Rapid and accurate riprap damming method under large water depth

Abstract

The invention discloses a rapid and accurate riprap damming method under a large water depth, relates to the technical field of water conservancy projects and underwater construction, and solves the problems that the construction efficiency can be improved due to the fact that water riprap is often adopted under the large water depth (more than 40 meters) and a complex flow state, but stones are prone to drifting in the sinking process, and the construction efficiency is affected. Therefore, the device cannot be accurately placed at a preset position. On one hand, the stability and construction quality of a dam body structure are affected, and on the other hand, a large amount of stone is wasted. Combined positioning (dynamic positioning system + anchoring), sonar equipment and a holder control sub-module are introduced, the drifting distance is calculated through an intelligent algorithm, the arm length and angle of the floating crane are adjusted in time, and it is ensured that stones are accurately immersed to the preset position. According to the method, the positioning precision and the construction efficiency in the riprap process can be remarkably improved, materials can be saved, and the method is suitable for the fields of water conservancy projects, ocean engineering, channel improvement and the like and has wide application prospects and remarkable economic benefits.

Description

Technical Field

[0001] The present invention relates to the technical field of waterway regulation and underwater construction, and more specifically, to a method for fast and accurate riprap damming in great water depth. In particular, the present invention relates to a method for fast and accurate riprap damming in great water depth (40 meters or more) and in complex flow state, and aims at the problems of difficult positioning, low construction efficiency, large waste of stones, etc., and proposes a method for fast and accurate riprap damming in water. Background Art

[0002] In order to improve the construction quality of the submerged dam, there is an underwater precision lifting method, but in the case of large water depth (40 meters and above) and complex flow conditions, the construction efficiency of underwater lifting is low, which may delay the construction period and increase the construction cost. In order to improve the construction efficiency, the stone dumping dam is a fast construction method, but this method needs to solve the drift problem of the stone during the sinking process. The stone drift problem under the conditions of large water depth and complex flow conditions is objective and inevitable, but this needs to be controlled otherwise it will lead to two problems: one is the quality problem, the stone cannot be accurately placed in the predetermined position, thus affecting the stability of the dam structure and the construction quality; the second is the economic problem. According to statistics, the design amount of 100 cubic meters of stone usually requires the actual throwing of 300 cubic meters, and a large number of stones will be washed away. If calculated according to the market price of 300 yuan / cubic meter, the design amount of 100 cubic meters will cause a waste of 60,000 yuan of materials. There are two main reasons for the excessive drift distance: one is that the large water depth and complex flow state make it difficult to accurately calculate the drift distance; the other is that the relationship between the drift distance and the adjustment of the floating crane equipment is not clear enough.

[0003] In view of the above problems, the present invention combines a calculation method for real-time correction of drift distance with floating crane adjustment, and proposes a fast and accurate stone throwing dam construction method. The method realizes real-time calculation of drift distance and floating crane adjustment during stone throwing by combining high-precision measurement equipment and intelligent algorithm, thereby improving the accuracy of stone sinking. Specifically, the present invention uses a high-precision positioning system and real-time monitoring equipment, combined with a calculation model for real-time correction of drift distance, to accurately calculate and dynamically correct the position deviation caused by factors such as water flow and hull drift during stone throwing. The method can adjust the stone throwing position in real time to ensure that the stone falls accurately into the predetermined position to form a uniform and stable dam structure. Through the implementation of the present invention, not only the construction efficiency and quality of stone throwing dam construction on the water are significantly improved, but also the engineering cost is reduced, and the rework and material waste caused by positioning errors are reduced. In addition, the method of the present invention has strong adaptability to the construction environment and can be widely used in different types of water conservancy projects, such as breakwater construction, river management, port revetment, etc., providing important technical support for the development of water conservancy and water transport construction technology. In summary, the present invention has significant advantages in improving the positioning accuracy and construction quality of riprap damming on water, and has broad application prospects and practical value. Summary of the invention

[0004] The purpose of the present invention is to overcome the above-mentioned defects of the prior art proposed in the above-mentioned background technology and to provide a method for fast and accurate riprap damming in deep water.

