High-precision self-adjusting device and method for steel casing installation in torrential water flow

Abstract

The invention belongs to the technical field of bridge construction, and discloses a high-precision self-adjusting device and method for installing a steel casing in torrential water.The high-precision self-adjusting device comprises a supporting base, a circle center detection device, a plurality of initial positioner sets and a plurality of precise positioner sets, and each initial positioner comprises a sliding plate; guide grooves are formed in the supporting seat, and the sliding plate of each primary positioner extends into one guide groove; each fine positioner comprises a motor, a lead screw mechanism and a contact; the upper computer is connected with the circle center detection device and each motor so as to adjust the actual position of the center line of the steel casing, and the deviation between the actual position of the center line of the steel casing and the design position is within the set threshold value range. According to the method, through a dual positioning mechanism of initial positioning and fine positioning, inclination and deviation of the steel casing caused by installation deviation are effectively avoided, potential safety hazards of engineering quality and structure possibly caused by the installation deviation are reduced, and the overall safety of bridge construction is improved.

Description

Technical Field

[0001] This invention belongs to the field of bridge construction technology, and more specifically, relates to a high-precision self-adjusting device and method for installing steel casings in turbulent water flow. Background Technology

[0002] Casing piles, composed of multiple steel casings, play a crucial role in bridge construction. Especially in complex underwater pile operations, casing piles serve the following functions: borehole positioning, creating a watertight environment, preventing borehole collapse, providing necessary conditions for drilling and concrete pouring, protecting the pile foundation concrete, and resisting erosion. In modern bridge construction, with continuous technological advancements and increasingly stringent construction requirements, the installation technology of casing piles urgently needs innovation. Particularly in large-scale bridge projects, such as cross-sea bridges, deep-water bridges, and bridges over turbulent rivers, the installation accuracy of casing piles directly affects the overall construction quality and service life of the bridge.

[0003] In construction environments with turbulent water flow, the installation accuracy of casing piles directly affects the quality of bridge pile foundations and construction efficiency. However, due to the complexity of turbulent water flow, such as large variations in water velocity, unstable geological conditions, and frequent water level fluctuations, traditional casing pile installation methods often fail to meet the high-precision installation requirements.

[0004] In traditional casing pile installation, the centerline is typically measured and adjusted manually. This method is not only inefficient but also susceptible to human and environmental factors. For example, in areas with rapid water flow, the casing pile may shift or tilt during installation, leading to difficulties in subsequent construction. Furthermore, manual measurement has limited accuracy, often only measuring and adjusting the centerline of the above-water portion of the casing pile, making it difficult to ensure alignment of the centerlines of both the above-water and underwater portions with the design position. Manual measurement is also tedious, time-consuming, and labor-intensive. Deviations in casing pile installation can lead to pile tilting, reduced pile quality, and even compromise the structural safety of the entire bridge.

[0005] In the prior art, although some patent documents disclose positioning devices for the installation of casing piles, most of these devices only focus on the initial positioning of the casing piles. However, in the complex environment of turbulent water flow, they cannot monitor the positional deviation of the casing piles in real time and make dynamic adjustments. There is a lack of effective solutions for the precise positioning and dynamic adjustment of the casing piles. Summary of the Invention

[0006] In view of the above-mentioned defects or improvement needs of the prior art, the present invention provides a high-precision self-adjusting device and its adjustment method for installing steel casings in turbulent water flow. Through the dual mechanism of initial positioning and fine positioning, the centerline of the steel casing can be precisely adjusted to the deviation from the design position within a set threshold range, thereby improving the installation accuracy and construction efficiency of the steel casing.

[0007] To achieve the above objectives, according to one aspect of the present invention, a high-precision self-adjusting device for installing steel casings in turbulent water flow is provided, comprising a support base, a center detection device, multiple sets of initial positioners, and multiple sets of fine positioners, wherein: The support base has a receiving space for accommodating the steel casing; Multiple sets of the aforementioned initial positioner groups are arranged on the support base from top to bottom. Each set of the aforementioned initial positioner groups includes multiple initial positioners. Each initial positioner includes a horizontal sliding plate for receiving the limiting plate welded on the outer wall of the steel casing. Multiple sliding plates cooperate to receive the steel casing within the accommodating space. The support base is provided with a horizontal guide groove at the position corresponding to each slide. Each slide extends into a guide groove and is supported by the support base for horizontal movement. Each guide groove has a groove top wall for contacting the upper surface of the slide to limit the slide. Multiple sets of the aforementioned precision positioner groups are arranged on the support base from top to bottom. Each set of the precision positioner groups includes multiple precision positioners. Each precision positioner includes a motor, a lead screw mechanism, and a contact. The motor is connected to the contact through the lead screw mechanism to drive the contact to move, thereby allowing the contact to push the steel casing. The center detection device is installed on a support base or steel support structure, which is a steel trestle or steel platform. The host computer is connected to the center detection device and each motor respectively, so as to obtain the actual position of the center line of the steel casing through the center detection device, and control the motor to rotate to drive the contact to move based on the deviation between the actual position of the center line of the steel casing and the designed position of the center line of the steel casing, thereby adjusting the actual position of the center line of the steel casing, so that the deviation between the actual position of the center line of the steel casing and the designed position of the center line of the steel casing is within a set threshold range.

[0008] Preferably, the system also includes a total station for obtaining the design position of the centerline of the steel casing, the total station being connected to a host computer to transmit the design position of the centerline of the steel casing to the host computer.

[0009] Preferably, the center detection device includes a total station and / or a laser tracker, used to obtain the coordinates of multiple marker points on the outer wall of the steel casing and transmit them to the host computer, so that the host computer can obtain the position of the center of multiple sections of the steel casing through these marker points, and thus obtain the actual position of the center line of the steel casing. The center detection device is placed on the steel support structure.

[0010] Preferably, the center detection device includes multiple sets of laser measuring instruments arranged from top to bottom on the support base. Each set of laser measuring instruments contains at least three laser measuring instruments, and all the laser measuring instruments in each set are distributed on the same circle. Each laser measuring instrument is calibrated so that the host computer can obtain the center position of the cross-section of the steel casing through each set of laser measuring instruments, and thus obtain the actual position of the center line of the steel casing. The laser measuring instruments are laser rangefinders or laser line profilers.

[0011] Preferably, each of the initial positioning devices further includes a laser rangefinder and a skateboard drive mechanism respectively connected to the host computer. The skateboard drive mechanism is connected to the skateboard to drive the skateboard to move horizontally. The laser rangefinder is installed on the skateboard to detect the distance between the skateboard and the steel casing. After the skateboard and the steel casing reach a set distance, the laser rangefinder sends a signal to the host computer to stop the skateboard drive mechanism from driving the skateboard to move, so that the limiting plate on the steel casing can be placed on the skateboard.

