to the steel pipe pile 7, of the upper surface of the positioning barge 9; two GPS-RTK receivers 3 are distributed on one side of the upper surface of the positioning barge 9, which is far away from the steel pipe pile 7; the connecting lines of the three automatic tracking total stations 10, the connecting lines of the two GPS-RTK receivers 3 and the longitudinal axis of the positioning barge 9 are all arranged in parallel; a bracket 15 is fixed on the side surface of the positioning barge 9, which is close to the steel pipe pile 7, and two laser scanners 12 are fixed on the side of the bracket 15, which faces the steel pipe pile 7, up and down; a support plate 16 is arranged above the automatic tracking total station 10 in the middle on one side of the support 15 facing away from the steel pipe pile 7, one inclinometer 11 is arranged on the support plate 16, and the other inclinometer 11 is arranged between the two GPS-RTK receivers 3; the computer processing system 13 is arranged at the middle position of the upper surface of the positioning barge 9;
Two GPS-RTK receivers 3 on the positioning barge 9 receive the reference station differential signals, acquire real-time three-dimensional data, quickly provide accurate positioning precision information, are used for determining the positions of the piling ship 1 and the positioning barge 9, and determine the absolute position of the measuring equipment by setting a ship body coordinate system of the measuring and monitoring equipment;
two laser scanners 12 on the positioning barge 9 intensively collect measuring point position coordinates by scanning the surface of the steel pipe pile 7, establish ellipsoid mathematical model calculation, fit the intensive measuring point data by adopting a least square method, and calculate the central position of the steel pipe pile 7; simultaneously, the upper laser scanner 12 and the lower laser scanner determine the central position of the steel pipe pile 7 at the upper measuring point and the lower measuring point so as to obtain the slope of the steel pipe pile 7;
The two inclinometers 11 on the positioning barge 9 correct the postures of the positioning barge 9 and the laser scanners 12 under the influence of wind and waves of a ship body by outputting the heading, rolling and pitching of the positioning barge 9, and the relative position relation of the upper laser scanner 12 and the lower laser scanner 12 is calculated by position correction and elevation correction; the two inclinometers 11 can also mutually check, and monitor the deformation of the bracket 15 and the abnormality of the inclinometers 11; the axial direction of the two inclinometers 11 is aligned with the axial direction of the ship body coordinate system, so that the angle change quantity of the whole positioning system in the direction of the ship body coordinate system can be accurately measured, axial marks are needed to be made on the ship during calibration, and the axes are needed to be aligned when the inclinometers 11 are installed;
Three automatic tracking total stations 10 on the positioning barge 9 measure a liquid level meter and a 360-degree reflecting prism combination device 6 which are arranged on a rigid vibration beam 8, measure angles, ranges and heights of the steel pipe piles 7 in real time, transmit the data to a computer processing system 13 in real time, calculate the slope of the steel pipe piles 7, and check the slope of the steel pipe piles 7 calculated by a laser scanner 12;
S6, determining the slope of the steel pipe pile 7 by analyzing the observation data of each group of liquidometers and 360-degree reflecting prism combination devices 6, and adjusting the steel pipe pile 7 to a designed slope; determining the plane position coordinates of the center of the steel pipe pile 7 at the pile gripper by using three GPS-RTK receivers 3 and two distance meters 4 on the piling ship 1, and comparing the plane position coordinates with the design coordinates of the center plane position of the steel pipe pile 7 at the design elevation;
The GPS-RTK receiver 3 is used for determining the position of the piling ship 1, the absolute position of the distance meter 4 is obtained by measuring the coordinate position of the distance meter 4 on the ship body relative to the GPS-RTK receiver 3, the distance between the pile body of the steel pipe pile 7 and the pile frame of the piling ship 1 at the pile frame elevation of the piling ship 1 is measured by using the GPS-RTK receiver 3 and the distance meter 4, and therefore the actual position of the pile body at the designed elevation can be calculated;