[0005] To achieve the above object, the present invention provides the following technical solutions:

[0006] A method for quickly and accurately riprap damming in deep water comprises the following steps:

[0007] (1) Construction preparation: Prepare riprap materials according to design standards and use special transportation tools to transport the riprap materials to the construction site;

[0008] (2) Underwater measurement and positioning: Use multi-beam depth sounders and sonar equipment to conduct detailed measurements of the underwater topography of the construction area. Install a dynamic positioning system, sonar equipment, and pan / tilt control submodule on the floating crane to achieve high-precision positioning through real-time data feedback.

[0009] (3) Calculation of drift distance: During the stone throwing process, the underwater visual monitoring system and sensor equipment are used to monitor the stone's sinking trajectory and position deviation in real time, and the drift distance of the stone during the sinking process is calculated using the following formula:

[0010]

[0011] (4) Drift distance correction: Based on the drift distance calculation results, the operating parameters of the floating crane equipment are adjusted in real time, including the boom length, the angle of the lifting equipment and the position of the floating crane, to ensure that the rocks are accurately sunk to the predetermined position;

[0012] (5) Post-sinking inspection: Use underwater monitoring equipment and sonar systems to collect real-time data on the sinking of rocks and obtain their precise location and status information after sinking;

[0013] (6) Adjustment of placement: Based on the quality inspection results, position corrections are made to areas that do not meet the requirements to ensure that the stones are accurately placed in the correct position.

[0014] Furthermore, the dynamic positioning system is used to locate and adjust the position of the floating crane with high precision, thereby ensuring the accuracy of the riprap position.

[0015] Furthermore, the sonar equipment is used for underwater topography measurement and real-time monitoring of the trajectory and position deviation of stone sinking.

[0016] Furthermore, the pan / tilt control submodule is used to control the angle and direction of the sonar equipment and other sensors to ensure accurate measurement data and real-time monitoring effects.

[0017] Furthermore, the construction preparation step described in step (1) also includes checking the size and quality of the riprap material to ensure that it meets the design standards.

[0018] Furthermore, the post-sinking inspection step described in step (5) includes checking key indicators such as the sinking density and position deviation of the stones to ensure that they meet the design requirements.

[0019] In summary, the present invention has the following beneficial effects:

[0020] The method of the present invention introduces a dynamic positioning system, sonar equipment and a pan-tilt control submodule, uses an intelligent algorithm to calculate the drift distance and timely adjusts the arm length and angle of the floating crane to ensure that the stones are accurately sunk to the predetermined position. This method can not only significantly improve the positioning accuracy and construction efficiency in the stone throwing process, but also save materials. It is suitable for water conservancy projects, marine engineering, port construction and other fields, and has broad application prospects and significant economic benefits. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 : Flowchart of drift distance calculation and correction during stone throwing process.

[0022] Figure 2 :Fast and accurate riprap damming method in deep water (right view)

[0023] Figure 3 :Top view of the rapid and accurate riprap damming method in deep water

[0024] Figure 4 :Fast and accurate riprap damming method in deep water

[0025] In the figure: 1- floating crane; 2- crane; 3- stone; 4- crane arm; 5- control platform; 6- sonar connection system; 7- sonar transmitter; 8- sonar; 9- dynamic positioning system; 10- ship operation room; 11- submerged dam; 12- ADCP loading ship; 13- ADCP ( Acoustic Doppler Current Profiler); 14- image recognition system. DETAILED DESCRIPTION

[0026] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0027] The solution provided by the present invention is:

[0028] A method for fast and accurate riprap dam construction in deep water, which solves the problems of difficult positioning, low construction efficiency, and large waste of stones encountered during construction. It specifically includes the following steps:

[0029] 1. Construction Preparation

[0030] Prepare the riprap materials on shore according to the design standards to ensure that the size and quality meet the requirements. Use special transportation tools to transport the riprap materials to the construction site to ensure integrity during transportation.

