A hundred-meter deep water bridge gravel cushion laying and leveling device and construction method

Abstract

The application provides a hundred-meter deep water bridge gravel cushion laying and leveling device and a construction method. The cushion leveling device is of a frame type, adopts caterpillar walking and steering, and adopts a combined scraper type of spiral blades and comb tooth scrapers. The problem of large leveling resistance and large machine weight of the traditional single comb tooth scraper is solved. The underwater positioning technology is used for measurement and positioning, and a rigid measurement rod does not need to be extended out of the water surface, so that the leveling device can be applied to a hundred-meter deep water. The gravel cushion laying and leveling construction method overcomes the influence of waves on the leveling precision, improves the leveling precision, and is suitable for a hundred-meter deep water bridge cushion. A barge is used for support on the water, and a robot is used for laying and leveling under the water. The gravel cushion laying and leveling adopts a method of first pitching and then leveling, and a method of combining relative elevation and absolute elevation is used for leveling precision control, so that the leveling precision meets the requirements.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of underwater engineering, and in particular to a hundred-meter deep water bridge gravel cushion laying and flattening device and construction method. BACKGROUND

[0002] When installing the immersed tube and caisson structure in place, in order to avoid abnormal settlement and deflection of the immersed tube and caisson structure and ensure uniform stress on the bottom of the immersed tube and caisson structure, a gravel cushion layer with high flatness requirement needs to be laid on the bottom of the immersed tube and caisson structure. The gravel cushion layer plays a role of leveling, uniform force transmission, settlement suppression and shock isolation, and is of great significance to gravity structures and is an important control node for the installation of gravity structures.

[0003] Traditional laying and flattening equipment is suitable for limited water depth. For example, the platform type riprap flattening ship and its construction method of patent CN103924597A is generally suitable for water depth within 50m, and water depth exceeding this value will lead to excessively long pile legs and increased flexibility, resulting in reduced flattening accuracy; the underwater gravel base flattening machine of patent CN207260218U needs a rigid material supplement pipe extending out of the water surface, and is generally suitable for water depth within 10m; the underwater riprap base automatic flattening system based on the Beidou navigation system of patent CN206205018U adopts a riprap pipe for flattening, and is generally suitable for water depth within 20m. The underwater base flattening construction system of patent CN112392091A adopts a rigid riprap pipe for flattening, and is generally suitable for water depth within 30m. For a hundred-meter deep water, slight ship sway will also cause the end of the riprap pipe to deviate (the riprap pipe needs to be close to 100m), making it difficult to ensure the flattening accuracy.

[0004] The average water depth of a certain strait is 44m, and the central water depth is 80-100m. The sea conditions are relatively poor, with an average wave height of 0.5-0.6m and a maximum wave height of 4-7m. The water depth in the northern region of a certain strait is generally 60-80m, and the water depth in the southern region is 70-160m. The sea conditions are poor, with an average wave height of 1.7m in January, which is higher than that in other sea areas, and the swell wave height is 2.5m. For a hundred-meter deep water and poor sea conditions, the motion response of the floating flattening ship of CN112392091A type is too large, and the flattening accuracy cannot be guaranteed; the self-elevating flattening platform of CN103924597A type needs larger and heavier pile legs, and the construction cost increases exponentially, which is not economical in a hundred-meter deep water. SUMMARY

[0005] The main purpose of the present application is to provide a hundred-meter deep water bridge gravel cushion laying and flattening device and construction method to solve the problems in the background art.

[0006] To solve the above technical problems, the technical scheme adopted by the present application is: comprising a vehicle frame, a sliding mobile trolley is arranged on the vehicle frame, a combined scraper that can be lifted is arranged below the mobile trolley, a plurality of caterpillar tracks that can be lifted are arranged on the side of the vehicle frame;

[0007] A measuring unit is arranged on the vehicle frame, and ultrasonic ranging devices are arranged on both sides and the tail of the vehicle frame, for measuring the distance to the adjacent leveled cushion layer;

[0008] A rotating spiral blade is arranged in the mounting frame of the combined scraper, a comb scraper is arranged on one side of the mounting frame, the spiral blade is divided into two sections, and the thread directions of the two sections are opposite.

