CN-121979143-A - Active control type assembled mechanical open caisson construction visualization system and method

CN121979143ACN 121979143 ACN121979143 ACN 121979143ACN-121979143-A

Abstract

The invention relates to the technical field of open caisson construction, in particular to an active control type assembly type mechanical open caisson construction visualization system and method, comprising the following steps of acquiring construction data of open caisson construction equipment in real time; based on construction data of open caisson construction equipment obtained in real time, driving a corresponding robot three-dimensional model and the open caisson three-dimensional model to synchronously move and display, and in an intelligent control mode, connecting the robot three-dimensional model and the open caisson construction equipment in a communication mode, receiving operation instructions of a user and sending the received operation instructions to the open caisson construction equipment to be executed so as to realize intelligent control. According to the invention, by constructing the digital twin model, the visualization of the whole operation process of the underwater robot, the simulation of the whole process, the visualization of the open caisson posture and the construction information are realized, and the operators are helped to more accurately and efficiently finish the settlement construction work.

Inventors

GONG WEI
CHU DENGWANG
YANG ZHENLE
LI WEIHAO
YANG CHENPING
ZHANG YU
HU JINGKANG
WU WENFEI
QIN YUAN
SHEN HUI
CHEN DING
DUAN SONG
JIANG ZHIYANG
PAN WANGYANG

Assignees

上海隧道工程有限公司
上海城建隧道装备有限公司

Dates

Publication Date: 20260505
Application Date: 20260127

Claims (10)

1. An active control type assembly type mechanical open caisson construction visualization method is characterized by comprising the following steps: acquiring construction data of open caisson construction equipment in real time; Based on construction data of open caisson construction equipment obtained in real time, driving a corresponding robot three-dimensional model and the open caisson three-dimensional model to synchronously move and display; And in the intelligent control mode, the intelligent control system is in communication connection with the open caisson construction equipment, receives the operation instruction of a user and sends the received operation instruction to the open caisson construction equipment for execution so as to realize intelligent control.
2. The active control type assembly type mechanical open caisson construction visualization method according to claim 1, further comprising the steps of determining a working track of a robot winch suction head based on construction data of open caisson construction equipment obtained in real time; Displaying the determined working track of the robot twisted suction head on a transverse cross section of open caisson construction; and displaying the digging depth of the soil body corresponding to the bottom of the open caisson in a two-dimensional depth map mode.
3. The method for visualizing the construction of the actively controlled fabricated mechanized open caisson of claim 1, further comprising displaying a current operating state of the robotic winch head and a current position relative to the open caisson; and displaying the sedimentation conditions of the open caisson in all directions.
4. The active control type assembly type mechanical open caisson construction visualization method according to claim 1, further comprising: displaying the pressure of each grouting pump, the flow rate of the slurry pump, the grouting amount, the soil displacement and the soil settlement data; the operation information of each oil cylinder, the jacking force applied to the open caisson, the pressing depth of the open caisson, the ring number of the open caisson and the horizontal displacement of the open caisson are displayed.
5. The active control type assembly type mechanical open caisson construction visualization method according to claim 1, further comprising: Obtaining the excavation change of the terrain based on the construction data of the open caisson construction equipment obtained in real time; And updating the terrain three-dimensional model in real time according to the obtained excavation change of the terrain.
6. An active control type assembled mechanical open caisson construction visualization system, which is characterized by comprising: the data acquisition unit is used for acquiring construction data of open caisson construction equipment in real time; The digital twin engine is connected with the data acquisition unit and is used for forming a driving instruction according to construction data of the open caisson construction equipment acquired in real time so as to drive the corresponding robot three-dimensional model and the open caisson three-dimensional model to synchronously move and display the corresponding robot three-dimensional model and the open caisson three-dimensional model; And the data interaction unit is used for being in communication connection with the open caisson construction equipment in an intelligent control mode, receiving the operation instruction of a user and sending the received operation instruction to the open caisson construction equipment for execution so as to realize intelligent control.
7. The active control type assembly type mechanical open caisson construction visualization system according to claim 6, wherein the data interaction unit is further used for determining the working track of the robot twisting suction head based on construction data of open caisson construction equipment obtained in real time, displaying the determined working track of the robot twisting suction head on a transverse sectional view of open caisson construction, and displaying the excavation depth of soil corresponding to the bottom of the open caisson in a two-dimensional depth map mode.
8. The active control type assembly type mechanical open caisson construction visualization system according to claim 6, wherein the data interaction unit is further used for determining and displaying the current working state of the robot winch suction head and the current position relative to the open caisson, and the data interaction unit is further used for determining and displaying the settlement of the open caisson in all directions.
9. The active control type assembly type mechanical open caisson construction visualization system according to claim 6, wherein the data interaction unit is further used for determining and displaying pressure of each grouting pump, flow rate of a slurry pump, grouting amount, soil displacement, soil sedimentation data, operation information of each oil cylinder, jacking force applied to the open caisson, pressing depth of the open caisson, ring number of the open caisson and horizontal displacement of the open caisson based on construction data of open caisson construction equipment obtained in real time.
10. The actively controlled fabricated mechanized open caisson construction visualization system of claim 6, wherein the digital twin engine is further configured to obtain a change in excavation of the terrain based on construction data of the open caisson construction equipment obtained in real time, and update the terrain three-dimensional model in real time according to the obtained change in excavation of the terrain.