[0031] 2 Underwater measurement and positioning

[0032] Use multi-beam depth sounders and sonar equipment to conduct detailed measurements of the underwater topography of the construction area to obtain accurate topographic data. Install a combined positioning system (dynamic positioning system (DP) + mooring), sonar equipment and pan / tilt control submodule on the floating crane to achieve high-precision positioning through real-time data feedback. It should be noted that when constructing in inland rivers, floating cranes can only use mooring to position the ship, but when constructing in the open sea, floating cranes should use DP positioning.

[0033] Dynamic Positioning System (DP system) is an advanced positioning technology for ships and offshore platforms. It uses computers to control the propulsion device of the ship (including the main propeller and the side thruster) to automatically maintain the ship at a specified position or route. This system is particularly suitable for water operations that require high-precision positioning, such as water riprap, offshore oil and gas extraction, offshore wind power installation, deep-sea salvage operations, etc.

[0034] The dynamic positioning system mainly consists of the following parts:

[0035] 1. Position sensor:

[0036] Global Positioning System (GPS): It provides precise geographic coordinate information for the DP system and is the most commonly used positioning sensor.

[0037] Differential GPS (DGPS): Provides more accurate positioning information by correcting the errors of conventional GPS.

[0038] Acoustic positioning system: In an underwater environment, by deploying underwater sensors, the acoustic wave signal is used to measure the distance of the ship relative to a known reference point. It is suitable for deep water or operations with extremely high precision requirements.

[0039] Laser or radar positioning system: assists positioning by measuring the distance between the ship and a fixed target.

[0040] 2. Posture sensor:

[0041] Gyroscope and inertial navigation system: used to monitor the ship's attitude changes, such as roll, pitch and turn, to ensure the stability of the ship in three-dimensional space.

[0042] Anemometer: Monitors changes in the external environment (such as wind force and direction) to help the system predict and compensate for possible displacement.

[0043] 3. Control system:

[0044] Computer control system: The core of the DP system, which processes data from various sensors in real time, calculates the optimal working parameters of the thrusters according to the current position, attitude and external environment of the ship to maintain the stability of the ship.

[0045] 4. Propulsion system:

[0046] Main thrusters and thrusters: These devices are the part of the DP system that executes commands and achieves real-time control of the ship's position and attitude by adjusting the thrust size and direction of the thrusters.

[0047] 5. Power management system:

[0048] Generator and distribution system: Provides a stable power supply for the DP system and the ship's thrusters, ensuring the system can operate normally under different working conditions.

[0049] How Dynamic Positioning Systems Work

[0050] 1. Data Collection:

[0051] Position sensors (such as GPS, acoustic positioning system) and attitude sensors (such as gyroscopes, anemometers) continuously monitor the ship's current position, attitude, and environmental conditions.

[0052] 2. Calculation and control:

[0053] The computer control system compares the sensor data with the predetermined position or route and calculates the position deviation that needs to be adjusted. This calculation process includes predicting possible deviations (such as the effects of wind, waves, and currents) and how to compensate for these deviations by adjusting the thrust of the propellers.

[0054] 3.Thruster adjustment:

[0055] Based on the calculation results, the control system sends instructions to the main thrusters and side thrusters to adjust the magnitude and direction of their thrust, thereby correcting the position and attitude of the ship and maintaining the stability of the ship.

[0056] 4. Real-time feedback:

[0057] The system continuously monitors the position and attitude of the ship, and adjusts the working status of the thrusters through a feedback mechanism to cope with environmental changes and maintain precise positioning.