[0009] In the preferred scheme, the vehicle frame is a square box frame structure, the middle part is hollow, a plurality of transverse partitions are arranged inside the vehicle frame, and the internal space is divided into a plurality of watertight compartments.

[0010] In the preferred scheme, the caterpillar tracks are four, the four caterpillar tracks are arranged on the four corners of the vehicle frame, a supporting leg oil cylinder is arranged between the caterpillar track and the vehicle frame, and the end of the supporting leg oil cylinder is connected with the caterpillar track through a cross hinge shaft;

[0011] The caterpillar tracks are double caterpillar tracks, and each caterpillar track in the double caterpillar tracks can rotate around the hinge shaft independently.

[0012] In the preferred scheme, tracks are arranged on both sides of the vehicle frame, the mobile trolley is arranged to move against the tracks, and the mobile trolley moves along the tracks under the action of a driving unit.

[0013] In the preferred scheme, a plurality of scraper oil cylinders are arranged between the combined scraper and the mobile trolley, a hydraulic motor is arranged at the end of the mounting frame, and the hydraulic motor is used to drive the spiral blade to rotate.

[0014] In the preferred scheme, the measuring unit comprises an ultra-short baseline, an optical fiber compass, and an inclination sensor.

[0015] The ultra-short baseline is used to measure the planar position and absolute elevation of the cushion leveling device.

[0016] The optical fiber compass is used to measure the directional angle of the cushion leveling device.

[0017] The inclination sensor is used to measure the longitudinal and transverse inclination angles of the cushion leveling device.

[0018] The method is: S1, preparing work is performed by a grab dredger, and silt is dug away at a specified position to form a foundation pit;

[0019] S2, rock throwing work is performed by a rock throwing ship to form a gravel cushion layer;

[0020] S3, leveling work is performed by a water support ship, and the cushion leveling device is lowered to perform leveling.

[0021] The specific steps of the preparation work are:

[0022] A1, control the grab dredger to enter the construction water area, anchor and position by using the first ship moving winch, and move the ship to the designated position through the satellite system;

[0023] A2, the first ship moving winch pulls the grab dredger to advance along the planned path, and the hydraulic grab is lowered by the first crane to remove the silt to form the foundation pit.

[0024] The specific steps of the riprapping operation are as follows:

[0025] B1, control the riprapping ship to enter the construction water area, anchor and position by using the second ship moving winch, and move the ship to the designated position through the satellite system;

[0026] B2, the riprapping ship lowers the underwater riprapping device, the underwater riprapping device has a lateral thruster and can realize lateral movement, and the underwater riprapping device is provided with an ultra-short baseline system for underwater positioning of the underwater riprapping device;

[0027] B3, during the riprapping process, the second ship moving winch pulls the riprapping ship to install and advance along the planned path, and the underwater riprapping device is responsible for guiding the riprapping plane position;

[0028] B4, the lower layer of the riprapping in the gravel cushion is operated first, the gravel conveying amount is large, the ship is moved and the riprapping is performed simultaneously, and the preliminary cushion is quickly formed in the foundation pit;

[0029] B5, after the turbidity settles, the thickness and distribution of the preliminary cushion are scanned by the multi-beam, and the gravel amount required for subsequent riprapping is calculated according to the scanning results;

[0030] B6, the upper layer of the riprapping in the gravel cushion is operated again, the ship is moved at a fixed pitch, the riprapping is fixed after the ship is moved, and the riprapping amount can be calculated according to the multi-beam scanning results;

[0031] B7, the multi-beam scanning is performed again, if the ultra-low point is found, the riprapping is supplemented, and if the thickness meets the requirements, the riprapping is completed.

