Gabion construction equipment and construction method

Abstract

The present invention relates to the technical field of water conservancy engineering, and in particular to a device for gabion construction, comprising a delivery unit, a correction unit, a collection unit and a central control unit. The present invention selects the operating state of a riprap ship for riprap operation through the central control unit to determine whether to connect the gabion with the correction steel cable, and is provided with a camera device to detect the real-time motion trajectory and real-time motion posture of the gabion. A detector is provided to enable the central control unit to generate a preset motion trajectory according to preset river channel characteristics, and the operating state of the correction unit is adjusted to reduce the degree to which the real-time motion trajectory of the gabion deviates from the preset motion trajectory to ensure effective riprap. The real-time motion trajectory of the gabion is adjusted by controlling the contraction of the correction steel cable or adjusting the moving direction of the slider, and the real-time motion posture of the gabion during the landing process is adjusted by controlling the contraction of each correction steel cable, so that the gabion lands at a preset position, thereby improving the accuracy of riprap.

Description

Technical Field

[0001] The invention relates to the technical field of water conservancy engineering, and in particular to equipment and a method for gabion construction. Background Art

[0002] Gabions are cages filled with stones that are set up to prevent river banks or structures from being eroded by water. They have become the preferred structural type for protecting riverbeds, controlling landslides, preventing mud and rock flows, and preventing falling rocks while taking into account environmental protection worldwide. As a common underwater bottom protection construction technology, stone throwing on water is widely used in the construction of water transport regulation projects. The main methods of stone throwing on water include excavator stone throwing, deep-tank barge stone throwing, floating crane stone throwing and net bag stone throwing. Due to the limitations of construction water depth and equipment cost, excavator stone throwing is widely used because it is applicable to a wide range of water depth conditions. The existing excavator stone throwing method uses an ordinary excavator to directly board a stone transport ship for throwing operations. Although it can meet the requirements of stone throwing operations to a certain extent, it still has disadvantages such as unsafe construction operations, low construction efficiency, and inability to accurately control the stone throwing position.

[0003] Chinese patent publication number: CN115748724A, discloses a quantitative stone throwing ship and a stone throwing method thereof, the technical point of which is to provide a quantitative stone throwing ship, including a hull, a plurality of quantitative stone conveying troughs are distributed on the deck surface of the hull, a stone conveying shaft is arranged in the quantitative stone conveying trough, a quantitative conveying screw is arranged on the stone conveying shaft, the stone conveying shaft is connected with a stone conveying motor through a transmission mechanism, a stone measuring bin is arranged on the hull and at one end close to the quantitative stone conveying trough, a stone inlet connected to the quantitative stone conveying trough is arranged on the top of the stone measuring bin, a stone throwing port is arranged at the bottom of the stone measuring bin, and a throwing control door panel is arranged at the stone throwing port, which has the characteristics of high degree of automation, convenient operation, reduced labor, more safe and reliable, reduced labor cost, improved work efficiency, and realized the fixed-point and quantitative throwing of stones; it can be seen that in the existing stone throwing construction technology, due to the influence of environmental factors, it is impossible to accurately locate the stone throwing position and calculate the effective stone throwing amount, and there is a problem of poor stone throwing accuracy. Summary of the invention

[0004] To this end, the present invention provides a gabion construction device and a construction method, so as to overcome the problem in the prior art that the stone throwing position cannot be accurately located due to the influence of environmental factors, resulting in poor stone throwing accuracy.

[0005] To achieve the above object, the present invention provides a gabion construction device, comprising:

[0006] The delivery unit comprises a plurality of gabion delivery bins which are arranged at equal intervals on the riprap pontoon and a riprap boat which is fixedly connected to the riprap pontoon. Any gabion delivery bin comprises a side wall and a bottom plate. A hydraulic cylinder is arranged on one side of any gabion delivery bin. The hydraulic cylinder is used to drive the bottom plate to flip downward or upward by retracting or extending a hydraulic rod. Any gabion delivery bin is provided with a gabion for loading stones.

[0007] A correction unit, comprising a plurality of correction steel cables and a plurality of sliders with winches mounted on a slide rail, wherein one end of any correction steel cable is connected to the gabion, and the other end is connected to the winch, and any slider can move along the slide rail to adjust the real-time motion trajectory and real-time motion posture of the gabion during its descent, and the winch is used to adjust the real-time motion trajectory of the gabion during its descent by shortening or lengthening the correction steel cable;

[0008] The acquisition unit includes a detector, a camera device and a tension sensor. The detector is used to detect the real-time water flow velocity, the real-time water level height and the real-time travel speed of the riprap ship in the preset construction area. The camera device is used to capture the real-time motion trajectory and real-time motion posture of the gabion during the falling process. The tension sensor is used to detect the real-time cable tension of the correction cable.