[0058] Sonar (Sound Navigation and Ranging) equipment detects and locates underwater objects by emitting sound waves and receiving their reflected echoes. Sonar equipment first emits high-frequency sound waves (usually ultrasonic waves), which propagate in the water. When the sound waves encounter an object, they are reflected back, and the equipment receives the reflected sound waves. By calculating the time difference from the emission to the reception of the sound wave, and using the sound speed formula (distance = sound speed × time), the distance between the object and the equipment can be accurately measured. Modern sonar equipment processes the echo signal through array technology to form a two-dimensional or three-dimensional image of the underwater environment, achieving high-precision positioning and imaging. Sonar equipment is widely used in the fields of ocean exploration, fisheries, underwater topography, submarine navigation, and underwater engineering.

[0059] The gimbal is a device used to stabilize and control a camera or sensor. The gimbal control submodule is responsible for the motion control and data transmission of the gimbal. The gimbal is driven by a motor to achieve up and down (pitch) and left and right (water drop) rotational movement to adjust the angle and direction of the sensor or camera. High-end gimbals can also achieve three-axis stabilization (pitch, roll, and yaw). The gimbal is equipped with an angle sensor and a gyroscope to monitor the angle and attitude of the gimbal in real time and feed the data back to the control system. The gimbal control system accurately adjusts the speed and direction of the motor according to the preset instructions and real-time feedback data through a closed-loop control algorithm (such as PID control) to achieve stable and precise attitude control. The gimbal control submodule is connected to the main control system through a data cable or wireless communication to achieve data transmission and instruction execution. The gimbal control submodule is widely used in photography and videography (such as drone cameras), geological exploration, security monitoring, industrial automation and other fields, especially in scenes where stable and precise control of the sensor position is required.

[0060] In the process of riprap dam construction, these three types of equipment are used in combination in the following aspects: ① The dynamic positioning system is used to locate the position of the floating crane with high precision to ensure the accuracy of the riprap position; ② The sonar equipment is used to measure underwater terrain and monitor the trajectory and position offset of the stone sinking in real time; ③ The pan-tilt control submodule is used to control the angle and direction of the sonar equipment and other sensors to ensure accurate measurement data and real-time monitoring effects. The combination of these technologies significantly improves the accuracy and efficiency of the construction process.

[0061] 3. Drift distance calculation

[0062] During the stone throwing process, the underwater visual monitoring system and sensor equipment are used to monitor the stone's sinking trajectory and position deviation in real time. The drift distance of the stone during the sinking process is calculated through an intelligent algorithm, and the operating parameters of the lifting equipment are adjusted according to the calculation results. The drift distance of the stone during the sinking process is calculated using the following formula:

[0063]

[0064] Through field testing of the water drop distance of stones of different particle sizes and weights at different water levels and flow rates, the parameter k in the formula is adjusted to improve the accuracy of the calculation.

[0065] 4Drift distance correction

[0066] According to the drift distance calculation results, the sinking position of the stone is corrected in real time. By adjusting the boom length, the angle of the lifting equipment and the position of the floating crane, the stone is ensured to be accurately sunk to the predetermined position. Through multi-sensor fusion technology, the Kalman filter algorithm is used to compare the actual position and expected position of the stone, calculate the drift error, and make real-time corrections based on the drift error. The state update formula of the Kalman filter is as follows:

[0067]

[0068]

[0069] in, is the state estimate, K k is the Kalman gain, z k is the observation value, H is the observation matrix, P k|k-1 is the prediction covariance matrix, and R is the observation noise covariance matrix.

[0070] 5. Sinking adjustment

[0071] 5.1 Adjust the boom length

[0072] First, determine the direction of the rock drift. If the rock drifts forward, shorten the boom. If the rock drifts backward, extend the boom. Then determine the drift distance and adjust the boom angle according to the drift distance. If the drift distance is small, adjust the boom angle slightly. If the drift distance is large, adjust the boom angle more significantly.

[0073] 5.2 Adjust the angle of the lifting equipment

[0074] First, adjust the boom angle and direction of the lifting equipment according to the direction and distance of the rock drift. If the rock drifts to the left, adjust the boom angle to the right. If the rock drifts to the right, adjust the boom angle to the left. Secondly, adjust the boom angle according to the drift distance. If the drift distance is small, fine-tune the boom angle. If the drift distance is large, adjust the boom angle more significantly.