[0032] The specific steps of the leveling operation are as follows:

[0033] C1, the second crane of the water support ship lowers the cushion leveling device;

[0034] C2, the cushion leveling device walks to the designated position under the guidance of the ultra-short baseline, and the direction is adjusted;

[0035] C3, taking the absolute elevation provided by the ultra-short baseline as the reference, synchronously extending and retracting each leg oil cylinder, adjusting the cushion leveling device at the designated height, extending the combined scraper by a specified distance, and the first station of leveling, recovering the combined scraper after leveling, and measuring the relative distance from the cushion leveling device to the leveled first station by the ultrasonic ranging device;

[0036] C4, the cushion layer leveling device walks to the second station to carry out leveling, taking the first station as the reference, the relative height from the first leveled station is measured by the ultrasonic ranging device, and the height of the cushion layer leveling device is adjusted to be flush with the height of the first station, and the combined scraper extends by the same specified distance to level the second station;

[0037] C5, repeat C3 and C4 to level the first row;

[0038] C6, after completing the leveling of the first row, the cushion layer leveling device is lifted by the second crane to the starting point of the second row, and the first station of the second row is leveled with the first station of the first row as the reference; the second station of the second row is leveled with the first station of the first row and the first station of the second row as the reference, and the average of the two measured distances is taken; that is, the adjacent leveled stations around are referred to, and the average of the measured distances obtained is taken, and the operation is repeated;

[0039] C7, repeat C6 to complete the leveling of each row;

[0040] C8, multi-beam scanning and measuring to detect the leveling quality.

[0041] The application provides a hundred-meter deep water bridge gravel cushion laying and leveling device and a construction method, and has the following beneficial effects:

[0042] 1. The gravel cushion laying and leveling mode is separated on water and under water, the dumping and leveling are completed by the underwater robot, and the influence of waves on the leveling accuracy is effectively reduced;

[0043] 2. In terms of height measurement, the absolute height and the relative height are combined, the rigid measuring frame does not need to be stretched out of the water surface, the water depth limit is eliminated, and the device can be applied to hundred-meter deep water;

[0044] 3. The gravel cushion laying and leveling method is suitable for hundred-meter deep water, and can also be used for deeper water or shallower water. BRIEF DESCRIPTION OF DRAWINGS

[0045] The application will be further described in combination with the drawings and embodiments:

[0046] Figure 1 is a preparation operation schematic diagram of the application;

[0047] Figure 2 is a dumping operation schematic diagram of the application;

[0048] Figure 3 is a leveling operation schematic diagram of the application;

[0049] Figure 4 is an axial side view of the cushion layer leveling device of the application;

[0050] Figure 5is the top view of the cushion layer leveling device of the present application;

[0051] Figure 6 is the side view of the combined scraper shaft of the present application;

[0052] Figure 7 is the schematic diagram of the relative elevation reference process of the leveling operation of the present application;

[0053] In the figure: grab dredger 1; first crane 101; first ship moving winch 102; hydraulic grab 103; foundation pit 2; ripper ship 3; second ship moving winch 301; hanging device 302; flexible pipe 303; underwater ripper device 304; moon pool 305; storage device 306; gravel cushion 4; lower ripper layer 401; upper ripper layer 402; water support ship 5; third ship moving winch 501; second crane 503; cushion leveling device 6; vehicle frame 601; leg oil cylinder 602; track 603; movable trolley 605; combined scraper 606; measuring unit 607; ultrasonic ranging device 608; scraper oil cylinder 609; mounting frame 610; helical blade 611; comb scraper 612; hydraulic motor 613. DETAILED DESCRIPTION

[0054] Example 1

[0055] As Figures 4~6 shown, a hundred-meter-level deep-water bridge gravel cushion laying and leveling device and construction method, including vehicle frame 601, vehicle frame 601 is provided with movable trolley 605, movable trolley 605 is provided with combined scraper 606 which can be lifted, vehicle frame 601 is provided with multiple track 603 which can be lifted on the side;