[0009] A central control unit is connected to the delivery unit, the correction unit and the acquisition unit respectively, and the central control unit can select the motion state of the riprap ship when performing riprap operation, and determine whether to connect the gabion to the correction cable; the central control unit can generate a preset motion trajectory according to the parameters of the preset construction area when the riprap ship is in the driving state and performing riprap operation; the central control unit can calculate the real-time horizontal displacement according to the real-time motion trajectory of the gabion, and calculate the relative horizontal displacement according to the standard horizontal displacement, and when it is determined that the absolute value of the relative horizontal displacement is greater than the standard throwing error displacement, adjust the sliding direction of the slider and control the winch to retract the correction cable; the central control unit can calculate the axis deflection angle according to the real-time motion posture of the gabion, and when it is determined that the axis deflection angle is less than 45°, control the winch to retract the correction cable; the central control unit can also control the winch to retract the correction cable when the gabion falls to the bottom of the river.

[0010] Furthermore, the riprap pontoon can perform riprap operations at the initial throwing position in a moored state, and can also perform riprap operations in a driving state; when the riprap ship performs riprap operations in a moored state, the central control unit will control the hydraulic cylinder to retract the hydraulic rod to drive the bottom plate to flip downward to form a leak, and the gabion will fall through the leak; when the riprap ship performs riprap operations in a driving state, the correction steel cable will be connected to the gabion, and the central control unit will control the hydraulic cylinder to retract the hydraulic rod to drive the bottom plate to flip downward to form a leak, and the gabion will fall through the leak.

[0011] Furthermore, when the riprap boat is performing riprap operations in a driving state, the central control unit can obtain a preset riprap position, a real-time driving speed, a real-time water flow speed, and a real-time water level, calculate the gabion falling time according to the acquired real-time water level, determine the initial riprap position according to the real-time driving speed, the real-time water flow speed, and the gabion falling time, and obtain the weight and volume of the gabion to generate a preset motion trajectory. When the riprap boat moves to the initial riprap position, the gabion falls through the leak.

[0012] Furthermore, a standard throwing error displacement is provided in the central control unit. When the riprap boat moves to the initial throwing position for throwing operation, the camera device is turned on, and the acquisition unit obtains the real-time motion trajectory and real-time motion posture of the gabion. The central control unit calculates the real-time horizontal displacement of the gabion according to the real-time motion trajectory of the gabion, and obtains the preset horizontal displacement of the gabion at the current moment in the preset motion trajectory, and uses the preset horizontal displacement as the standard horizontal displacement. The central control unit calculates the absolute value of the current relative horizontal displacement of the gabion |ΔXs| according to the real-time horizontal displacement and the standard horizontal displacement, and the central control unit determines the relative horizontal displacement according to the standard throwing error displacement.

[0013] If the absolute value of the relative horizontal displacement is greater than the standard throwing error displacement, the central control unit will adjust the operating state of the correction unit;

[0014] If the absolute value of the relative horizontal displacement is less than or equal to the standard throwing error displacement, the central control unit does not adjust the operating state of the correction unit;

[0015] Among them, ΔXs=Xs-Xc, ΔXs represents the relative horizontal displacement, Xs represents the real-time horizontal displacement of the gabion, and Xc represents the standard horizontal displacement of the gabion.

[0016] Furthermore, the real-time sliding distance of the slider on the slide rail is the real-time horizontal displacement of the gabion. When the central control unit determines that the absolute value of the relative horizontal displacement is greater than the standard casting error displacement, it obtains the relative horizontal displacement of the gabion and determines whether the relative horizontal displacement is positive or negative.

[0017] If the relative horizontal displacement is positive, the central control unit will control the slider to move toward the stern of the riprap ship to a corrected sliding distance X'=Xs-Xc;

[0018] If the relative horizontal displacement is a negative value, the central control unit will control the sliding block to move toward the bow direction of the riprap ship to a corrected sliding distance X'=Xc-Xs.

[0019] Furthermore, a standard steel cable tension is provided in the central control unit. When the central control unit determines that the absolute value of the relative horizontal displacement is greater than the standard casting error displacement and controls the movement of the slider, the relative horizontal displacement of the gabion is obtained, and the correction steel cable tension is calculated according to the relative horizontal displacement. The central control unit controls the winch to retract the correction steel cable to Lb'.

[0020] Among them, Fb'=Fb×[1+|ΔXs| / Xc)], ΔXs is the relative horizontal displacement of the gabion, Fb' is the correction cable tension, Fb is the standard cable tension, and Lb'=Lb×[1-(Fb'-Fb) / Fb].

[0021] Furthermore, when the gabion starts to fall, the acquisition unit acquires the initial posture of the gabion at the current moment, and the central control unit uses the initial posture of the gabion as the standard motion posture. When the acquisition unit obtains the real-time motion posture of the gabion, the central control unit calculates the axis deflection angle of the gabion according to the standard motion posture, and determines the axis deflection angle.