[0012] Preferably, it also includes four electric winches arranged circumferentially around the center line of the steel casing, and these four electric winches are distributed in a rectangular pattern; The steel support structure has multiple steel pipe piles inserted into the seabed; Each of the electric winches is mounted on one of the steel support steel pipe piles, and each electric winch has a wire rope for fixed connection to a limiting plate welded to the outer wall of the steel casing, so as to apply tension to the casing pile to limit the casing pile, thereby preventing the casing pile from being deflected by the turbulent water flow and causing the center line of the casing pile to shift; wherein, the casing pile includes multiple steel casings welded together, and the limiting plate for fixed connection to the wire rope is provided with a connection hole, and the wire rope of each electric winch is hooked to the limiting plate by a hook so that the wire rope moves down with the casing pile.

[0013] Preferably, each of the electric winches has a self-locking device to prevent the casing pile from shaking due to the steel wire rope being pulled by the turbulent water flow.

[0014] Preferably, it also includes multiple tilt sensors and multiple underwater cameras; An encoder is installed on the shaft of the drive motor of each of the electric winches; Each of the steel wire ropes is equipped with a tilt sensor to obtain the tilt angle of the steel wire rope. Each of the underwater cameras is mounted on a steel support pipe pile to obtain the three-dimensional shape of the underwater part of the casing pile and send it to the host computer. The host computer obtains the actual position of the centerline of the underwater part of the casing pile. Based on the deviation between the actual position of the centerline of the underwater part of the casing pile and the designed position of the centerline of the underwater part of the casing pile, the host computer controls the electric winch to rotate so that the steel wire rope moves the underwater part of the casing pile, thereby adjusting the actual position of the centerline of the underwater part of the casing pile. Finally, the deviation between the actual position of the centerline of the underwater part of the casing pile and the designed position of the centerline of the underwater part of the casing pile is within a set threshold range.

[0015] Preferably, the slide plate is equipped with a pressure sensor connected to a host computer to detect the pressure applied to the slide plate by the limiting plate on the steel casing and transmit it to the host computer. The host computer controls the lifting of the lifting device of the crane holding the steel casing to ensure that the pressure applied to the slide plate by the limiting plate does not exceed the set value.

[0016] According to another aspect of the present invention, a self-adjusting method for the high-precision self-adjusting device for installing steel casings in turbulent water flow is also provided, comprising the following steps: 1) Obtain the design position of the centerline of the casing pile using a total station. The total station then sends the design position of the centerline of the steel casing to the host computer. The casing pile is made of multiple steel casings welded together. 2) Weld a limiting plate onto the outer wall of each steel casing, and the limiting plate of one of the steel casings has a connecting hole for connecting the wire rope. 3) Insert the support seat into the reserved opening of the steel support structure and fix the support seat on the steel support structure. Then, use the crane's lifting equipment to lift a section of steel casing into the space where the support seat can accommodate it. 4) The sliding plates of multiple initial positioners are used to support the limiting plate on the outer wall of the steel casing and keep the steel casing vertical. Then the crane's lifting device is separated from the steel casing. 5) The crane lifts another steel casing section above the steel casing section supported by the initial positioning device, and then the two steel casing sections are welded together. 6) The crane's spreader lifts the top steel casing, allowing the steel casing, which is being held by the initial positioner, to separate from the initial positioner. Then, the crane's spreader continues to lift the top steel casing and lowers it. 7) Repeat steps 4) to 6) until the limiting plate with the connection hole on the outer wall of the steel casing moves to the bottom of the support base. Then, fix the wire rope of each electric winch installed on the steel support structure to the limiting plate with the connection hole and let each wire rope descend with the steel casing. 8) Continue repeating steps 4) to 6) until the bottom of the lowest steel casing touches the underwater cover layer, then the assembly of the steel casing is finished, and all the steel casings together form a casing pile; 9) The crane lifts the uppermost steel casing, and the center line of the steel casing is adjusted by the cooperation of the precision locator, the center detection device and the electric winch. Finally, the deviation between the actual position of the center line of the steel casing and the design position of the center line of the steel casing is within the set threshold range. Then, the vibratory hammer is used to embed the casing pile into the underwater cover layer.

[0017] In summary, compared with the prior art, the above-described technical solutions conceived by this invention can achieve the following beneficial effects: 1) This invention discloses a high-precision self-adjusting device for installing steel casings in water. Through the coordinated action of a support base, a preliminary locator group, and a fine locator group, it enables the high-precision assembly of multiple steel casing sections into casing piles in complex underwater environments. The support base provides the structural foundation for the entire high-precision self-adjusting device, accommodating the steel casings and supporting other components. The preliminary locator group uses a sliding plate to support the limiting plate of the steel casing, initially ensuring the verticality of the steel casing and providing a foundation for subsequent precise positioning. The fine locator group uses a combination of a motor, a lead screw mechanism, and contacts to precisely adjust the position of the steel casing's centerline, ensuring that the centerline matches the designed position. The host computer acts as the control center, controlling the motor's operation in real time based on information from the center detection device, thus achieving dynamic adjustment of the steel casing's centerline.

[0018] 2) The present invention provides a high-precision self-adjusting device for the installation of steel casings in water, which significantly improves the installation accuracy: through the dual positioning mechanism of initial positioning and fine positioning, the center line of the steel casing can be precisely adjusted to a deviation from the design position within a set threshold range, overcoming the problem of insufficient accuracy of traditional manual measurement and mechanical adjustment methods, effectively avoiding the tilting and offset of the steel casing caused by installation deviation, reducing the structural safety hazards that may be caused by installation deviation, improving the overall safety of bridge construction, and providing a strong guarantee for the high-quality construction of bridge pile foundations.

[0019] 3) The present invention provides a high-precision self-adjusting device for the installation of steel casings in water. In complex underwater environments, such as turbulent water flow, unstable geological conditions, and frequent water level fluctuations, the device maintains the positional accuracy of the steel casing through real-time monitoring and dynamic adjustment. This solves the problem that existing equipment is prone to positioning drift and cannot adjust its position in real time in complex environments, thus ensuring the stability and reliability of the construction process.

[0020] 4) The present invention provides a high-precision self-adjusting device for installing steel casings in water. The introduction of automated control reduces the tedious manual operation. The coordinated work of the initial positioning device group, the fine positioning device group and the center detection device can quickly complete the positioning and adjustment of the steel casing, shorten the construction time, improve the construction efficiency and reduce the construction cost.