For the vertical steel pipe pile 7, the plane position of the center of the steel pipe pile 7 at the pile gripper is consistent with the plane position of the center of the steel pipe pile 7 at the designed elevation; for the steel pipe pile 7 with a certain slope, the plane position of the center of the steel pipe pile 7 at the pile gripper is consistent with the plane position coordinate of the center of the steel pipe pile 7 at the designed elevation by considering the height difference between the center of the steel pipe pile 7 at the pile gripper and the center of the steel pipe pile 7 at the designed elevation and the plane position coordinate of the center of the steel pipe pile 7 obtained after the slope calculation; comparing the design coordinates with the design coordinates, moving the piling ship 1 by the elastic anchor cable, and adjusting the plane position of the steel pipe pile 7 until the position deviation of the steel pipe pile 7 meets the requirements;
S7, slowly lowering the main sling after the plane position and slope of the steel pipe pile 7 meet the requirements, enabling the steel pipe pile 7 to automatically insert the pile under the action of gravity, and gradually releasing the auxiliary sling shackle in the pile inserting process;
s8, during and after pile inserting of the steel pipe pile 7, measuring the plane position and pile body slope of the designed elevation of the steel pipe pile 7 by using a positioning barge 9, and after confirming that the pile is correct, pile pressing and pile stabilization are carried out, and the pile driving ship 1 carries out pile inserting and driving construction of the steel pipe pile 7;
the plane position of the steel pipe pile 7 is measured by adopting a laser scanner 12 on a positioning barge 9, the laser scanner 12 intensively collects position coordinates of measuring points by scanning the surface of the steel pipe pile 7, an ellipsoid mathematical model is built for calculation, and the central position of the steel pipe pile 7 is calculated by fitting the intensive measuring point data by adopting a least square method; the slope of the pile body of the steel pipe pile 7 calculates the deviation of the central plane of the steel pipe pile 7 at the upper and lower measuring points according to the central coordinates of the steel pipe pile 7 measured by the upper and lower laser scanners 12, and further calculates the slope of the steel pipe pile 7; when the steel pipe pile 7 is vibrated and sunk to be lower than the elevation of the laser scanner 12, two automatic tracking total stations 10 are adopted to measure four groups of liquid level meters and 360-degree reflecting prism combination devices 6, real-time angle measurement, distance measurement and height measurement are carried out on the steel pipe pile 7, data are transmitted to a computer processing system 13 in real time, and the slope is calculated;
for the vertical steel pipe pile 7, the central plane positions of the two steel pipe piles 7 measured by the two laser scanners 12 are consistent with the plane position of the center of the steel pipe pile 7 at the designed elevation; for the steel pipe pile 7 with a certain slope, firstly, calculating to obtain the slope of the steel pipe pile 7 by utilizing the position data of the central planes of the two steel pipe piles 7 measured by the two laser scanners 12 and the height difference of the two laser scanners 12, then, calculating the actual position of the steel pipe pile 7 at the designed elevation by utilizing the position of the central plane of the steel pipe pile 7 measured by the one laser scanner 12, the calculated pile body slope and the height difference of the designed elevation of the laser scanners 12 and the steel pipe pile 7, and finally, comparing the calculated actual position coordinates of the steel pipe pile 7 at the designed elevation with the designed coordinates of the central plane of the steel pipe pile 7 at the designed elevation;
S9, in the process of inserting and driving the steel pipe pile 7, the positioning barge 9 continuously monitors the plane position, the elevation and the pile body slope of the steel pipe pile 7;
Before the steel pipe pile 7 is inserted and driven, the design elevation of the liquid level meter and the 360-degree reflecting prism combination device 6 is calculated in advance according to the data of the design elevation of the pile top of the steel pipe pile 7, the alternate driving height, the height of the rigid vibrating beam 8 and the like; in the process of inserting and driving the steel pipe pile 7, the automatic tracking total station 10 on the positioning barge 9 is used for measuring the elevation data of the steel pipe pile 7 at any time;
s10, after the steel pipe pile 7 is inserted and beaten, rechecking the plane position, the elevation and the pile body slope of the steel pipe pile 7 by using the positioning barge 9 again, stopping hammering after rechecking, hoisting to replace beaten, and moving the piling ship 1 to repeat the steps to carry out pile sinking construction of the next pile.