[0022] If the axis deflection angle is greater than or equal to 45°, the central control unit does not adjust the real-time motion posture of the gabion;

[0023] If the axis deflection angle is less than 45°, the central control unit will adjust the operating state of the correction unit.

[0024] Furthermore, when the central control unit determines that the axial deflection angle of the gabion is less than 45°, the real-time cable length of each correction cable is obtained and compared; when the central control unit determines that the real-time cable length of any correction cable of the gabion is greater than that of another correction cable, the real-time cable length value of each correction cable is obtained, the relatively small value of the real-time cable length is recorded as the correction cable length, and the winch is controlled to retract each correction cable to the correction cable length.

[0025] Furthermore, any one of the correction steel cables is connected to any one of the gabions via a grabbing member. When the gabion falls to the river bottom, the central control unit controls the grabbing member to detach from the gabion and controls the winch to retract the correction steel cable.

[0026] The present invention also provides a gabion construction method, which is applied to any one of the gabion construction equipments mentioned above, comprising:

[0027] Step S1, selecting the operating state of the riprap ship for riprap operation, and determining whether to connect the gabion to the correction cable;

[0028] Step S2, calculating the falling time of the gabion, determining the initial throwing position according to the real-time driving speed and the real-time water flow speed, and generating a preset motion trajectory;

[0029] Step S3, determining whether to adjust the operating state of the correction unit according to the absolute value of the relative horizontal displacement of the gabion;

[0030] Step S4, determining and adjusting the sliding direction of the slider according to the positive or negative relative horizontal displacement of the gabion;

[0031] Step S5, calculating the tension of the correction steel cable according to the relative horizontal displacement of the gabion and adjusting the winch to contract the correction steel cable;

[0032] Step S6, adjusting the winch to retract the correction cable according to the axial deflection angle of the gabion;

[0033] Step S7, controlling the grabbing member to detach from the gabion, and controlling the winch to retract the correction cable.

[0034] Compared with the prior art, the beneficial effects of the present invention are that the central control unit selects the operating state of the riprap ship for riprap operation to determine whether to connect the gabion to the correction steel cable, a camera device is provided to detect the real-time motion trajectory and real-time motion posture of the gabion during the landing process, and a detector is provided so that the central control unit generates a preset motion trajectory for the gabion landing according to the preset river channel characteristics. When the central control unit determines that the real-time motion trajectory deviates from the preset motion trajectory, the standard casting error displacement is compared with the absolute value of the relative horizontal displacement, and when the absolute value of the relative horizontal displacement is greater than the standard casting error, the operating state of the correction unit is adjusted in time to reduce the degree to which the real-time motion trajectory of the gabion deviates from the preset motion trajectory, so as to ensure the effectiveness of riprap, and the real-time motion trajectory of the gabion during the landing process is adjusted in real time by controlling the contraction of the correction steel cable or adjusting the moving direction of the slider, and the real-time motion posture of the gabion during the landing process is adjusted in real time by controlling the contraction of each correction steel cable to the same length, so that the gabion lands at the preset position, thereby improving the accuracy of riprap.

[0035] Furthermore, the operating state of the riprap boat during construction operation is selected through the central control unit to meet the requirements of the riprap operation. When flood control enters an emergency state, or when the riprap boat cannot ensure stable construction when moored due to environmental factors, the riprap boat is selected to perform riprap operations in a driving state, and the gabion is connected to the correction steel cable, so as to control the elongation or shortening of the correction steel cable, adjust the real-time motion trajectory and real-time motion posture of the gabion during the descent process, and make the gabion fall to the preset position.

[0036] In particular, the detector conducts real-time detection of the environmental characteristics of the preset river channel, so that the central control unit can predict the gabion's landing path according to the environmental characteristics and construction requirements. By calculating the gabion's falling time, the gabion's weight and volume can be obtained. The central control unit can then generate a preset motion trajectory for the gabion during the falling process and determine the initial throwing position, ensuring the effective implementation of the throwing operation.

[0037] Furthermore, the real-time motion trajectory of the gabion is obtained by a camera device, and the central control unit is used to obtain the real-time horizontal displacement, and the absolute value of the relative horizontal displacement is calculated based on the standard horizontal displacement, so as to determine the degree of deviation of the real-time motion trajectory compared to the preset motion trajectory, so as to determine whether to adjust the operating state of the correction unit to make the gabion drop to the preset position.

[0038] In particular, by setting the slider to slide on the slide rail, when the central control unit does not interfere with the stone throwing operation, the correction steel cable is guaranteed to be vertically connected to the gabion to increase the construction stability. When the central control unit determines that the absolute value of the relative horizontal displacement is greater than the standard throwing error displacement, the sliding direction of the slider on the slide rail is adjusted to reduce the deviation of the gabion from the preset motion trajectory, thereby reducing the throwing error.