[0021] 5) This invention provides a high-precision self-adjusting device for installing steel casings in water. The limiting plate not only provides support, working in conjunction with the sliding plate in the initial positioner to ensure the verticality and stability of the steel casing during assembly, but also functions as a wire rope connector, eliminating the need for additional ear plates welded to the steel casing for wire rope connection. Specifically, when the steel casing is supported by the sliding plate of the initial positioner, the limiting plate can limit the position of the steel casing and bear its weight. When the limiting plate with connecting holes on the steel casing is lowered below the support base, the connecting holes on the limiting plate can connect to the wire rope of the electric winch, allowing the steel casing to be precisely positioned in turbulent water flow by the electric winch, while preventing the steel casing from shifting or tilting. This optimized design not only reduces material waste and construction complexity caused by additional welded ear plates, but also improves construction efficiency. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the high-precision self-adjusting device of the present invention, placed on a steel support structure, adjusting the center line of the casing pile; Figure 2 This is a front view of the high-precision self-adjusting device of the present invention; Figure 3 This is a schematic diagram of the initial positioner at the top of the high-precision self-adjusting device of the present invention receiving the steel casing. Figure 4 for Figure 1 A schematic diagram of the central AA line; Figure 5 This is a schematic diagram of the precision locator in this invention; Figure 6 This is a schematic diagram of the limiting plate connecting the four electric winches on the steel support structure to the steel casing in this invention; Figure 7 This is a schematic diagram of the limiting plate connecting the four electric winches to the steel casing of the present invention; Figure 8 A schematic diagram of multiple steel casings assembled into a casing pile; Figure 9 This is a schematic diagram of the construction process of the casing pile of the present invention.

[0023] In all the accompanying drawings, the same reference numerals denote the same technical features, specifically: 1. Support base; 2. Initial positioner; 21. Slide plate; 22. Slide plate drive mechanism; 100. Steel casing; 101. Limiting plate; 3. Precision positioner; 31. Motor; 32. Lead screw mechanism; 33. Contact; 11. Suspension frame; 12. Ladder; 200. Steel support structure; 201. Steel support pipe pile; 300. Water surface; 400. Covering layer; 500. Casing pile; 4. Laser measuring instrument; 5. Electric winch; 51. Steel wire rope; 6. Underwater camera. Detailed Implementation

[0024] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention. Furthermore, the technical features involved in the various embodiments of this invention described below can be combined with each other as long as they do not conflict with each other.

[0025] Reference Figures 1-8 A high-precision self-adjusting device for installing steel casings in turbulent water flow includes a support base 1, multiple sets of initial positioners and multiple sets of fine positioners.

[0026] Reference Figures 2-4 The support base 1 has a receiving space for accommodating the steel casing 100. The support base 1 is made of high-strength steel, which is connected together by welding and high-strength bolts. The high strength and high rigidity of the support base 1 and the sliding plate 21 must ensure that they can bear the load. Preferably, the support base 1 has a telescopic function, and its vertical length can be adjusted. This allows for a wider range of protection for the steel casing 100, adapting to different water flow conditions and improving the steel casing 100's ability to resist the impact of turbulent water flow.

[0027] Figures 3-5 The diagram shows how the initial positioning device group, the fine positioning device group, and the steel casing 100 work together to limit and support the upper part of the casing pile 500 composed of multiple steel casings 100 and adjust the center line position. The following is a detailed description.

[0028] Each set of initial positioners includes multiple initial positioners 2, and each initial positioner 2 includes a horizontal sliding plate 21 for receiving the limiting plate 101 welded to the outer wall of the steel casing 100. The limiting plate 101 welded to each steel casing 100 can be multiple spaced pieces, or the limiting plate 101 can be a single ring structure. Each sliding plate 21 receives the limiting plate 101, and the multiple sliding plates 21 cooperate to receive the steel casing 100 in the receiving space, keeping the steel casing 100 in the receiving space vertical, which facilitates the welding of multiple vertical steel casings 100 together to assemble them into a casing pile 500 and then driving it into the underwater cover layer.

[0029] If the weight of one or more steel casing sections 100 assembled together is not large, the sliding plate 21 can be used directly to support it. If the weight of one or more steel casing sections 100 assembled together is relatively large, a crane can be used to mainly support the steel casing section 100. The weight of the steel casing section 100 is mainly supported by the crane, and the sliding plate 21 does not bear much force. The sliding plate 21 supports the limiting plate 101 and mainly serves to limit the movement of the limiting plate 101. Therefore, it is necessary to ensure that the pressure exerted by the steel casing section 100 on the sliding plate 21 is not too large, so as not to damage the sliding plate 21 and the support base 1. The sliding plate 21 can be in direct contact with the limiting plate 101 or indirect contact with the limiting plate 101.

[0030] After the two sections of steel casing 100 are welded, a crane is needed to separate the sliding plate 21 from the limiting plate 101 so that the steel casing 100 can be lowered. The crane can be connected to the steel casing 100 and slightly lifted to separate the limiting plate 101 from the sliding plate 21, or the limiting plate 101 can remain in contact but the pressure applied to the sliding plate 21 should be minimal. Then, the sliding plate 21 can be moved away from the steel casing 100 to avoid the limiting plate 101, allowing the steel casing 100 to be lowered. With the sliding plate 21 of the initial positioning device 2 supporting the steel casing 100, after the steel casing 100 is supported by the initial positioning device 2, the lifting device at the top of the steel casing 100 can be separated from the steel casing 100 to lift the other section of steel casing 100 above the section supported by the sliding plate 21. The crane's lifting device will not interfere with the welding of the upper and lower sections of steel casing 100. If the initial positioner 2 does not support the steel casing 100, the steel casing 100 in the accommodating space of the support base 1 will need to be constantly suspended by the lifting equipment of the crane, which will affect the welding of the upper and lower sections of the steel casing 100.

[0031] The support base 1 is provided with a horizontal guide groove at the position corresponding to each of the slide plates 21. Each slide plate 21 extends into one of the guide grooves and is supported by the support base 1 for horizontal movement. Each guide groove has a groove top wall for contacting the upper surface of the slide plate 21 to limit its movement. When the slide plate 21 bears the weight of the steel casing 100, it tends to tilt upwards. The support base 1 and the slide plate 21 cooperate to bear the weight of the steel casing 100. The end of the slide plate 21 can contact the outer wall of the steel casing 100 to limit its radial movement and prevent the turbulent water flow from causing the steel casing 100 to shift or tilt horizontally.

[0032] Multiple sets of the precision locators are arranged from top to bottom on the support base 1, and each set of the precision locators includes multiple precision locators 3, as shown in the figure. Figure 5Each of the precision positioners 3 includes a motor 31, a lead screw mechanism 32, and a contact 33. The motor 31 is connected to the contact 33 via the lead screw mechanism 32 to drive the contact 33 to move and push the steel casing 100. If each group of precision positioners has four precision positioners 3, the four precision positioners 3 are preferably arranged in a square, that is, they are distributed at the four vertices of a square. An encoder is mounted on the shaft of the motor 31. The motor 31 is preferably a servo motor or a stepper motor. These two types of motors 31 have the characteristics of high precision, high response speed, and good control performance, which can meet the requirements of the precision positioner group to accurately adjust the steel casing 100. The servo motor and the stepper motor can accurately control the horizontal movement distance of the contact 33, ensuring that the deviation between the actual position and the design position of the center line of the steel casing 100 is within a set threshold range, thus achieving high-precision positioning adjustment.

[0033] The center detection device is installed on the support base 1 or the steel support structure 200, which is a steel trestle or steel platform. Multiple center detection devices can be arranged vertically to obtain the center of multiple parts of the steel casing 100.