[0056] Vehicle frame 601 is provided with measuring unit 607, ultrasonic ranging device 608 is provided on both sides and tail of vehicle frame 601, which is used to measure the distance to the adjacent leveled cushion;

[0057] Combined scraper 606 is provided with rotating helical blade 611 in mounting frame 610, comb scraper 612 is provided on one side of mounting frame 610, helical blade 611 is divided into two sections, the thread rotation direction of the two sections is opposite. During leveling, the gravel is first spread horizontally by helical blade 611, and then leveled by comb scraper 612. In this way, the gravel can be largely avoided from accumulating in front of the scraper, effectively reducing the resistance of the scraper.

[0058] In the preferred scheme, vehicle frame 601 is a box-type frame structure in square shape, the middle part is hollow, vehicle frame 601 is provided with multiple transverse partitions inside, which divides the internal space into multiple watertight compartments. The watertight compartments can provide certain buoyancy, reducing the self-weight of the whole in water.

[0059] In the preferred embodiment, the four tracks 603 are arranged at the four corners of the frame 601, and the track 603 and the frame 601 are connected by the outrigger oil cylinder 602, and the end of the outrigger oil cylinder 602 is connected to the track 603 through a cross hinge shaft; the longitudinal and transverse bidirectional rotation can be realized to adapt to the inclination of the unlevelled base.

[0060] The track 603 is a double track, and each track in the double track can rotate independently around the hinge shaft.

[0061] In the preferred embodiment, the frame 601 is provided with a track 604 on both sides, and the moving trolley 605 is arranged to move against the track 604, and the moving trolley 605 moves along the track 604 under the action of the driving unit.

[0062] In the preferred embodiment, a plurality of scraper oil cylinders 609 are arranged between the combined scraper 606 and the moving trolley 605, and the end of the mounting frame 610 is provided with a hydraulic motor 613, and the hydraulic motor 613 is used to drive the spiral blade 611 to rotate.

[0063] In the preferred embodiment, the measurement unit 607 includes an ultra-short baseline, an optical fiber compass, and an inclination sensor.

[0064] The ultra-short baseline is used to measure the planar position and absolute elevation of the cushion layer levelling device 6.

[0065] The optical fiber compass is used to measure the direction angle of the cushion layer levelling device 6.

[0066] The inclination sensor is used to measure the longitudinal and transverse inclination of the cushion layer levelling device 6.

[0067] Since the base to be levelled is undulating and uneven, it is inevitable that the cushion layer levelling device 6 will deviate in direction and the body will tilt, so adjustment is needed. The ultra-short baseline is used to measure the planar position and absolute elevation of the cushion layer levelling device 6. The optical fiber compass is used to measure the direction angle of the cushion layer levelling device 6. When the direction angle exceeds the preset range, an instruction can be issued to adjust the rotation speed of each track 603, and the direction is corrected through the differential principle. The inclination sensor is used to measure the longitudinal and transverse inclination of the cushion layer levelling device 6, and the required extension and retraction amount of the four outrigger oil cylinders 602 can be calculated according to the measured longitudinal and transverse inclination, so that the frame can be restored to level.

[0068] Embodiment 2

[0069] As shown in Figures 1~7 Combining embodiment 1, further description is given: the preparation work is carried out by the grab dredger 1, the silt is dug away at the designated position to form the foundation pit 2; the rock throwing work is carried out by the rock throwing ship 3 to form the gravel cushion layer 4; the levelling work is carried out by the water support ship 5, and the cushion layer levelling device 6 is lowered to carry out levelling.