[0075] 5.3 Adjust the position of the floating crane

[0076] Adjusting the position of the floating crane is relatively complicated. When the accuracy requirements can be met by adjusting the boom length and the crane angle, there is no need to adjust the position of the floating crane; otherwise, the position of the floating crane needs to be adjusted. If the stone drifts forward, the floating crane moves backward. If the stone drifts backward, the floating crane moves forward. If the stone drifts to the left, the floating crane moves to the right. If the stone drifts to the right, the floating crane moves to the left. Secondly, adjust the moving distance of the floating crane according to the size of the drift distance. If the drift distance is small, the position of the floating crane is fine-tuned. If the drift distance is large, the position of the floating crane needs to be adjusted significantly.

[0077] 5.4 Comprehensive Adjustment

[0078] Use underwater monitoring equipment (such as sonar, cameras, etc.) to monitor the drift of rocks in real time. Combined with environmental factors such as wind speed and flow rate, make comprehensive adjustments to the boom length, lifting equipment angle and floating crane position. The crane operator, floating crane driver and monitoring personnel work closely together to ensure the accuracy and timeliness of the adjustments.

[0079] 5.5 Quantitative relationship of adjustment

[0080] Assume that the drift distance is d and the target sinking position is (x t ,y t ), the actual position after drift is (x a ,y a The variables we need to adjust are the boom length l, the angle θ of the lifting equipment and the position of the floating crane (x s ,y s ).

[0081] (I) Variable definition

[0082] Drift distance mainly refers to the displacement generated on the plane. In order to facilitate the establishment of the coordinate system, the direction parallel to the ship is the x direction, and the direction perpendicular to the ship is the y direction.

[0083] d x : The component of the drift distance in the x direction, i.e. d x =x a -x t

[0084] d y : The component of the drift distance in the y direction, i.e. d y =y a -y t

[0085] l: boom length

[0086] θ: Angle of the lifting equipment (angle with the vertical plane)

[0087] (x s ,y s ): Location of floating crane

[0088] (II) Adjustment of relations

[0089] 1. Adjust the boom length l

[0090] If the drift distance d has a component d in the vertical direction y , then the adjustment amount of the boom length Δl can be expressed by d y to calculate.

[0091] Δl=-d y

[0092] 2. Adjust the angle of the lifting equipment

[0093] If the drift distance d has a component d in the horizontal plane x The adjustment of this is mainly based on adjusting the angle of the floating crane. The adjustment amount of the rotation angle Δθ can be expressed as d x to calculate.

[0094]

[0095] 3. Adjust the position of the floating crane

[0096] Since the floating crane is a solid object, and the riprap point is usually not at the center of the ship, but at the end of the ship's boom or a specific throwing device. Therefore, the size of the ship and the length of the boom, as well as the direction of the ship, must be considered for accurate positioning. Assumptions:

[0097] The center coordinates of the ship are (x c ,y c ); the length of the boom is l; the direction angle of the boom is φ; relative to the longitudinal axis of the hull or a certain reference direction, assuming that the longitudinal axis of the ship is parallel to the x-axis); the coordinates of the casting point are (x b ,y b ).

[0098] The coordinates of the throwing point can be calculated by the following formula:

[0099] x b =x c +l·cos(φ)

[0100] y b =y c +l·sin(φ)

[0101] This formula represents the offset of the coordinates of the casting point relative to the center of the boat.

[0102] In order to make the riprap land accurately at the target position (xt ,y t ), the center of the ship needs to be positioned at the appropriate position (x′ c ,y′ c ), so that the throwing point (x b ,y b ) corresponds to the target point (x t ,y t ). So we have:

[0103] x t = x′ c +l·cos(φ)

[0104] y t =y′ c +l·sin(φ)

[0105] Solving these two equations, we can get the coordinates (x′ c ,y′ c ):

[0106] x′ c =x t -l·cos(φ)

[0107] y′ c =y t -l·sin(φ)

[0108] In practice, it is usually necessary to adjust the ship's direction angle φ so that the boom points to the target position. 0 Cannot directly align the boom to the target position (x t ,y t ), the direction of the hull needs to be adjusted.