[0034] The host computer is connected to the center detection device and each motor 31 respectively. The center detection device obtains the actual position of the centerline of the steel casing 100. Based on the deviation between the actual position and the designed position of the centerline of the steel casing 100, the host computer controls the motor 31 to rotate, driving the contact 33 to move, thereby adjusting the actual position of the centerline of the steel casing 100. Ultimately, the deviation between the actual position and the designed position of the centerline of the steel casing 100 is within a set threshold range. The center detection device can obtain the centers of multiple cross-sections of the steel casing 100 in real time. The host computer fits a straight line using these centers and uses this fitted line as the actual position of the centerline of the steel casing 100.

[0035] This invention requires ensuring that the actual position of the centerline of the steel casing 100 is within a predetermined cylindrical surface and does not exceed this surface. This ensures that deviations between the actual and designed positions of the centerline of the steel casing 100, such as angular deviations and horizontal displacement deviations, are within a predetermined threshold range. A center detection device detects the outer wall of the steel casing 100 and transmits the detection data to a host computer. The host computer can then fit the coordinates of the centers of multiple cross-sections of the steel casing 100 based on this detection data, and further fit the actual position of the centerline of the steel casing 100.

[0036] During construction, the support base 1 is fixed on the steel support structure 200, with the entire support base 1 positioned above the water surface 300. The steel support structure 200 has a reserved opening for accommodating the support base 1. This opening, as well as the accommodating space on the support base 1, is larger than the outer diameter of the steel casing 100. Therefore, during the installation of the steel casing 100, there may be a significant deviation between the actual centerline and the design centerline. Consequently, a preliminary locator 2 and a fine locator 3 are required for positioning.

[0037] Furthermore, it also includes a total station for obtaining the design position of the center of the steel casing 100, the total station being connected to the host computer to transmit the design position of the center of the steel casing 100 to the host computer.

[0038] The total station provides an accurate positioning reference for the entire self-adjusting equipment, enabling the host computer to make precise adjustments and controls based on the deviation between the designed and actual positions. The high-precision measurement function of the total station ensures the accuracy of the designed centerline position of the steel casing 100, providing reliable basic data for subsequent precise positioning and adjustment, further improving the installation accuracy of the steel casing 100. Accurate design position information of the steel casing 100 centerline allows the host computer to control the precision positioning unit more quickly and accurately for adjustments, reducing repetitive operations during the adjustment process, further shortening construction time and improving construction efficiency. Using a total station to determine the designed centerline position of the steel casing 100, as well as to locate and mark other marker points, is a standard measurement method for total stations and will not be elaborated upon here.

[0039] It is important to note that the host computer uses the data from the outer wall of the steel casing 100 returned by the center detection device to fit and obtain the center of the cross-section of the steel casing 100. The conventional fitting method for the host computer of the cross-section of the steel casing 100 is to fit it into a circle, and then obtain the coordinates of the center of the cross-section through the fitted circle. However, if the cross-section of the steel casing 100 is determined to be elliptical by visual inspection or simple inspection tools such as a caliper, the fitting method of the host computer is modified. The host computer then fits an ellipse to the cross-section of the steel casing 100 and then obtains the coordinates of the center.

[0040] Furthermore, the center detection device includes a total station and / or a laser tracker, used to obtain the coordinates of multiple marker points on the outer wall of the steel casing 100 and transmit them to a host computer. This allows the host computer to obtain the positions of the centers of multiple cross-sections of the steel casing 100 through these marker points, thereby obtaining the actual position of the centerline of the steel casing 100. The total station and laser tracker can be used individually or in combination, or individually or in combination. The host computer can fit the coordinates of the centers of multiple cross-sections of the steel casing 100 using the coordinates of the multiple marker points on the outer wall of the steel casing 100, and then fit the actual position of the centerline of the steel casing 100 using these center coordinates. The total station and laser tracker are generally placed on a steel platform or steel trestle, which is convenient for measuring the exposed parts of the steel casing 100.

[0041] Furthermore, refer to Figures 2-4 The center detection device includes multiple sets of laser measuring instruments arranged from top to bottom on the support base 1. Each set contains at least three laser measuring instruments 4, all of which are distributed on the same circle. Each laser measuring instrument 4 is calibrated so that the host computer can obtain the center position of the cross-section of the steel casing 100 through each set of laser measuring instruments, thereby obtaining the actual position of the centerline of the steel casing 100. The laser measuring instrument 4 is a laser rangefinder or a laser line profiler. The marker point at the top of the support base 1 can be calibrated using a total station and / or a laser tracker and sent to the host computer. The host computer stores the coordinates of the marker point. Then, based on the position of the marker point at the top of the support base 1 and the distance between the laser measuring instrument 4 and the marker point, the host computer obtains the position or coordinates of the laser measuring instrument 4, thus calibrating the laser measuring instrument 4 as well. The laser measuring instrument 4 is a laser rangefinder or a laser line profiler. The laser measuring device set is convenient for measuring the portion of the steel casing 100 that extends into the support base 1. It can be used in conjunction with a total station and / or a laser tracker to measure multiple cross-sections of the steel casing 100, obtain the centers of the multiple cross-sections, fit a straight line, and obtain the actual position of the centerline of the steel casing 100. The host computer can obtain the actual centerline of the steel casing 100 above the water surface by using the detection data from multiple sets of laser measuring devices.

[0042] If a laser rangefinder is selected as the laser measuring device 4, the host computer can fit the position (or coordinates) of the center of the cross-section on the steel casing 100 corresponding to the laser rangefinder based on the distance measured by the laser rangefinder to the outer wall of the steel casing 100. Through the data fed back by all the laser rangefinders arranged above and below, the host computer can fit the data of the center of multiple cross-sections of the steel casing 100. The host computer fits the actual position of the center line of the steel casing 100 based on the center of these cross-sections.

[0043] If the laser measuring device 4 is a line profiler, the host computer can obtain the profile data of the outer wall of the steel casing 100 based on the line profiler. The host computer can obtain the position (or coordinates) of the center of the cross-section on the steel casing 100 corresponding to the line profiler. Based on the data fed back by all the line profilers arranged above and below, the host computer can fit the data of the center of multiple cross-sections of the steel casing 100. The host computer can obtain (fit) the actual position of the center line of the steel casing 100 based on the center of these cross-sections.

[0044] Furthermore, the support base 1 has multiple first rollers at the bottom of the guide groove, and these first rollers support the slide plate 21. Each slide plate 21 has multiple second rollers on its upper surface, and the limiting plate 101 of the steel casing 100 is covered with mirror-finished stainless steel that contacts these second rollers. This structural design reduces the friction between the slide plate 21 and the support base 1 and the limiting plate 101, making the slide plate 21 move more smoothly during horizontal movement. The combination of rollers and mirror-finished stainless steel effectively reduces the frictional resistance of the slide plate 21 during movement, allowing the slide plate 21 to still separate from the limiting plate 101 even when the crane has lifted the steel casing 100 and the steel casing 100 still exerts significant pressure on the slide plate 21.