[0070] The specific steps of the preparation operation are as follows: the grab dredger 1 is composed of the first ship moving winch 102, the first crane 101 and the hydraulic grab 103. The four first ship moving winches 102 are located at the four corners of the ship body, so that the grab dredger 1 has the anchoring positioning capability. The first crane 101 is located at the tail of the grab dredger 1 and is a full-rotation crane. The first crane 101 is connected with the hydraulic grab 103 at the end, so as to complete the underwater dredging operation.

[0071] Step one: control the grab dredger 1 to enter the construction water area, use the first ship moving winch 102 to anchor and position, and move the ship to the designated position through the satellite system;

[0072] Step two: the first ship moving winch 102 pulls the grab dredger 1 to move forward along the planned path, and the hydraulic grab 103 is lowered by the first crane 101 to remove the silt and form the foundation pit 2.

[0073] The specific steps of the riprapping operation are as follows: the riprapping ship 3 is composed of the second ship moving winch 301, the hoisting and releasing device 302, the flexible pipe 303, the underwater riprapping device 304 and the storage device 306. The ship body has a square moon pool 305 in the center. The four second ship moving winches 301 are located at the four corners of the ship body, so that the riprapping ship 3 has the anchoring positioning capability. The hoisting and releasing device 302 is arranged above the moon pool 305. The flexible pipe 303 and the underwater riprapping device 304 can be sent into the water through the moon pool 305.

[0074] Step one: control the riprapping ship 3 to enter the construction water area, anchor and position through the second ship moving winch 301, and move the ship to the designated position through the satellite system;

[0075] Step two: the riprapping ship 3 lowers the underwater riprapping device 304. The underwater riprapping device 304 has a lateral thruster, so as to realize lateral movement. The underwater riprapping device 304 is loaded with an ultra-short baseline system, which is used for underwater positioning of the underwater riprapping device 304;

[0076] Step three: during the riprapping process, the second ship moving winch 301 pulls the riprapping ship 3 to move forward along the planned path. The underwater riprapping device 304 is responsible for guiding the riprapping plane position;

[0077] Step four: first, the lower layer 401 in the gravel cushion layer 4 is operated. The gravel conveying amount is large, and the riprapping is performed while the ship is moving. The preliminary cushion layer is quickly formed in the foundation pit 2;

[0078] Step five: after the turbidity settles, the thickness and distribution of the preliminary cushion layer are scanned by the multi-beam scanning, and the gravel amount required for subsequent riprapping is calculated according to the scanning result;

[0079] Step six: then, the upper layer 402 in the gravel cushion layer 4 is operated. The ship is moved at a fixed step distance, and the riprapping is fixed after the ship is moved. The riprapping amount can be calculated according to the multi-beam scanning result;

[0080] Step seven, again, multi-beam scanning, if found by the low point, then the supplement is thrown; if the thickness reaches the requirements, then the stone is finished.

[0081] The leveling operation specific steps are as follows:

[0082] Step one, the mat layer leveling device 6 is lowered by the second crane 503 of the water support ship 5;

[0083] Step two, the mat layer leveling device 6 walks to the designated position by the own track 603 under the guidance of the ultra-short baseline, and the direction is adjusted; the mat layer leveling device 6 is loaded with two positioning means of the ultra-short baseline and the ultrasonic ranging device. The ultra-short baseline is used for measuring the plane position and the absolute height, and the precision reaches ±20cm. The ultrasonic ranging device is used for measuring the relative height / relative to the adjacent leveled mat layer, and the precision is generally ±1cm / ±0.1% of the measured depth, which can reach ±2cm, and the flatness is guaranteed to be ±5cm.

[0084] Step three, the absolute height provided by the ultra-short baseline is taken as the reference, each supporting leg oil cylinder 602 is synchronously stretched and retracted, the mat layer leveling device 6 is adjusted at the designated height, the absolute height is not accurate, the gravity type foundation height correction can be adjusted, the combined scraper 606 is stretched out by the designated distance, the first work position of leveling is adjusted, the combined scraper 606 is recovered after leveling, and the relative distance from the mat layer leveling device 6 to the first leveled work position is measured by the ultrasonic ranging device 608.