[0039] Furthermore, the standard casting error displacement represents the difference between the horizontal displacement of the real-time motion trajectory of the gabion and the horizontal displacement of the preset motion trajectory. When the central control unit determines that the absolute value of the relative horizontal displacement is greater than the standard casting error displacement, the correction cable tension is calculated and the winch is controlled to retract the correction cable according to the correction cable tension to accurately adjust the real-time motion trajectory of the gabion and reduce the degree of deviation.

[0040] Furthermore, the axis deflection angle represents the angle of axis deflection during the movement with the line segment vertically passing through the center of gravity of the gabion before it falls as the axis. The axis deflection angle of the gabion is calculated by the central control unit. When the central control unit determines that the axis deflection angle is less than 45°, the real-time movement posture of the gabion is corrected by controlling the contraction of each correction steel cable to the same length, so that the gabion falls to the preset position with the bottom plate touching the riverbed, thereby ensuring that the stone throwing is effective.

[0041] Furthermore, by providing a grabbing member, the correction cable can be retracted when the current riprap operation is finished, thereby improving the convenience of the operation and the construction efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 It is a structural schematic diagram of the gabion construction equipment according to an embodiment of the present invention;

[0043] Figure 2 A top view of the gabion construction equipment according to an embodiment of the present invention;

[0044] Figure 3 The present invention is a flowchart of the gabion construction method described in an embodiment of the present invention. DETAILED DESCRIPTION

[0045] In order to make the objects and advantages of the present invention more clearly understood, the present invention is further described below in conjunction with embodiments; it should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0046] The preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are only used to explain the technical principles of the present invention and are not intended to limit the protection scope of the present invention.

[0047] It should be noted that, in the description of the present invention, terms such as "up", "down", "left", "right", "inside" and "outside" indicating directions or positional relationships are based on the directions or positional relationships shown in the drawings. This is merely for the convenience of description and does not indicate or imply that the device or element must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it cannot be understood as a limitation on the present invention.

[0048] In addition, it should be noted that in the description of the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0049] See also Figure 1 and Figure 2 As shown, Figure 1 This is a schematic diagram of the structure of the gabion construction equipment according to an embodiment of the present invention. Figure 2The present invention discloses a gabion construction device, comprising a delivery unit 1, a gabion delivery bin 101, a hydraulic cylinder 102, a bottom plate 103, a gabion 104, a riprap pontoon 105, a riprap boat 106, a correction cable 2, a slider 3, a winch 301, a slide rail 4, a collection unit (not shown in the figure), and a central control unit (not shown in the figure), wherein:

[0050] The delivery unit 1 comprises a plurality of gabions 104 delivery bins 101 which are arranged at equal intervals on a riprap pontoon 105 and a riprap boat which is fixedly connected to the riprap pontoon 105. Any gabion 104 delivery bin 101 comprises a side wall and a bottom plate 103. A hydraulic cylinder 102 is arranged on one side of any gabion 104 delivery bin 101. The hydraulic cylinder 102 is used to drive the bottom plate 103 to flip downward or upward by retracting or extending a hydraulic rod. Any gabion 104 delivery bin 101 is provided with a gabion 104 for loading stones.

[0051] A correction unit, comprising a plurality of correction steel cables 2 and a plurality of sliders 3 with winches 301 sleeved on a slide rail 4, wherein one end of any correction steel cable 2 is connected to the gabion 104, and the other end is connected to the winch 301, and any slider 3 can move along the slide rail 4 to adjust the real-time motion trajectory and real-time motion posture of the gabion 104 during the descent process, and the winch 301 is used to adjust the real-time motion trajectory of the gabion 104 during the descent process by shortening or extending the correction steel cable 2;

[0052] The acquisition unit includes a detector, a camera device and a tension sensor. The detector is used to detect the real-time water flow velocity, the real-time water level height and the real-time travel speed of the riprap ship in the preset construction area. The camera device is used to capture the real-time motion trajectory and real-time motion posture of the gabion 104 during the falling process. The tension sensor is used to detect the real-time cable tension of the correction cable 2.

[0053] A central control unit is connected to the delivery unit 1, the correction unit and the acquisition unit respectively, and the central control unit can select the motion state of the riprap ship when performing riprap operation, and determine whether to connect the gabion 104 with the correction steel cable 2; the central control unit can generate a preset motion trajectory according to the parameters of the preset construction area when the riprap ship is in the driving state and performing riprap operation; the central control unit can calculate the real-time horizontal displacement according to the real-time motion trajectory of the gabion 104, and calculate the relative horizontal displacement according to the standard horizontal displacement, and when it is determined that the absolute value of the relative horizontal displacement is greater than the standard throwing error displacement, adjust the sliding direction of the slider 3 and control the winch 301 to retract the correction steel cable 2; the central control unit can calculate the axis deflection angle according to the real-time motion posture of the gabion 104, and when it is determined that the axis deflection angle is less than 45°, control the winch 301 to retract the correction steel cable 2; the central control unit can also control the winch 301 to retract the correction steel cable 2 when the gabion 104 falls to the bottom of the river.