[0045] Furthermore, refer to Figure 3 , Figure 4 Each of the initial positioning devices 2 further includes a laser rangefinder and a slide plate drive mechanism 22, both connected to the host computer. The slide plate drive mechanism 22 is connected to the slide plate 21 to drive the slide plate 21 to move horizontally. The laser rangefinder is located at the end of the slide plate 21 near the steel casing 100 to detect the distance between the slide plate 21 and the steel casing 100. After the slide plate 21 and the steel casing 100 reach a set distance, the laser rangefinder sends a signal to the slide plate drive mechanism 22, causing the slide plate drive mechanism 22 to stop driving the slide plate 21 to move, so that the limiting plate 101 on the steel casing 100 can be placed on the slide plate 21. The slide plate drive mechanism 22 can be a pneumatic cylinder, a hydraulic cylinder, or an electric cylinder. The laser rangefinder can detect the distance between the slide plate 21 and the steel casing 100. When the set distance is reached, it sends a signal to the slide plate drive mechanism 22 to stop driving the slide plate 21 to move, so that the limiting plate 101 of the steel casing 100 can be accurately placed on the slide plate 21. The combination of the laser rangefinder and the sliding plate drive mechanism 22 enables automated control of the sliding plate 21's movement, reducing manual operation and improving the efficiency and accuracy of initial positioning. The automated initial positioning process reduces operator time, accelerates the installation of the steel casing 100, and improves construction efficiency. The addition of the laser rangefinder and the sliding plate drive mechanism 22 further enhances the intelligence of the entire self-adjusting device, enabling it to better adapt to the automated construction needs in complex environments.

[0046] Furthermore, refer to Figure 1 , Figure 2 The support base 1 has a suspension frame 11 at its top. After the support base 1 extends into the pre-reserved opening in the steel support structure 200 to accommodate it, the suspension frame 11 is placed on the steel support structure 200, thus suspending the entire support base 1 on the steel support structure 200. The suspension frame 11 is fixedly connected to the steel support structure 200, which is a steel trestle or steel platform. This connection method between the support base 1 and the steel support structure 200 ensures the stability and reliability of the support base 1, providing a solid support foundation for the installation of the steel casing 100. The cooperation between the suspension frame 11 and the pre-reserved opening ensures the rapid installation of the support base 1 on the steel support structure 200, and can withstand the weight of the steel casing 100 and various forces generated during construction, ensuring the normal operation of the entire self-adjusting equipment. The stable support base 1 provides a reliable installation foundation for the initial positioning unit and the fine positioning unit, reducing the positional deviation of the steel casing 100 caused by the instability of the support base 1, and improving the stability of the entire system. This connection method simplifies the installation process of the support base 1, making it easier for construction workers to quickly fix the support base 1 onto the steel support structure 200, thus improving construction efficiency.

[0047] Furthermore, the present invention also includes four electric winches 5 arranged circumferentially around the center line of the steel casing 100, and these four electric winches 5 are distributed in a rectangular pattern. Figure 6 , Figure 7 The diagram shows four electric winches working together to limit the position of the steel casing 100 and adjust the lower part of the casing pile 500, so that the center line of the lower part of the casing pile 500 also meets the design requirements. The following is a detailed description.

[0048] The steel support structure has multiple steel support pipe piles 201 inserted into the seabed.

[0049] Each of the electric winches 5 is mounted on one of the steel-supported steel pipe piles 201, and each electric winch 5 has a wire rope 51 fixedly connected to a limiting plate 101 welded to the outer wall of the steel casing 100. This wire rope applies tension to the casing pile 500 to limit its position, thereby preventing the casing pile 500 from being swayed by turbulent water flow and causing displacement of its centerline. The limiting plate 101 on the outer wall of the steel casing 100 can be welded on-site. See also... Figure 8The casing pile 500 includes multiple steel casings 100 welded together. Multiple limiting plates 101 are circumferentially arranged on the outer wall of the steel casings 100. After the limiting plates 101 on the steel casings 100 move below the support base 1, the wire rope 51 is connected to the limiting plate 101, so that the support base 1 and the wire rope 51 will not affect the normal lowering of the steel casing 100. The limiting plates 101 for fixed connection with the wire rope 51 are provided with connection holes. Each wire rope 51 of the electric winch 5 hooks onto one of the limiting plates 101 through a hook, allowing the wire rope 51 to move downwards with the casing pile 500. The hooks on the wire rope 51 are preferably automatic release devices (commonly used in lifting operations) to facilitate the separation of the hooks from the limiting plates 101, allowing the electric winch 5 to retrieve the wire rope 51. If an automatic release device is not used, manual or underwater robot unhooking is possible. A ladder 12 can be installed on the support base 1 to facilitate workers to hook the hook on the wire rope 51 of the electric winch 5 onto the limit plate 101.

[0050] The electric winch 5 significantly enhances the anti-drift capability of the steel casing 100 in water. In actual construction, turbulent water currents can exert enormous lateral forces on the steel casing 100, potentially causing it to tilt or shift. The electric winch 5's pulling force can adjust and counteract these lateral forces in real time, keeping the steel casing 100 consistently near its designed position. For example, during the construction of a cross-sea bridge, ocean currents can reach speeds of several meters per second, making traditional fixing methods difficult to withstand such water flow impacts, while the electric winch 5 of this invention can effectively address this challenge.

[0051] The circumferential arrangement of the electric winches 5 enables all-around positioning of the steel casing 100. The four electric winches 5 are evenly distributed around the centerline of the steel casing 100, ensuring that the steel casing 100 receives uniform tension in all directions. This uniform tension distribution improves the stability of the steel casing 100 and effectively prevents violent swaying of the steel casing 100 in turbulent water flow.

[0052] During the assembly of the steel casing 100, as new steel casing 100 segments are continuously added, the upper precision locator continuously monitors and adjusts the verticality and centerline position of the steel casing 100 to ensure accurate alignment between the new segments and the already installed parts. The lower electric winch dynamically adjusts the tension and wire rope length based on changes in the overall center of gravity of the steel casing 100 and the impact of water flow, maintaining the stability and designed position of the bottom of the steel casing 100. The upper computer integrates data from all sensors and coordinates the actions of the precision locator and the electric winch to achieve precise control of the casing pile 500 throughout its entire height range.

[0053] Once the bottom of one of the lower steel casings 100 of the casing pile 500 contacts the underwater cover layer 400, a crane lifts the uppermost steel casing 100. The precision locator, center detection device, and electric winch then work together to make final fine adjustments to the centerline of the steel casing 100. After adjustment, a vibratory hammer is used to embed the casing pile 500 into the cover layer 400, completing the installation of the casing pile 500.