The invention improves the measurement positioning precision of the steel pipe pile 7 in the sea by using the mutual rechecking mode of the positioning barge 9 and the measurement monitoring equipment on the piling ship 1, and has the advantages of quick and reliable positioning; after equipment installation and calibration are completed, the whole measurement work has high automation degree, and the measurement monitoring stability and safety are good; the laser scanner 12, the automatic tracking total station 10 and other devices on the independent positioning barge 9 are adopted to measure and monitor various parameters of the steel pipe pile 7, so that the interference of a large-area water area or a construction main structure to the measurement process in the offshore construction process can be avoided, the measurement precision and the construction efficiency are improved, and the method has a good application prospect.
While the invention has been described above with reference to the accompanying drawings, it will be apparent that the invention is not limited to the above embodiments, but is intended to cover various modifications, either made by the method concepts and technical solutions of the invention, or applied directly to other applications without modification, within the scope of the invention.
Claims (9)
1. The marine steel pipe pile measuring and positioning method based on multi-ship joint measurement is characterized by comprising the following steps of:
s1, before construction measurement is carried out, checking and encrypting coordinate points and elevation control points, establishing a measurement control network of a measurement area, and checking the control points regularly;
S2, manufacturing a steel pipe pile (7) in a processing plant, transporting the steel pipe pile (7) from the processing plant to a designated position of a construction site by using a barge according to a designated route, and lowering an anchor position as required;
S3, installing measurement monitoring equipment on the piling ship (1), towing the piling ship (1) to a designated position, performing coarse positioning by using the measurement monitoring equipment carried on the piling ship (1), and then anchoring and positioning;
The measuring and monitoring equipment on the piling ship (1) comprises three GPS-RTK receivers (3), two distance meters (4), four groups of liquid level meters and a 360-degree reflecting prism combination device (6);
S4, pile hanging and pile standing are carried out by the pile driving ship (1), a pile gripper is opened to enable the steel pipe pile (7) to enter the dragon mouth, the pile gripper folds the pile gripper and locks the steel pipe pile (7), and then the pile gripper is sleeved for driving;
S5, installing measurement monitoring equipment on the positioning barge (9), guiding the positioning barge (9) to be in place, and anchoring the positioning barge to a position;
The measuring and monitoring equipment on the positioning barge (9) comprises two GPS-RTK receivers (3), two laser scanners (12), two inclinometers (11), three automatic tracking total stations (10) and a computer processing system (13), and the four groups of liquid level meters and 360-degree reflecting prism combination devices (6) arranged on the measuring and monitoring equipment on the positioning barge (9) and the rigid vibrating beams (8) of the vibrating and sinking system of the piling ship (1) form a set of measuring and monitoring system for positioning the positioning barge (9) and monitoring and measuring the plane position, elevation and slope of the steel pipe pile (7);
S6, determining the slope of the steel pipe pile (7) by analyzing the observation data of each group of liquidometers and the 360-degree reflecting prism combination device (6), and adjusting the steel pipe pile (7) to a design slope; determining the plane position coordinates of the center of the steel pipe pile (7) at the pile gripper by using three GPS-RTK receivers (3) and two distance meters (4) on the piling ship (1), and comparing the plane position coordinates with the design coordinates of the center plane position of the steel pipe pile (7) at the design elevation;
the GPS-RTK receiver (3) is used for determining the position of the piling ship (1), the absolute position of the distance meter (4) is obtained by measuring the coordinate position of the distance meter (4) on the ship body relative to the GPS-RTK receiver (3), the distance between the pile body of the steel pipe pile (7) and the pile frame of the piling ship (1) at the pile frame elevation of the piling ship (1) is measured by using the GPS-RTK receiver (3) and the distance meter (4), and therefore the actual position of the pile body at the designed elevation can be calculated;