[0054] The central control unit selects the running state of the riprap boat 106 for riprap operation to determine whether to connect the gabion 104 to the correction steel cable 2. A camera device is provided to detect the real-time motion trajectory and real-time motion posture of the gabion 104 during the descent process. A detector is provided to enable the central control unit to generate a preset motion trajectory of the gabion 104 according to the preset river channel characteristics. When the central control unit determines that the real-time motion trajectory deviates from the preset motion trajectory, the standard casting error displacement is compared with the absolute value of the relative horizontal displacement, and when the absolute value of the relative horizontal displacement is greater than the standard casting error, the running state of the correction unit is adjusted in time to reduce the degree to which the real-time motion trajectory of the gabion 104 deviates from the preset motion trajectory, so as to ensure the effectiveness of riprap. The real-time motion trajectory of the gabion 104 during the descent process is adjusted in real time by controlling the contraction of the correction steel cable 2 or adjusting the moving direction of the slider 3. The real-time motion posture of the gabion 104 during the descent process is adjusted in real time by controlling the contraction of each correction steel cable 2 to the same length, so as to make the gabion 104 land at the preset position and improve the riprap accuracy.

[0055] Specifically, the riprap pontoon 105 can perform riprap operations at the initial throwing position in a moored state, and can also perform riprap operations in a driving state; when the riprap ship 106 performs riprap operations in a moored state, the central control unit will control the hydraulic cylinder 102 to retract the hydraulic rod to drive the bottom plate 103 to flip downward to form a leak, and the gabion 104 will fall through the leak; when the riprap ship 106 performs riprap operations in a driving state, the correction steel cable 2 is connected to the gabion 104, and the central control unit will control the hydraulic cylinder 102 to retract the hydraulic rod to drive the bottom plate 103 to flip downward to form a leak, and the gabion 104 will fall through the leak.

[0056] The operating state of the riprap boat 106 during construction operation is selected through the central control unit to meet the requirements of the riprap operation. When flood control enters an emergency state, or the riprap boat 106 cannot ensure stable construction in a moored state due to environmental factors, the riprap boat 106 is selected to perform riprap operations in a driving state, and the gabion 104 is connected to the correction steel cable 2, so as to control the elongation or shortening of the correction steel cable 2, adjust the real-time motion trajectory and real-time motion posture of the gabion 104 during the descent process, and make the gabion 104 fall to a preset position.

[0057] Specifically, when the riprap boat 106 is performing riprap operations in a driving state, the central control unit can obtain a preset riprap position, a real-time driving speed, a real-time water flow speed, and a real-time water level, calculate the falling time of the gabion 104 according to the acquired real-time water level, determine the initial riprap position according to the real-time driving speed, the real-time water flow speed, and the falling time of the gabion 104, and obtain the weight and volume of the gabion 104 to generate a preset motion trajectory. When the riprap boat 106 moves to the initial riprap position, the gabion 104 falls through the leak.

[0058] The detector is used to detect the environmental characteristics of the preset river channel in real time, so that the central control unit can predict the falling path of the gabion 104 according to the environmental characteristics and construction work requirements, and obtain the weight and volume of the gabion 104 by calculating the falling time of the gabion 104. The central control unit generates the preset motion trajectory of the gabion 104 during the falling process and determines the initial throwing position, so as to ensure the effective implementation of the throwing operation.

[0059] Specifically, a standard throwing error displacement is set in the central control unit. When the riprap boat 106 moves to the initial throwing position for throwing, the camera device is turned on, and the acquisition unit obtains the real-time motion trajectory and real-time motion posture of the gabion 104. The central control unit calculates the real-time horizontal displacement of the gabion 104 according to the real-time motion trajectory of the gabion 104, and obtains the preset horizontal displacement of the gabion 104 at the current moment in the preset motion trajectory, and uses the preset horizontal displacement as the standard horizontal displacement. The central control unit calculates the absolute value |ΔXs| of the current relative horizontal displacement of the gabion 104 according to the real-time horizontal displacement and the standard horizontal displacement. The central control unit determines the relative horizontal displacement according to the standard throwing error displacement.

[0060] If the absolute value of the relative horizontal displacement is greater than the standard throwing error displacement, the central control unit will adjust the operating state of the correction unit;

[0061] If the absolute value of the relative horizontal displacement is less than or equal to the standard throwing error displacement, the central control unit does not adjust the operating state of the correction unit;

[0062] Among them, ΔXs=Xs-Xc, ΔXs represents the relative horizontal displacement, Xs represents the real-time horizontal displacement of the gabion 104, and Xc represents the standard horizontal displacement of the gabion 104.