[0054] During the installation of the steel casing 100, the upper precision locator 3 and the lower electric winch 5 work together to accurately adjust the centerline of the casing pile 500. By precisely controlling multiple positions of the casing pile 500 in the vertical direction, the installation accuracy is ensured to meet design requirements. Specifically, the precision locator 3 is mainly responsible for the precise positioning of the portion of the casing pile 500 above the water surface, while the electric winch 5 controls the position of the casing pile 500 below the water surface. The two work together to ensure that the deviation of the centerline of the entire casing pile 500 from the design position is within a set threshold range. This is because if the length of the casing pile 500 is relatively large, the center detection device above the water surface will only detect the center of one segment of the casing pile 500. As the length of the casing pile 500 extends downwards, the center line of the casing pile 500 above the water surface may be within the deviation range, while the center line of the underwater part of the casing pile 500 may exceed the deviation. Therefore, the underwater part of the casing pile 500 also needs to be adjusted by combining electric winches, tilt sensors, and encoders to adjust the center line of the underwater part of the casing pile 500.

[0055] Furthermore, each of the electric winches 5 has a self-locking device to prevent the casing pile 500 from shaking due to the pulling of the wire rope 51 under turbulent water flow.

[0056] The self-locking device significantly improves the stability of the casing pile 500. In actual construction, turbulent water flow may suddenly increase the lateral force on the steel casing 100, causing the wire rope 51 to loosen or the casing pile 500 to shift. The self-locking device can quickly lock the wire rope 51 when it detects such an anomaly, ensuring that the position of the casing pile 500 remains unchanged.

[0057] The self-locking device improves construction safety. During the sinking of the steel casing 100, if the wire rope 51 of the electric winch accidentally loosens, the casing pile 500 may shake violently, endangering the safety of construction personnel and equipment. The self-locking device can effectively prevent this from happening.

[0058] The self-locking device also extends the service life of the equipment. Frequent water flow impacts and loosening of the wire rope 51 can cause accelerated wear on the mechanical parts of the electric winch and other related equipment. The self-locking device reduces this unnecessary movement, thus reducing equipment wear.

[0059] Furthermore, it also includes multiple tilt sensors and multiple underwater cameras.

[0060] An encoder is installed on the shaft of the drive motor of each of the electric winches 5.

[0061] Each of the steel wire ropes 51 is equipped with a tilt sensor to obtain the tilt angle of the steel wire rope 51. Each of the underwater cameras 6 is mounted on a steel support pipe pile 201 to obtain the three-dimensional shape of the underwater portion of the casing pile 500 and send it to the host computer. The host computer then obtains the actual position of the centerline of the underwater portion of the casing pile 500. Based on the deviation between the actual position and the designed position of the underwater centerline of the casing pile 500, the host computer controls the rotation of the electric winch to move the underwater portion of the casing pile 500 using the wire rope 51, thereby adjusting the actual position of the underwater centerline of the casing pile 500. Ultimately, the deviation between the actual position and the designed position of the underwater centerline of the casing pile 500 is kept within a set threshold range. The underwater cameras 6 can use high-precision cameras to obtain high-definition images. Preferably, a lidar system can be used in conjunction with the underwater cameras 6 to obtain a more accurate centerline position. Multiple sets of underwater cameras 6 can be set vertically, with each set arranged circumferentially.

[0062] The combination of tilt sensor, encoder, and underwater camera 6 provides comprehensive monitoring and control functions for the underwater portion of the steel casing 100. This design allows construction personnel to monitor the underwater status of the casing pile 500 in real time and make precise adjustments. The combination of tilt sensor and encoder can accurately measure the tilt angle and length changes of the wire rope 51. The application of underwater camera 6 provides construction personnel with intuitive visual feedback. Through the images transmitted by the camera, the host computer can obtain the three-dimensional shape of the underwater portion of the casing pile 500, including its deviation from the design position.

[0063] Specifically, the process of adjusting the extension length of the wire rope 51, thereby adjusting the centerline of the steel casing 100, by coordinating the encoder, tilt sensor, and camera is as follows: 1) The encoder is installed on the drive motor shaft of the electric winch 5. When the wire rope 51 is wound up or down, the motor rotates and drives the encoder to operate, which generates pulse signals that are transmitted to the host computer. The host computer accurately calculates the extension length of the wire rope 51 based on the encoder pulse count and the parameters of the wire rope 51 (such as the pitch of the wire rope 51 wound on the drum of the electric winch).

[0064] 2) The tilt sensor is mounted on the wire rope 51, which can measure the tilt angle of the wire rope 51 in real time and transmit the data to the host computer. Combined with the encoder data, the host computer accurately calculates the spatial position of the wire rope 51.

[0065] 3) The underwater camera 6 is mounted on the steel support steel pipe pile 201 to capture images of the underwater portion of the casing pile 500 from all angles, transmitting the images and video data to the host computer in real time. The host computer uses image processing algorithms to construct the underwater three-dimensional shape of the casing pile 500, and combines the encoder and tilt sensor data to accurately determine the actual position of the centerline of the casing pile 500.

[0066] 4) The host computer receives data from the encoder, tilt sensor, and camera, and compares the actual and designed positions of the center line of the casing pile 500. Based on the deviation, the host computer runs the control algorithm to calculate the extension length of the adjustment wire rope 51, and precisely controls the adjustment length of the electric winch 5, thereby achieving high-precision adjustment of the center line of the casing pile 500.

[0067] Furthermore, a pressure sensor connected to a host computer is installed on the slide plate 21 to detect the pressure exerted on the slide plate 21 by the limiting plate 101 on the steel casing 100 and transmit it to the host computer. The host computer then controls the crane suspending the steel casing 100 to operate, ensuring that the pressure exerted on the slide plate 21 by the limiting plate 101 is less than a set threshold, thereby protecting the slide plate 21 and the limiting plate 101 from damage. By monitoring the pressure value in real time and controlling the crane, the pressure exerted on the slide plate 21 by the limiting plate 101 is ensured to be within a safe range, preventing deformation of the slide plate 21 or damage to the limiting plate 101 due to excessive pressure, thus extending the service life of the equipment and the steel casing 100. The addition of the pressure sensor enables the host computer to precisely control the lifting force of the crane, achieving refined construction control and further improving construction quality. Through pressure monitoring and control, construction interruptions caused by equipment damage are reduced, enhancing the reliability of the entire self-regulating equipment.

[0068] Furthermore, the sliding plate 21 is a side plate of an I-beam, wherein the I-beam has two side plates and an intermediate connecting plate connecting the two side plates, and the support base 1 is provided with an I-beam groove to facilitate the movement of the I-beam, and the guide groove is a channel of the I-beam groove.