[0109] The hull direction adjustment angle Δφ can be calculated by the following formula:

[0110]

[0111] After the position and direction of the boat are adjusted, it is recommended to verify the alignment of the center of the boat with the target position through real-time measurement and calculation. Then, according to the specific requirements of the riprap accuracy, the position and direction of the boat are fine-tuned to ensure the accuracy of the riprap.

[0112] (III) Comprehensive adjustment formula

[0113] 1. Boom length adjustment:

[0114] l new = l current +Δl=l current -d y

[0115] 2. Lifting equipment angle adjustment:

[0116]

[0117] 3. Floating crane position adjustment:

[0118] The first step is preliminary calculation: according to the boom length l and the target position (x t ,y t ) Calculate the coordinate (x′) to which the center of the ship should be adjusted c ,y′ c );

[0119] The second step is to adjust the direction of the boat: adjust the direction angle φ of the boat according to the required casting direction.

[0120] The third step is fine-tuning: Measure and fine-tune the position and direction of the boat in real time to ensure that the casting point at the end of the boom coincides with the target position.

[0121] (IV) Adjustment Examples

[0122] Assume that the current boom length is l = 10 meters, the angle of the lifting equipment is θ = 45°, and the position of the floating crane is

[0123] (x s ,y s )=(100,100)

[0124] If the actual drift distance is (d x ,d y )=(1,0.5)m

[0125] (1) When the vessel is not moving:

[0126] The boom length is adjusted to l new =10-0.5=9.5 meters

[0127] Lifting equipment angle adjustment:

[0128]

[0129] (2) When moving a vessel:

[0130] Assume that the initial coordinates of the center of the ship are (x c ,y c )=(100,100); boom length l=20m; initial boom direction φ 0 =0° (assuming that the boom points to the east at 0 degrees, i.e. the positive direction of the x-axis); the coordinates of the target riprap point are (x t ,y t )=(120,130).

[0131] We want to adjust the ship to a new position so that the end of the boom reaches the target point (120,130) exactly. Based on the direction and length of the boom, we can calculate the coordinates to which the center of the ship should be adjusted.

[0132] x′ c =x t -l·cos(φ)

[0133] y′ c =y t -l·sin(φ)

[0134] Assuming we keep the boom direction φ=0° unchanged (i.e. the boom points due east), then:

[0135] x′ c =120-20·cos(0°)=120-20=100

[0136] y′ c =130-20·sin(0°)=130-0=130

[0137] So the new coordinates to which the center of the ship should be adjusted are (x′ c ,y′ c )=(100,130).

[0138] Suppose the ship moves from its initial position (100,100) to (100,130), that is, the ship moves 30 meters north in the y-axis direction and does not move in the x-axis direction.

[0139] After the move, the actual coordinates of the boom end should be:

[0140] x′ b = x′ c +L·cos(φ)=100+20·cos(0°)=120

[0141] y′ b =y′ c +L·sin(φ)=130+20·sin(0°)=130

[0142] At this time, the throwing point (x′ b ,y′ b ) coincides with the target point (120,130), indicating that the ship's position adjustment is accurate.

[0143] If the initial boom direction is not pointing due east (φ 0 ≠0°), it is necessary to calculate and adjust the hull's direction angle Δφ so that the boom is aligned with the target point.

[0144] For example, if the initial φ 0=45 0 :

[0145]

[0146] According to the new φ, the position of the ship is recalculated and adjusted until it is accurately aligned with the target point. In this way, combined with the navigation instruments and water flow correction in actual operation, the stone throwing accuracy of the floating crane can meet the requirements.