Description

Active control type assembled mechanical open caisson construction visualization system and method Technical Field The invention relates to the technical field of open caisson construction, in particular to an active control type assembly type mechanical open caisson construction visualization system and method. Background The active control type assembled mechanical (ACPP, active Control Press-in Prefabricated Shaft) open caisson construction equipment mainly comprises five systems, namely a propulsion suspension system, a soil taking system, a lubrication system, an assembling system and a control system. The equipment has the advantages of actively controlling sinking, innovatively combining mechanized sinking assisting, underwater fine excavation and side wall antifriction slurry sleeve technology, and introducing an active intelligent control concept, so that sinking speed and depth can be accurately controlled, and high-precision and micro-disturbance sinking is realized. The soil sampling system of the equipment mainly comprises auxiliary equipment such as an underwater robot and a corresponding sludge discharge pipeline which are arranged on the cross beam. The underwater robot performs underwater cutter suction soil taking in the open caisson, and then pumps mud to the ground through a mud pump and a reel type mud pipeline of the equipment. Because the working environment of the underwater robot is special, operators cannot directly observe the state of the underwater robot. If visual operation is adopted, after the robot is immersed in water, the operator loses operation feedback, and the posture and the surrounding environment of the robot cannot be confirmed. If only the monitoring camera is installed, the visual field of the operator is limited in the range of the camera, and the definition of the camera in the underwater environment is limited, so that the operator is difficult to intuitively perceive the motion gesture and the whole environment state of the robot, and the winch-sucking soil work is difficult to smoothly carry out. Disclosure of Invention The invention aims to overcome the defects of the prior art, provides an active control type assembly type mechanical open caisson construction visualization system and method, and solves the problems that an operator cannot intuitively sense the movement posture and the annular state of a robot due to limited feedback visual field only through a camera and limited definition after the existing robot is immersed in water, so that the winch suction work is difficult to be smoothly carried out. The technical scheme for achieving the purpose is as follows: the invention provides an active control type assembly type mechanical open caisson construction visualization method which is characterized by comprising the following steps of: acquiring construction data of open caisson construction equipment in real time; Based on construction data of open caisson construction equipment obtained in real time, driving a corresponding robot three-dimensional model and the open caisson three-dimensional model to synchronously move and display; And in the intelligent control mode, the intelligent control system is in communication connection with the open caisson construction equipment, receives the operation instruction of a user and sends the received operation instruction to the open caisson construction equipment for execution so as to realize intelligent control. The invention further improves the active control type assembly type mechanical open caisson construction visualization method, which is characterized by further comprising the step of determining the working track of a robot twisting suction head based on construction data of open caisson construction equipment obtained in real time; Displaying the determined working track of the robot twisted suction head on a transverse cross section of open caisson construction; and displaying the digging depth of the soil body corresponding to the bottom of the open caisson in a two-dimensional depth map mode. The invention further improves the active control type assembly type mechanical open caisson construction visualization method, which also comprises the steps of displaying the current working state of the robot twisted suction head and the current position relative to the open caisson; and displaying the sedimentation conditions of the open caisson in all directions. The invention further improves the visualized method for the construction of the active control type assembled mechanical open caisson, which comprises the following steps: displaying the pressure of each grouting pump, the flow rate of the slurry pump, the grouting amount, the soil displacement and the soil settlement data; the operation information of each oil cylinder, the jacking force applied to the open caisson, the pressing depth of the open caisson, the ring number of the open caisson and the horizontal displacement of the open ca