[0069] This structural design improves the load-bearing capacity and movement stability of the sliding plate 21, while simplifying the structural design of the support base 1. The structural characteristics of the I-beam give it high strength and load-bearing capacity, enabling it to better withstand the weight of the steel casing 100 and various forces generated during construction, ensuring the stability and reliability of the sliding plate 21. The I-beam groove design provides stable guidance for the movement of the sliding plate 21, reducing swaying and offset during movement, and improving the movement accuracy and stability of the sliding plate 21. The use of the I-beam and I-beam groove structural design simplifies the structure of the support base 1, reduces manufacturing costs and installation difficulty, and improves the economy and practicality of the entire self-adjusting device. The high load-bearing capacity and movement stability of the sliding plate 21 further enhance the performance of the entire self-adjusting device, enabling it to better adapt to the installation requirements of the steel casing 100 in complex construction environments.

[0070] Reference Figure 9 According to another aspect of the present invention, a self-adjustment method for a high-precision self-adjusting device for installation in a steel casing in turbulent water flow is also provided, comprising the following steps: 1) The design position of the centerline of the casing pile 500 is obtained using a total station, and the total station sends the design position of the centerline of the casing pile 500 to the host computer. Specifically, according to the design drawings, the surveyor uses a total station to lay out the lines on the steel support structure 200, and uses the total station to measure and locate the pile position of the casing pile 500. At the same time, workers assemble the support seat 1 on the steel support structure 200. The assembled support seat 1 is shown in [reference needed]. Figure 2 Multiple sets of initial positioning devices and multiple sets of fine positioning devices are fixedly installed on the support base 1. The multiple sets of initial positioning devices are arranged vertically on the support base 1, and the multiple sets of fine positioning devices are also arranged vertically on the support base 1.

[0071] 2) Weld a limiting plate 101 to the outer side wall of each steel casing 100, and the limiting plate 101 on the outer side wall of one of the steel casings 100 has a connecting hole for connecting the wire rope 51.

[0072] 3) See Figure 3 , Figure 4 The support seat 1 is inserted into the reserved opening of the steel support structure 200 and fixed to the steel support structure 200. Then, the crane operator uses the crane to lift a section of steel casing 100 into the receiving space of the support seat 1. Some support rods can be welded to the inner cavity of one end of the steel casing 100 so that the crane's lifting device can hold these support rods, or some lifting lugs can be welded to the outer wall of the steel casing 100 so that the crane's lifting device can hold these lifting lugs. The only requirement is that the crane's lifting device can hold the steel casing 100.

[0073] 4) See Figure 3 , Figure 4The limit plate 101 on the outer wall of the steel casing 100 is supported by the sliding plate 21 of the multiple initial positioners 2, and the steel casing 100 is kept vertical. Then the lifting device of the crane is separated from the steel casing 100 supported by the initial positioner 2.

[0074] 5) The crane operator uses the crane to lift another section of steel casing 100 above the steel casing 100 supported by the initial positioning device 2. Then, the worker stands on the steel support structure 200 and assembles the two sections of steel casing 100 together by welding.

[0075] 6) After the two steel casings 100 are welded, the crane's lifting device lifts the steel casing 100, allowing the steel casing 100, which is supported by the initial positioner 2, to separate from the initial positioner 2. Then, the crane's lifting device continues to lift the steel casing 100 and lowers it. Subsequently, the initial positioner 2 supports the limiting plate 101 on the outer wall of the uppermost steel casing 100.

[0076] 7) Repeat steps 4) to 6) until the limiting plate 101 with the connection hole on the outer wall of the steel casing 100 moves below the support base 1. Then connect the wire rope 51 of the electric winch 5 installed on the steel support steel pipe pile 201 to the limiting plate 101 with the connection hole on the outer wall of the steel casing 100, and let each wire rope 51 descend with the steel casing 100.

[0077] 8) Repeat steps 4) to 6) until the bottom of one of the steel casings 100 at the bottom of the casing pile 500 contacts the underwater cover layer 400. Then the assembly of the steel casings 100 is complete. All the steel casings 100 together form a casing pile 500. See [link / reference]. Figure 8 Multiple steel casings, each 100mm long, form a casing pile of 500mm.

[0078] 9) Use a crane to lift the casing pile 500. Adjust the centerline position of the steel casing 100 using the precision locator 3, center detection device, and electric winch 5. Ensure the deviation between the actual position and the designed centerline position of the steel casing 100 is within a set threshold range. Then, use a vibratory hammer to embed the casing pile 500 into the overburden layer 400. (See below) Figure 1Through the coordination of the precision locator 3, the center detection device, and the electric winch 5, the bottom end of the casing pile 500 is finally embedded into the covering layer 400. Then, the wire rope 51 of the electric winch is separated from the steel casing 100. If the casing pile 500 is embedded too deeply into the covering layer 400, a vibratory hammer can be used to drive the casing pile 500 to the set depth after the wire rope 51 is separated from the steel casing 100. It should be noted that the vibratory hammer exerts considerable force during actual operation. When encountering boulders or large boulders, the casing pile 500 may tilt. Therefore, during and after the vibratory sinking process, the verticality should be checked again. If deviation or tilting occurs, appropriate measures must be taken. Minor deviations can be adjusted by the equipment; larger deviations require the casing pile 500 to be pulled out, the boulders removed, and the casing pile 500 re-sinked for re-checking. This method is particularly suitable for applications involving high steel platforms or deep water.

[0079] Furthermore, the welds between any two adjacent steel casing sections 100 are fully welded using a double-bevel joint, and the weld joints are reinforced with steel plates. Additionally, the cutting edge and top of the steel casing 100 are also reinforced with steel plates. This welding method improves the strength and quality of the weld, enhancing the overall structural stability of the steel casing 100. The double-bevel full weld ensures the quality of the weld filling, giving the weld sufficient strength and toughness to withstand various forces generated during construction and reducing the risk of weld cracking. The steel plate reinforcement further enhances the weld's load-bearing capacity, improves the overall structural stability of the steel casing 100, and ensures its stability in complex underwater environments, providing reliable guidance for subsequent pile construction. High-quality welds effectively prevent damage to the steel casing 100 due to weld corrosion or cracking, extending its service life and reducing construction costs.

[0080] Those skilled in the art will readily understand that the above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A high-precision self-adjusting device for installing steel casings in turbulent water flow, characterized in that, It includes a support base, a center detection device, multiple sets of initial positioners, and multiple sets of fine positioners, wherein: The support base has a receiving space for accommodating the steel casing; Multiple sets of the aforementioned initial positioner groups are arranged on the support base from top to bottom. Each set of the aforementioned initial positioner groups includes multiple initial positioners. Each initial positioner includes a horizontal sliding plate for receiving the limiting plate welded on the outer wall of the steel casing. Multiple sliding plates cooperate to receive the steel casing within the accommodating space. The support base is provided with a horizontal guide groove at the position corresponding to each slide. Each slide extends into a guide groove and is supported by the support base for horizontal movement. Each guide groove has a groove top wall for contacting the upper surface of the slide to limit the slide. Multiple sets of the aforementioned precision positioner groups are arranged on the support base from top to bottom. Each set of the precision positioner groups includes multiple precision positioners. Each precision positioner includes a motor, a lead screw mechanism, and a contact. The motor is connected to the contact through the lead screw mechanism to drive the contact to move, thereby allowing the contact to push the steel casing. The center detection device is installed on a support base or steel support structure, which is a steel trestle or steel platform. The host computer is connected to the center detection device and each motor respectively, so as to obtain the actual position of the center line of the steel casing through the center detection device, and control the motor to rotate to drive the contact to move based on the deviation between the actual position of the center line of the steel casing and the designed position of the center line of the steel casing, thereby adjusting the actual position of the center line of the steel casing, so that the deviation between the actual position of the center line of the steel casing and the designed position of the center line of the steel casing is within a set threshold range.