[0085] Step four, the mat layer leveling device 6 walks to the second work position to adjust the level, the relative height from the first leveled work position is measured by the ultrasonic ranging device 608, the height of the mat layer leveling device 6 is adjusted according to the relative height, so that the height of the mat layer leveling device 6 is leveled with the first work position, and the combined scraper 606 is stretched out by the same designated distance, and the second work position is leveled.

[0086] Step five, steps three and four are repeated to level the first row.

[0087] Step six, after the first row of leveling is completed, the mat layer leveling device 6 is lifted and placed to the starting point of the second row by the second crane 503, the first work position of the second row is leveled by taking the first work position of the first row as the reference; the second work position of the second row is leveled by taking the first work position of the first row and the first work position of the second row as the reference, and the average value of the two measured distances is obtained; that is, the adjacent leveled work positions around are referred to, and the average value of the obtained measured distances is obtained, and the operation is repeated.

[0088] Step seven, step six is repeated to complete the leveling of each row.

[0089] Step eight, multi-beam scanning is performed to detect the leveling quality.

[0090] The above embodiments are only preferred technical solutions of the present application, and should not be regarded as a limitation of the present application. The protection scope of the present application should be the technical solutions recited in the claims, including equivalent replacement solutions of the technical features recited in the claims. That is, equivalent replacement improvements within this scope are also within the protection scope of the present application.

Claims

1. A leveling device for laying crushed stone subbase for bridges in deep water up to 100 meters deep, characterized in that: The frame (601) is provided with a sliding mobile trolley (605), and a combined scraper (606) is arranged below the mobile trolley (605); a plurality of liftable caterpillar belts (603) are arranged on the side of the frame (601); The frame (601) is provided with a measuring unit (607), and ultrasonic ranging devices (608) are arranged on the two sides and the tail of the frame (601) to measure the distance to the adjacent flattened cushion layer; A rotating spiral blade (611) is arranged in the mounting frame (610) of the combined scraper (606), a comb scraper (612) is arranged on one side of the mounting frame (610), the spiral blade (611) is divided into two sections, and the thread directions of the two sections are opposite; The frame (601) is a square box frame structure, the middle part is hollow, a plurality of transverse partitions are arranged in the frame (601), and the internal space is divided into a plurality of watertight compartments; The four caterpillar belts (603) are arranged on the four corners of the frame (601), a supporting leg oil cylinder (602) is arranged between the caterpillar belt (603) and the frame (601), and the end of the supporting leg oil cylinder (602) is connected with the caterpillar belt (603) through a cross hinge shaft; The caterpillar belt (603) is a double caterpillar belt, and each caterpillar belt in the double caterpillar belt can rotate around the hinge shaft independently; The measuring unit (607) comprises an ultra-short baseline, a fiber-optic compass and an inclination sensor; The ultra-short baseline is used for measuring the plane position and absolute elevation of the cushion layer flattening device (6); The fiber-optic compass is used for measuring the direction angle of the cushion layer flattening device (6); The inclination sensor is used for measuring the longitudinal and transverse inclination angles of the cushion layer flattening device (6).

2. The device according to claim 1, characterized in that: Tracks (604) are arranged on the two sides of the frame (601), the mobile trolley (605) is arranged to move on the tracks (604), and the mobile trolley (605) moves along the tracks (604) under the action of a driving unit.

3. The device according to claim 1, characterized in that it comprises: A plurality of scraper oil cylinders (609) are arranged between the combined scraper (606) and the mobile trolley (605), a hydraulic motor (613) is arranged at the end of the mounting frame (610), and the hydraulic motor (613) is used to drive the spiral blade (611) to rotate.

4. The construction method of the hundred-meter deep water bridge gravel cushion laying and flattening device according to any one of claims 1-3, wherein the method is: S1, preparing work by the grab dredger (1), removing silt at the specified position to form a foundation pit (2); S2, performing stone throwing work by the stone throwing ship (3) to form a gravel cushion (4); S3, performing flattening work by the water support ship (5), and lowering the cushion flattening device (6) to flatten.