[0063] The real-time motion trajectory of the gabion 104 is obtained by a camera device, and the central control unit is used to obtain the real-time horizontal displacement, and the absolute value of the relative horizontal displacement is calculated according to the standard horizontal displacement, so as to determine the degree of deviation of the real-time motion trajectory compared with the preset motion trajectory, so as to determine whether to adjust the operating state of the correction unit to make the gabion 104 drop to the preset position.

[0064] Specifically, the real-time sliding distance of the slider 3 on the slide rail 4 is the real-time horizontal displacement of the gabion 104. When the central control unit determines that the absolute value of the relative horizontal displacement is greater than the standard casting error displacement, it obtains the relative horizontal displacement of the gabion 104 and determines the positive or negative of the relative horizontal displacement.

[0065] If the relative horizontal displacement is positive, the central control unit will control the slider 3 to move toward the stern of the riprap ship 106 to a corrected sliding distance X'=Xs-Xc;

[0066] If the relative horizontal displacement is a negative value, the central control unit will control the slider 3 to move toward the bow direction of the riprap ship 106 to a corrected sliding distance X'=Xc-Xs.

[0067] By sliding the slider 3 on the slide rail 4, when the central control unit does not interfere with the stone throwing operation, the correction steel cable 2 is guaranteed to be vertically connected to the gabion 104 to increase the construction stability. When the central control unit determines that the absolute value of the relative horizontal displacement is greater than the standard throwing error displacement, the sliding direction of the slider 3 on the slide rail 4 is adjusted to reduce the deviation of the gabion 104 from the preset motion trajectory, thereby reducing the throwing error.

[0068] Specifically, a standard steel cable tension is set in the central control unit. When the central control unit determines that the absolute value of the relative horizontal displacement is greater than the standard casting error displacement and controls the slider 3 to move, the relative horizontal displacement of the gabion 104 is obtained, and the tension of the correction steel cable 2 is calculated according to the relative horizontal displacement. The central control unit controls the winch 301 to retract the correction steel cable 2 to Lb';

[0069] Among them, Fb'=Fb×[1+|ΔXs| / Xc)], ΔXs is the relative horizontal displacement of the gabion 104, Fb' is the tension of the correction steel cable 2, Fb is the standard steel cable tension, and Lb'=Lb×[1-(Fb'-Fb) / Fb].

[0070] The standard casting error displacement represents the difference between the horizontal displacement of the real-time motion trajectory of the gabion 104 and the horizontal displacement of the preset motion trajectory. When the central control unit determines that the absolute value of the relative horizontal displacement is greater than the standard casting error displacement, the correction cable 2 tension is calculated to control the winch 301 to retract the correction cable 2, so as to accurately adjust the real-time motion trajectory of the gabion 104 and reduce the degree of deviation.

[0071] Specifically, when the gabion 104 starts to fall, the acquisition unit acquires the initial posture of the gabion 104 at the current moment, and the central control unit uses the initial posture of the gabion 104 as the standard motion posture. When the acquisition unit obtains the real-time motion posture of the gabion 104, the central control unit calculates the axis deflection angle of the gabion 104 according to the standard motion posture, and determines the axis deflection angle.

[0072] If the axis deflection angle is greater than or equal to 45°, the central control unit does not adjust the real-time motion posture of the gabion 104;

[0073] If the axis deflection angle is less than 45°, the central control unit will adjust the operating state of the correction unit.

[0074] Specifically, when the central control unit determines that the axial deflection angle of the gabion 104 is less than 45°, the real-time steel cable length of each correction steel cable 2 is obtained and compared; when the central control unit determines that the real-time steel cable length of any correction steel cable 2 of the gabion 104 is greater than that of another correction steel cable 2, the real-time steel cable length value of each correction steel cable 2 is obtained, and the relatively small value of the real-time steel cable length is recorded as the length of the correction steel cable 2, and the winch 301 is controlled to retract each correction steel cable 2 to the length of the correction steel cable 2.

[0075] The axis deflection angle represents the angle of axis deflection during the movement, with the line segment vertically passing through the center of gravity of the gabion 104 before the gabion 104 falls as the axis. The axis deflection angle of the gabion 104 is collected by the central control unit. When the central control unit determines that the axis deflection angle is less than 45°, the real-time movement posture of the gabion 104 is corrected by controlling the correction cables 2 to shrink to the same length, so that the gabion 104 falls to the preset position with the bottom plate 103 touching the riverbed, thereby ensuring that the stone throwing is effective.

[0076] Specifically, any one of the correction steel cables 2 is connected to any one of the gabions 104 via a grabbing member. When the gabion 104 falls to the river bottom, the central control unit controls the grabbing member to detach from the gabion 104 and controls the winch 301 to retract the correction steel cable 2.

[0077] By providing a grabbing member, the correction cable 2 can be retrieved when the current riprap operation is finished, thereby improving the convenience of the operation and the construction efficiency.