2. The high-precision self-adjusting device for installing steel casings in turbulent water flow according to claim 1, characterized in that, It also includes a total station for obtaining the design position of the centerline of the steel casing, which is connected to a host computer to transmit the design position of the centerline of the steel casing to the host computer.

3. The high-precision self-adjusting device for installing steel casings in turbulent water flow according to claim 1, characterized in that, The center detection device includes a total station and / or a laser tracker, used to obtain the coordinates of multiple marker points on the outer wall of the steel casing and transmit them to the host computer, so that the host computer can obtain the position of the center of multiple sections of the steel casing through these marker points, and thus obtain the actual position of the center line of the steel casing. The center detection device is placed on the steel support structure.

4. The high-precision self-adjusting device for installing steel casings in turbulent water flow according to claim 1, characterized in that, The center detection device includes multiple sets of laser measuring instruments arranged from top to bottom on the support base. Each set of laser measuring instruments contains at least three laser measuring instruments, and all the laser measuring instruments in each set are distributed on the same circle. Each laser measuring instrument is calibrated so that the host computer can obtain the center position of the cross-section of the steel casing through each set of laser measuring instruments, and thus obtain the actual position of the center line of the steel casing. The laser measuring instruments are laser rangefinders or laser line profilers.

5. The high-precision self-adjusting device for installing steel casings in turbulent water flow according to claim 1, characterized in that, Each of the initial positioning devices also includes a laser rangefinder and a skateboard drive mechanism, which are respectively connected to the host computer. The skateboard drive mechanism is connected to the skateboard to drive the skateboard to move horizontally. The laser rangefinder is installed on the skateboard to detect the distance between the skateboard and the steel casing. After the skateboard and the steel casing reach a set distance, the laser rangefinder sends a signal to the host computer to stop the skateboard drive mechanism from driving the skateboard to move, so that the limiting plate on the steel casing can be placed on the skateboard.

6. The high-precision self-adjusting device for installing steel casings in turbulent water flow according to claim 1, characterized in that, It also includes four electric winches arranged circumferentially around the center line of the steel casing, and these four electric winches are distributed in a rectangular pattern; The steel support structure has multiple steel pipe piles inserted into the seabed; Each of the electric winches is mounted on one of the steel support steel pipe piles, and each electric winch has a wire rope for fixed connection to a limiting plate welded to the outer wall of the steel casing, so as to apply tension to the casing pile to limit the casing pile, thereby preventing the casing pile from being deflected by the turbulent water flow and causing the center line of the casing pile to shift; wherein, the casing pile includes multiple steel casings welded together, and the limiting plate for fixed connection to the wire rope is provided with a connection hole, and the wire rope of each electric winch is hooked to the limiting plate by a hook so that the wire rope moves down with the casing pile.

7. The high-precision self-adjusting device for installing steel casings in turbulent water flow according to claim 6, characterized in that, Each of the electric winches is equipped with a self-locking device to prevent the casing pile from shaking due to the steel wire rope being pulled by the turbulent water flow.

8. The high-precision self-adjusting device for installing steel casings in turbulent water flow according to claim 6, characterized in that, It also includes multiple tilt sensors and multiple underwater cameras; An encoder is installed on the shaft of the drive motor of each of the electric winches; Each of the steel wire ropes is equipped with a tilt sensor to obtain the tilt angle of the steel wire rope. Each of the underwater cameras is mounted on a steel support pipe pile to obtain the three-dimensional shape of the underwater part of the casing pile and send it to the host computer. The host computer obtains the actual position of the centerline of the underwater part of the casing pile. Based on the deviation between the actual position of the centerline of the underwater part of the casing pile and the designed position of the centerline of the underwater part of the casing pile, the host computer controls the electric winch to rotate so that the steel wire rope moves the underwater part of the casing pile, thereby adjusting the actual position of the centerline of the underwater part of the casing pile. Finally, the deviation between the actual position of the centerline of the underwater part of the casing pile and the designed position of the centerline of the underwater part of the casing pile is within a set threshold range.

9. The high-precision self-adjusting device for installing steel casings in turbulent water flow according to claim 1, characterized in that, The slide plate is equipped with a pressure sensor connected to the host computer to detect the pressure applied to the slide plate by the limiting plate on the steel casing and transmit it to the host computer. The host computer controls the lifting of the crane lifting the steel casing to ensure that the pressure applied to the slide plate by the limiting plate does not exceed the set value.

10. The self-adjustment method of the high-precision self-adjusting device for installing steel casings in turbulent water flow as described in any one of claims 1 to 9, characterized in that, Includes the following steps: 1) Obtain the design position of the centerline of the casing pile using a total station. The total station then sends the design position of the centerline of the steel casing to the host computer. The casing pile is made of multiple steel casings welded together. 2) Weld a limiting plate onto the outer wall of each steel casing, and the limiting plate of one of the steel casings has a connecting hole for connecting the wire rope. 3) Insert the support seat into the reserved opening of the steel support structure and fix the support seat on the steel support structure. Then, use the crane's lifting equipment to lift a section of steel casing into the space where the support seat can accommodate it. 4) The sliding plates of multiple initial positioners are used to support the limiting plate on the outer wall of the steel casing and keep the steel casing vertical. Then the crane's lifting device is separated from the steel casing. 5) The crane lifts another steel casing section above the steel casing section supported by the initial positioning device, and then the two steel casing sections are welded together. 6) The crane's spreader lifts the top steel casing, allowing the steel casing, which is being held by the initial positioner, to separate from the initial positioner. Then, the crane's spreader continues to lift the top steel casing and lowers it. 7) Repeat steps 4) to 6) until the limiting plate with the connection hole on the outer wall of the steel casing moves to the bottom of the support base. Then, fix the wire rope of each electric winch installed on the steel support structure to the limiting plate with the connection hole and let each wire rope descend with the steel casing. 8) Continue repeating steps 4) to 6) until the bottom of the lowest steel casing touches the underwater cover layer, then the assembly of the steel casing is finished, and all the steel casings together form a casing pile; 9) The crane lifts the uppermost steel casing, and the center line of the steel casing is adjusted by the cooperation of the precision locator, the center detection device and the electric winch. Finally, the deviation between the actual position of the center line of the steel casing and the design position of the center line of the steel casing is within the set threshold range. Then, the vibratory hammer is used to embed the casing pile into the underwater cover layer.

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