[0147] 6. Inspection after sinking

[0148] Use underwater monitoring equipment and sonar systems to collect the data of stone placement in real time and obtain the precise position and status information after the placement. Check the key indicators such as the stone placement density and position deviation to ensure that they meet the design requirements. In the process of riprap dam construction, the placement density and position deviation are important indicators to ensure the quality of stone placement and construction. The placement density refers to the number and distribution of stones per unit area to ensure the stability and uniformity of the dam body. Specifically, the placement density should be controlled between 15 and 25 stones per cubic meter, and the distribution of stones per unit area should be uniform, without concentrated accumulation or excessive gaps. The uniformity index can be determined by calculating the difference in the number of stones in several adjacent areas, and the difference in the number of stones between areas should be less than 20%. In addition, the number of stacked layers of stones should meet the design standards, usually 2 to 3 layers, to avoid stacking too high to affect the stability of the dam body or stacking too low to meet the water filling volume required by the design.

[0149] Position deviation refers to the degree of deviation between the actual sinking position of the stone and the predetermined position. Specifically, the water drop position deviation should be controlled within ±0.5 meters, monitored in real time by DP and sonar equipment, and corrected by adjusting the position of the floating crane and lifting equipment. The vertical position deviation should be controlled within ±0.2 meters, and the stone should be sunk to the predetermined depth by adjusting the boom length and boom angle. At the same time, the inclination angle of the stone should be controlled within ±5 degrees to ensure that the stone remains stable during the sinking process and does not roll or tip over.

[0150] The specific inspection and correction steps include the following aspects: First, during the stone sinking process, use underwater monitoring equipment and sonar systems to collect real-time information on the location of the stones. Then, compare the collected data with the design requirements to calculate the stone sinking density and position deviation. If the deviation is found to exceed the set index, the operating parameters of the lifting equipment, including the boom length, lifting equipment angle and floating crane position, are adjusted through intelligent algorithms for real-time correction (see above for the correction method).

[0151] After the placement is completed, the sonar equipment is used to conduct a detailed scan of the actual placement of the stones, obtain the precise position and status information after the placement, and conduct a final check on the placement density and position deviation. Finally, the density and position deviation data of each placement are recorded as the basis for construction quality evaluation and subsequent construction adjustments.

[0152] Through the above specific indicators of stone placement density and position deviation, as well as detailed inspection and correction steps, the quality of stone placement in the process of riprap dam construction can be ensured to meet the design requirements and improve the stability of the dam body and the construction quality.

[0153] The following is a specific implementation of the technical solution of the present invention:

[0154] Embodiment 1:

[0155] In Example 1, a multi-beam depth sounder and sonar equipment are used to conduct detailed measurements of the construction area to obtain accurate data on the underwater terrain. Then, a dynamic positioning system and a pan-tilt control submodule are installed on the floating crane to achieve high-precision positioning through real-time data feedback. During the stone throwing process, an underwater visual monitoring system and sensor equipment are used to monitor the stone sinking trajectory and position offset in real time. The drift distance of the stone is calculated through an intelligent algorithm, and the operating parameters of the lifting equipment are adjusted according to the calculation results to ensure that the stone is accurately sunk to the predetermined position.

[0156] Embodiment 2:

[0157] In Example 2, the riprap materials are transported to the construction site during the construction preparation phase, and the riprap process is monitored throughout by a high-precision positioning system and real-time monitoring equipment. During the drift distance calculation process, an intelligent algorithm is used to analyze the sinking trajectory and drift of the stones in real time, and the operating parameters of the lifting equipment are adjusted in time. After the sinking is completed, underwater monitoring equipment and sonar systems are used for data collection and quality inspection, and the position of areas that do not meet the requirements is corrected to ensure the stability of the overall dam structure.

[0158] In summary, the present invention improves the positioning accuracy and construction efficiency in the process of riprap by combining a high-precision positioning system, an intelligent algorithm and real-time monitoring technology. It is suitable for fields such as water conservancy projects, marine engineering and port construction, and has broad application prospects and significant economic benefits.