5. The construction method of the hundred-meter deep water bridge gravel cushion laying and flattening device according to claim 4, wherein the specific steps of the preparation work are: A1, controlling the grab dredger (1) to enter the construction water area, using the first ship moving winch (102) to anchor and position, and moving the ship to the specified position through the satellite system; A2, the first ship moving winch (102) pulls the grab dredger (1) to advance along the planned path, and the first crane (101) lowers the hydraulic grab (103) to remove silt to form a foundation pit (2).

6. The construction method of the deep water bridge rubble cushion laying and leveling device according to claim 4, wherein the specific steps of the rock throwing operation are as follows: B1. Controlling the rock throwing ship (3) to enter the construction water area, anchoring and positioning through the second ship moving winch (301), and moving the ship to the designated position through the satellite system; B2. Lowering the underwater rock throwing device (304) from the rock throwing ship (3), wherein the underwater rock throwing device (304) has a lateral thruster to realize lateral movement, and an ultra-short baseline system is mounted on the underwater rock throwing device (304) to position the underwater rock throwing device (304); B3. During the rock throwing process, the second ship moving winch (301) pulls the rock throwing ship (3) to move forward along the planned path, and the underwater rock throwing device (304) guides the rock throwing plane position; B4. The lower layer (401) of the rubble cushion (4) is first operated, the rock throwing is performed while the ship is moving, and the preliminary cushion is quickly formed in the foundation pit (2); B5. After the turbidity settles, the thickness and distribution of the preliminary cushion are scanned by the multi-beam scanning, and the rock throwing amount required for the subsequent rock throwing is calculated; B6. The upper layer (402) of the rubble cushion (4) is then operated, the ship is moved at a fixed pitch, and the rock throwing is fixed after the ship is moved, and the rock throwing amount is calculated according to the multi-beam scanning result; B7. The multi-beam scanning is performed again, and if an ultra-low point is found, the rock throwing is supplemented; if the thickness meets the requirements, the rock throwing is completed.

7. The construction method of the deep water bridge rubble cushion laying and leveling device according to claim 4, wherein the specific steps of the leveling operation are as follows: C1. Lowering the cushion leveling device (6) through the second crane (503) of the water support ship (5); C2. Guiding the cushion leveling device (6) to the designated position through the self-traveling of the caterpillar (603) under the guidance of the ultra-short baseline, and adjusting the direction; C3. Taking the absolute elevation provided by the ultra-short baseline as the reference, synchronously extending the oil cylinder (602) of each leg, adjusting the cushion leveling device (6) to the specified height, extending the combined scraper (606) by a specified distance, leveling the first work position, recovering the combined scraper (606) after leveling, and measuring the relative distance from the cushion leveling device (6) to the first leveled work position through the ultrasonic distance measuring device (608); C4. Traveling the cushion leveling device (6) to the second work position for leveling, taking the first leveled work position as the reference, measuring the relative height from the first leveled work position through the ultrasonic distance measuring device (608), adjusting the height of the cushion leveling device (6) to be flush with the height of the first work position, extending the combined scraper (606) by the same specified distance, and leveling the second work position; C5. Repeating steps C3 and C4 to level the first row. ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ C6, after the first leveling, the second crane (503) is used to hoist the cushion layer leveling device (6) to the starting point of the second path, and the first path is used as the reference when leveling the first path of the second path. When leveling the second path of the second path, the first path of the second path and the first path of the second path are used as the reference, and the average value of the two measured distances is obtained. That is, the adjacent leveled paths around are used as the reference, and the average value of the measured distances obtained is obtained, and the operation is repeated; C7, repeat step C6 to complete the leveling of each path; C8, multi-beam scanning, detect the leveling quality.

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