[0078] Please continue reading Figure 3 As shown, it is a flow chart of the gabion construction method according to an embodiment of the present invention. This embodiment also discloses a gabion construction method, including:

[0079] Step S1, selecting the operating state of the riprap ship for riprap operation, and determining whether to connect the gabion 104 with the correction cable 2;

[0080] Step S2, calculating the falling time of the gabion 104, and determining the initial throwing position according to the real-time driving speed and the real-time water flow speed, and generating a preset motion trajectory;

[0081] Step S3, determining whether to adjust the operating state of the correction unit according to the absolute value of the relative horizontal displacement of the gabion 104;

[0082] Step S4, determining and adjusting the sliding direction of the slider 3 according to the positive or negative relative horizontal displacement of the gabion 104;

[0083] Step S5, calculating the tension of the correction steel cable 2 according to the magnitude of the relative horizontal displacement of the gabion 104 and adjusting the winch 301 to contract the correction steel cable 2;

[0084] Step S6, adjusting the winch 301 to retract the correction cable 2 according to the axial deflection angle of the gabion 104;

[0085] Step S7, controlling the grabbing member to detach from the gabion 104, and controlling the winch 301 to retract the correction cable 2.

[0086] So far, the technical solutions of the present invention have been described in conjunction with the preferred embodiments shown in the accompanying drawings. However, it is easy for those skilled in the art to understand that the protection scope of the present invention is obviously not limited to these specific embodiments. Without departing from the principle of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will fall within the protection scope of the present invention.

[0087] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A gabion construction equipment, characterized in that: include, A delivery unit, comprising a plurality of gabion delivery bins arranged at equal intervals on a riprap pontoon and a riprap boat fixedly connected to the riprap pontoon, any gabion delivery bin comprising a side wall and a bottom plate, a hydraulic cylinder being arranged on one side of any gabion delivery bin, the hydraulic cylinder being used to drive the bottom plate to flip downward or upward by retracting or extending a hydraulic rod, and a gabion being arranged in any gabion delivery bin for loading stones; A correction unit, comprising a plurality of correction steel cables and a plurality of sliders with winches mounted on a slide rail, wherein one end of any one of the correction steel cables is connected to the gabion and the other end is connected to the winch, and any one of the sliders can move along the slide rail to adjust the real-time motion trajectory and real-time motion posture of the gabion during its descent, and the winch is used to adjust the real-time motion trajectory of the gabion during its descent by shortening or extending the correction steel cables; a collection unit, comprising a detector, a camera device and a tension sensor, wherein the detector is used to detect the real-time water flow velocity, the real-time water level height and the real-time driving speed of the riprap ship in a preset construction area, the camera device is used to capture the real-time motion trajectory and real-time motion posture of the gabion during its descent, and the tension sensor is used to detect the real-time cable tension of the correction steel cables; A central control unit, which is connected to the delivery unit, the correction unit and the acquisition unit respectively, and the central control unit can select the motion state of the riprap ship when performing riprap operation, and determine whether to connect the gabion with the correction cable; the central control unit can generate a preset motion trajectory according to the parameters of the preset construction area when the riprap ship is in the driving state and performing riprap operation; the central control unit can calculate the real-time horizontal displacement according to the real-time motion trajectory of the gabion, and calculate the relative horizontal displacement according to the standard horizontal displacement, and when it is determined that the absolute value of the relative horizontal displacement is greater than the standard throwing error displacement, adjust the sliding direction of the slider and control the winch to retract the correction cable; the central control unit can calculate the axis deflection angle according to the real-time motion posture of the gabion, and when it is determined that the axis deflection angle is less than 45°, control the winch to retract the correction cable; the central control unit can also control the winch to retract the correction cable when the gabion falls to the bottom of the river; Any one of the correction steel cables is connected to any one of the gabions through a grabbing member. When the gabion falls to the river bottom, the central control unit will control the grabbing member to detach from the gabion and control the winch to retract the correction steel cable.

2. The gabion construction equipment according to claim 1, characterized in that: The riprap pontoon can perform riprap operations at the initial throwing position in a moored state, and can also perform riprap operations in a driving state; when the riprap ship performs riprap operations in a moored state, the central control unit will control the hydraulic cylinder to retract the hydraulic rod to drive the bottom plate to flip downward to form a leak, and the gabion will fall through the leak; when the riprap ship performs riprap operations in a driving state, the correction steel cable will be connected to the gabion, and the central control unit will control the hydraulic cylinder to retract the hydraulic rod to drive the bottom plate to flip downward to form a leak, and the gabion will fall through the leak.