for the vertical steel pipe pile (7), the plane position of the center of the steel pipe pile (7) at the pile gripper is consistent with the plane position of the center of the steel pipe pile (7) at the designed elevation; for the steel pipe pile (7) with a certain slope, the plane position of the center of the steel pipe pile (7) at the pile gripper is consistent with the plane position coordinate of the center of the steel pipe pile (7) at the designed elevation by considering the height difference between the center of the steel pipe pile (7) at the pile gripper and the center of the steel pipe pile (7) at the designed elevation and the plane position coordinate of the center of the steel pipe pile (7) obtained after the slope is calculated; comparing the design coordinates with the design coordinates, and moving the piling ship (1) by loosening and tightening the anchor cable to adjust the plane position of the steel pipe pile (7) until the position deviation of the steel pipe pile (7) meets the requirements;
S7, slowly lowering the main sling after the plane position and slope of the steel pipe pile (7) meet the requirements, enabling the steel pipe pile (7) to automatically insert under the action of gravity, and gradually releasing the auxiliary sling from the shackle in the pile inserting process;
S8, during and after pile insertion of the steel pipe pile (7), measuring the plane position and pile body slope of the designed elevation of the steel pipe pile (7) by using a positioning barge (9), and after confirming that the pile is correct, pressing the pile to stabilize the pile, and performing inserting and driving construction of the steel pipe pile (7) by using a pile driving ship (1);
For the vertical steel pipe piles (7), the central plane positions of the two steel pipe piles (7) measured by the two laser scanners (12) are consistent with the plane positions of the centers of the steel pipe piles (7) at the designed elevation; for a steel pipe pile (7) with a certain slope, firstly, calculating the slope of the steel pipe pile (7) by using the central plane position data of the two steel pipe piles (7) measured by the two laser scanners (12) and the height difference of the two laser scanners (12), then, calculating the central plane position of the steel pipe pile (7) measured by one laser scanner (12), the calculated pile body slope and the actual position of the steel pipe pile (7) at the designed elevation of the laser scanner (12) and the designed elevation of the steel pipe pile (7), and finally, comparing the calculated actual position coordinates of the steel pipe pile (7) at the designed elevation with the designed coordinates of the central plane position of the steel pipe pile (7) at the designed elevation;
S9, in the inserting and driving process of the steel pipe pile (7), the positioning barge (9) continuously monitors the plane position, the elevation and the pile body slope of the steel pipe pile (7);
S10, after the steel pipe pile (7) is inserted and beaten, rechecking the plane position, the elevation and the pile body slope of the steel pipe pile (7) by using the positioning barge (9) again, stopping hammering after rechecking, hoisting to beat instead, and repeating the steps to perform pile sinking construction of the next pile by moving the piling ship (1).
2. The method for measuring and positioning marine steel pipe piles based on multi-ship joint testing according to claim 1, wherein in step S3, the distribution conditions of measuring and monitoring equipment on the piling ship (1) are as follows:
The two distance meters (4) are arranged on one side close to the steel pipe pile (7) and are symmetrically arranged along the longitudinal axis of the piling ship (1); wherein two GPS-RTK receivers (3) are symmetrically arranged along the longitudinal axis of the piling ship (1), the other GPS-RTK receiver (3) is positioned at one side of the longitudinal axis of the piling ship (1), and three GPS-RTK receivers (3) form a triangle; the four groups of liquid level meters and 360-degree reflecting prism combination devices (6) are arranged on the orthogonal axes of the rigid vibration beams (8) of the vibration sinking system of the piling ship (1) and are symmetrically divided into two pairs.
3. The method for measuring and positioning marine steel pipe piles based on multi-ship joint measurement according to claim 1, wherein in step S5, the distribution condition of the measurement monitoring devices on the positioning barge (9) is as follows:
Three automatic tracking total stations (10) are equidistantly distributed on one side, close to the steel pipe pile (7), of the upper surface of the positioning barge (9); two GPS-RTK receivers (3) are distributed on one side of the upper surface of the positioning barge (9) far away from the steel pipe pile (7); the connecting lines of the three automatic tracking total stations (10), the connecting lines of the two GPS-RTK receivers (3) and the longitudinal axis of the positioning barge (9) are all arranged in parallel; a bracket (15) is fixed on the side surface of the positioning barge (9) close to the steel pipe pile (7), and two laser scanners (12) are fixed on one side of the bracket (15) facing the steel pipe pile (7) up and down; a support plate (16) is arranged above the automatic tracking total station (10) in the middle at one side of the support (15) facing away from the steel pipe pile (7), one inclinometer (11) is arranged on the support plate (16), and the other inclinometer (11) is arranged between the two GPS-RTK receivers (3); the computer processing system (13) is arranged at an intermediate position of the upper surface of the positioning barge (9).