[0159] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A method for rapid and accurate riprap damming in deep water, characterized by: The following steps are involved: (1) Construction preparation: Prepare riprap materials according to design standards and use special transportation tools to transport the riprap materials to the construction site; (2) Underwater measurement and positioning: Use multi-beam depth sounders and sonar equipment to conduct detailed measurements of the underwater topography of the construction area. Install a dynamic positioning system, sonar equipment, and pan / tilt control submodule on the floating crane to achieve high-precision positioning through real-time data feedback. (3) Calculation of drift distance: During the process of throwing stones, the underwater visual monitoring system and sensor equipment are used to monitor the trajectory and position deviation of the stones in real time, and the drift distance of the stones during the sinking process is calculated using the following formula; this formula is an empirical formula we obtained after repeated measurements of throwing stones. Due to the complex flow state, there is no accurate theoretical calculation formula, so the correction coefficient in the formula needs to be corrected in real time according to the monitoring data; Among them, L d is the horizontal drop distance of the rock dumping (m); k is the correction coefficient, which is calculated and corrected by the PTZ control submodule; ρ w is the water density (kg / m 3 ), measured by a water solution density detector; V is the average flow velocity (m / s), measured by ADCP (Acoustic Doppler Current Profiler); G is the weight of the stone (kg), obtained by multiplying the density of the stone by the volume, where the volume is obtained by collecting images with a camera, preprocessing the images by the system, detecting the position and boundary box of the object, segmenting and measuring the monitored object, and calculating the volume through three-dimensional reconstruction; A is the horizontal force area (m 2 ), which can be obtained by collecting images through the camera, preprocessing the images, detecting the position and boundary box of the object, measuring the monitored object and calculating the area; H is the water depth (m), which is measured by the sonar equipment; H a The distance between the riprap point and the water surface is set by the operator; F g is the vertical gravity of the stone (kn), which is obtained by multiplying the weight by the acceleration due to gravity; F wx is the vertical water resistance of the stone (kn). The resistance during the falling process comes from the pressure difference between the lower and upper surfaces of the object F wx =(ρgh1-ρgh2)×A. If the volume and shape of the object remain unchanged, then F remains unchanged, so the net force on the object remains unchanged. The area and height of the object can be obtained through the above-mentioned image recognition technology; (4) Drift distance correction: After the drift distance calculation is corrected, the operating parameters of the floating crane equipment should be adjusted accordingly, including the boom length, the angle of the lifting equipment and the position of the floating crane vessel, to ensure that the rocks are accurately sunk to the predetermined position; (5) Post-sinking inspection: Use underwater monitoring equipment and sonar systems to collect real-time data on the sinking of rocks and obtain their precise location and status information after sinking; (6) Adjustment of placement: Based on the quality inspection results, position corrections are made to areas that do not meet the requirements to ensure that the stones are accurately placed in the correct position.

2. A method for rapid and accurate riprap damming in deep water according to claim 1, characterized in that: The dynamic positioning system is used to locate the position of the floating crane with high precision, ensuring the accuracy of the riprap position.

3. The method for rapid and accurate riprap damming in deep water according to claim 1 is characterized by: The sonar equipment is used for underwater topography measurement and real-time monitoring of the trajectory and position deviation of stone sinking.

4. The method for rapid and accurate riprap damming in deep water according to claim 1 is characterized by: The pan / tilt control submodule is used to control the angle and direction of the sonar equipment and other sensors to ensure accurate measurement data and real-time monitoring effects.

5. The method for rapid and accurate riprap damming in deep water according to claim 1 is characterized by: The construction preparation steps described in step (1) also include checking the size and quality of the riprap materials to ensure that they meet the design standards.

6. The method for rapid and accurate riprap damming in deep water according to claim 1 is characterized by: The post-sinking inspection step described in step (5) includes checking the key indicators of the stone's sinking density and position deviation to ensure that they meet the design requirements.

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