3. The gabion construction equipment according to claim 2, characterized in that: When the riprap boat is performing riprap operations in a driving state, the central control unit can obtain a preset riprap position, a real-time driving speed, a real-time water flow speed, and a real-time water level, calculate the gabion falling time according to the acquired real-time water level, determine the initial riprap position according to the real-time driving speed, the real-time water flow speed, and the gabion falling time, and obtain the weight and volume of the gabion to generate a preset motion trajectory. When the riprap boat moves to the initial riprap position, the gabion falls through the leak.

4. The gabion construction equipment according to claim 3, characterized in that: The central control unit is provided with a standard throwing error displacement. When the riprap boat moves to the initial throwing position for throwing operation, the camera device is turned on, and the acquisition unit obtains the real-time motion trajectory and real-time motion posture of the gabion. The central control unit calculates the real-time horizontal displacement of the gabion according to the real-time motion trajectory of the gabion, and obtains the preset horizontal displacement of the gabion at the current moment in the preset motion trajectory, and uses the preset horizontal displacement as the standard horizontal displacement. The central control unit calculates the absolute value of the current relative horizontal displacement of the gabion |ΔXs| according to the real-time horizontal displacement and the standard horizontal displacement. The central control unit determines the relative horizontal displacement according to the standard throwing error displacement. If the absolute value of the relative horizontal displacement is greater than the standard throwing error displacement, the central control unit will adjust the operating state of the correction unit; If the absolute value of the relative horizontal displacement is less than or equal to the standard throwing error displacement, the central control unit does not adjust the operating state of the correction unit; Among them, ΔXs=Xs-Xc, ΔXs represents the relative horizontal displacement, Xs represents the real-time horizontal displacement of the gabion, and Xc represents the standard horizontal displacement of the gabion.

5. The gabion construction equipment according to claim 4, characterized in that: The real-time sliding distance of the slider on the slide rail is the real-time horizontal displacement of the gabion. When the central control unit determines that the absolute value of the relative horizontal displacement is greater than the standard casting error displacement, it obtains the relative horizontal displacement of the gabion and determines whether the relative horizontal displacement is positive or negative. If the relative horizontal displacement is positive, the central control unit will control the slider to move toward the stern of the riprap ship to a corrected sliding distance X'=Xs-Xc; If the relative horizontal displacement is a negative value, the central control unit will control the sliding block to move toward the bow of the riprap ship to a corrected sliding distance X'=Xc-Xs.

6. The gabion construction equipment according to claim 5, characterized in that: The central control unit is provided with a standard steel cable tension. When the central control unit determines that the absolute value of the relative horizontal displacement is greater than the standard casting error displacement and controls the movement of the slider, the relative horizontal displacement of the gabion is obtained, and the correction steel cable tension is calculated according to the relative horizontal displacement. The central control unit controls the winch to retract the correction steel cable to Lb'; Among them, Fb'=Fb×[1+|ΔXs| / Xc], ΔXs is the relative horizontal displacement of the gabion, Fb' is the correction cable tension, Fb is the standard cable tension, Lb'=Lb×[1-(Fb'-Fb) / Fb], Lb is the length of the current correction cable.

7. The gabion construction equipment according to claim 4, characterized in that: When the gabion starts to fall, the acquisition unit acquires the initial posture of the gabion at the current moment, and the central control unit uses the initial posture of the gabion as the standard motion posture. When the acquisition unit obtains the real-time motion posture of the gabion, the central control unit calculates the axis deflection angle of the gabion according to the standard motion posture, and determines the axis deflection angle. If the axis deflection angle is greater than or equal to 45°, the central control unit does not adjust the real-time motion posture of the gabion; If the axis deflection angle is less than 45°, the central control unit will adjust the operating state of the correction unit.

8. The gabion construction equipment according to claim 7, characterized in that: When the central control unit determines that the axial deflection angle of the gabion is less than 45°, the real-time cable length of each correction cable is obtained and compared; when the central control unit determines that the real-time cable length of any correction cable of the gabion is greater than that of another correction cable, the real-time cable length value of each correction cable is obtained, the relatively small value of the real-time cable length is recorded as the correction cable length, and the winch is controlled to retract each correction cable to the correction cable length.

9. A gabion construction method using any one of claims 1 to 8, characterized in that: include, Step S1, selecting the operating state of the riprap ship for riprap operation, and determining whether to connect the gabion to the correction cable; Step S2, calculating the falling time of the gabion, determining the initial throwing position according to the real-time driving speed and the real-time water flow speed, and generating a preset motion trajectory; Step S3, determining whether to adjust the operating state of the correction unit according to the absolute value of the relative horizontal displacement of the gabion; Step S4, determining and adjusting the sliding direction of the slider according to the positive or negative relative horizontal displacement of the gabion; Step S5, calculating the tension of the correction steel cable according to the relative horizontal displacement of the gabion and adjusting the winch to contract the correction steel cable; Step S6, adjusting the winch to retract the correction cable according to the axial deflection angle of the gabion; Step S7, controlling the grabbing member to detach from the gabion, and controlling the winch to retract the correction cable.

Images