4. A method for measuring and positioning marine steel pipe piles based on multi-ship joint measurement according to claim 3, characterized in that in step S5, two GPS-RTK receivers (3) on a positioning barge (9) receive reference station differential signals to obtain real-time three-dimensional data, provide accurate positioning accuracy information quickly, be used for determining the positions of a piling ship (1) and the positioning barge (9), and determine the absolute position of a measuring device by setting a hull coordinate system of the measuring and monitoring device.
5. The method for measuring and positioning the offshore steel pipe pile based on the multi-ship joint measurement is characterized in that in the step S5, two laser scanners (12) on a positioning barge (9) intensively collect measuring point position coordinates by scanning the surface of the steel pipe pile (7), an ellipsoid mathematical model is built for calculation, and a least square method is adopted for fitting the intensive measuring point data to calculate the central position of the steel pipe pile (7); and meanwhile, the upper laser scanner (12) and the lower laser scanner determine the central position of the steel pipe pile (7) at the upper measuring point and the lower measuring point, so that the slope of the steel pipe pile (7) is obtained.
6. The method for measuring and positioning the offshore steel pipe pile based on the multi-ship joint measurement according to claim 5, wherein in the step S5, the two inclinometers (11) on the positioning barge (9) correct the postures of the positioning barge (9) and the laser scanners (12) under the influence of wind and waves of a ship body by outputting the heading, the rolling and the pitching of the positioning barge (9), and the positions of the positioning barge (9) and the laser scanners (12) comprise position correction and elevation correction, so that the relative position relation between the upper laser scanner and the lower laser scanners (12) is calculated; the two inclinometers (11) can also be mutually calibrated, and the deformation of the bracket (15) and the abnormality of the inclinometers (11) are monitored; the axial direction of the two inclinometers (11) is aligned with the axial direction of the ship body coordinate system, so that the angle change quantity of the whole positioning system in the direction of the ship body coordinate system can be accurately measured, axial marks are needed to be made on the ship during calibration, and the axes are needed to be aligned when the inclinometers (11) are installed.
7. The marine steel pipe pile measuring and positioning method based on multi-ship joint measurement according to claim 6, wherein in the step S5, three automatic tracking total stations (10) on the positioning barge (9) are used for measuring a liquid level meter and a 360-degree reflecting prism combination device (6) mounted on the rigid vibration beam (8), carrying out real-time angle measurement, ranging and height measurement on the steel pipe pile (7), transmitting data to a computer processing system (13) in real time, and further calculating the slope of the steel pipe pile (7) so as to review the slope of the steel pipe pile (7) calculated by the laser scanner (12).
8. The marine steel pipe pile measuring and positioning method based on multi-ship joint measurement according to claim 1, wherein a positioning guide frame (14) is arranged on one side of the positioning barge (9) corresponding to the steel pipe pile (7), and an arc-shaped guide groove is arranged on one side of the positioning guide frame (14) facing the steel pipe pile (7).
9. The method for measuring and positioning the offshore steel pipe pile based on the multi-ship joint measurement according to claim 1, wherein in the step S8, the plane position of the steel pipe pile (7) is measured by adopting a laser scanner (12) on a positioning barge (9), the laser scanner (12) scans the surface of the steel pipe pile (7), densely collects measuring point position coordinates, establishes an ellipsoidal mathematical model for calculation, fits the densely measured point data by adopting a least square method, and calculates the central position of the steel pipe pile (7); calculating the position deviation of the central plane of the steel pipe pile (7) at the upper and lower measuring points according to the central coordinates of the steel pipe pile (7) measured by the upper and lower laser scanners (12) so as to calculate the slope of the steel pipe pile (7); when the steel pipe pile (7) is vibrated and sunk to be lower than the elevation of the laser scanner (12), two automatic tracking total stations (10) are adopted to measure four groups of liquid level meters and 360-degree reflecting prism combination devices (6), the steel pipe pile (7) is subjected to real-time angle measurement, ranging and height measurement, data are transmitted to a computer processing system (13) in real time, and the slope is calculated.
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