A riprap leveling measurement and control system and method for a riprap leveling boat

Abstract

The application discloses a riprapping leveling measurement and control system for a riprapping leveling ship, which comprises a GPS receiver, an inclinometer and an echo sounder meter, and a measurement and control system. The GPS receiver is used for positioning a ship body, positioning a trolley and a riprapping pipe, and positioning the elevation of the riprapping pipe. The inclinometer is used for calculating the inclination compensation value of the riprapping pipe. The echo sounder meter is used for measuring the forming height of an underwater ridge. The measurement and control system is used for coordinating and controlling the operation functions of all electrical equipment with a PLC controller of the electrical equipment. The application further discloses a riprapping leveling measurement and control method for the riprapping leveling ship. The GPS-RTK positioning data is used for measuring the plane coordinates of the riprapping leveling ship body, the trolley and the riprapping pipe, and the actual elevation of the gravel ridge can be calculated, so that the riprapping leveling ship body, the trolley and the riprapping pipe are cooperatively controlled to complete the riprapping leveling and laying of a pipe tunnel foundation.

Description

Technical Field

[0001] This invention relates to rock-throwing leveling vessel technology, and more specifically, to a rock-throwing leveling measurement and control system and method for rock-throwing leveling vessels. Background Technology

[0002] The equipment and tools for ballast leveling of immersed tunnel foundations present challenges such as ultra-wide width, deep burial, large siltation volume, and poor geological stability in the dredging area. Existing domestic equipment could not meet the construction needs, and under these circumstances, ballast leveling vessels were developed.

[0003] The rock-dropping and leveling vessel integrates positioning measurement, underwater rock dropping, deep-water leveling, and quality inspection functions. However, due to the numerous types of electromechanical equipment and complex mechanical structure on board, the vessel needs to be moored in a designated position during operation. It also needs to obtain the planar position of the rock-dropping pipe and the elevation of the bottom of the rock-dropping pipe in real time, and perform quality inspection on the height of the crushed stone mound. If manual measurement is used, not only is tedious data calculation required, but divers also need to be dispatched to the underwater site for on-site measurement. This is not only labor-intensive, but also cannot be coordinated with the entire vessel for automated operation, resulting in extremely low work efficiency. Under these circumstances, a rock-dropping and leveling measurement and control system was invented by integrating high-precision positioning technology, positioning calculation methods, communication interfaces, databases, and other professional fields. Summary of the Invention

[0004] To address the aforementioned deficiencies in the existing technology, the purpose of this invention is to provide a rock-dropping and leveling measurement and control system and method for a rock-dropping and leveling vessel. This system uses GPS-RTK positioning data to measure the planar coordinates of the rock-dropping and leveling vessel, trolley, and rock-dropping pipe, and can calculate the actual elevation of the crushed stone ridge. It also coordinates the control of the rock-dropping and leveling vessel, trolley, and rock-dropping pipe to complete the rock-dropping and leveling laying of the immersed tunnel foundation.

[0005] To achieve the above objectives, the present invention adopts the following technical solution:

[0006] The first aspect of this invention provides a rock-throwing leveling measurement and control system for a rock-throwing leveling vessel, comprising:

[0007] GPS receiver is used for positioning the ship's hull, the trolley and the sling, and the elevation positioning of the sling;

[0008] Inclinometer, used to calculate the inclination compensation value of the stone-throwing pipe;

[0009] Sonar meter, used to measure the formation height of underwater ridges;

[0010] The measurement and control system coordinates with the PLC controller of the electrical equipment to control the operation functions of all the electrical equipment.

[0011] Preferably, the GPS receiver includes a first GPS receiver, a second GPS receiver, a third GPS receiver, a fourth GPS receiver, and a fifth GPS receiver;

[0012] The first GPS receiver and the second GPS receiver are used for the positioning of the ship's hull;

[0013] The third and fourth GPS receivers are used for positioning the trolley and the boulders;

[0014] The fifth GPS receiver is used for elevation positioning of the quarry pipe.

[0015] Preferably, the inclinometer is a set and is mounted on the sling tube.

[0016] Preferably, the sonar has two sets, which are located at the bottom of the boulders.

[0017] Preferably, the measurement and control system includes:

[0018] A communication server is used to collect data from the sonar meter, read data from the GPS receiver, communicate with the PLC controller, and determine the communication connection status.

[0019] A database is used to record data trends, operation records, and event records.

[0020] Preferably, the measurement and control system further includes a hull guidance module, a construction positioning module, and an equipment control module.

[0021] The second aspect of the present invention provides a method for measuring and controlling the leveling of a rock-dropping vessel, which uses the rock-dropping leveling measurement and control system for a rock-dropping vessel provided in the first aspect of the present invention to realize the hull induction calculation, the positioning calculation of the rock-dropping pipe, and the measurement elevation of the rock-dropping pipe.

[0022] Preferably, the hull-induced calculation specifically includes the following steps:

[0023] S1. Install the first GPS receiver and the second GPS receiver on the deck of the ship;

[0024] S2. Set the hull shape parameters. Enter the values ​​for width a and length b. The default shape is a rectangle, with the upper part being the bow and the lower part being the stern.

[0025] S3. Set the outline of the moon pool, and input the starting coordinates of the lower left corner of the moon pool and the length and width dimensions of the moon pool;

[0026] S4. Taking the lower left vertex of the hull as the origin (0,0), set the installation coordinates on the outer contour plane of the first GPS receiver and the second GPS receiver on the hull shape to obtain the coordinates A(a1,b1) of the first GPS receiver, the coordinates B(a2,b2) of the second GPS receiver, and the coordinates C(a / 2,b / 2) of the center of the hull.

[0027] S5. Calculate the coordinates of the first GPS receiver to the coordinates of the second GPS receiver, i.e., the azimuth angle of line segment AB; calculate the coordinates of the ship's center to the coordinates of the second GPS receiver, i.e., the azimuth angle of line segment CB; and then calculate the difference ∠α.

[0028] S6. Calculate the difference between the azimuth angle of the line segment AB and the longitudinal axis of the ship, i.e., 90° to obtain ∠β;

[0029] S7. Calculate the length L of the line segment CB, and save the values ​​of ∠α, ∠β and L as model parameters;

[0030] S8. Calculate the azimuth angle ∠α1 of line segment AB in real time based on the coordinates of the first GPS receiver to the coordinates of the second GPS receiver, and subtract the stored ∠α to obtain the azimuth angle of line segment CB.

[0031] S9. Using L*COS(α1-α) and L*SIN(α1-α), the X-axis and Y-axis components of the coordinate point based on the second GPS receiver are obtained. After superposition, the coordinates of the ship's center point are:

[0032] The center point of the hull, X, is calculated as: X = GPS2.X + L*COS(α1 - α);

[0033] The center point of the ship's hull, Y = GPS2.Y + L*SIN(α1-α);

[0034] S10. Then calculate the azimuth angle ∠α1-β of the longitudinal axis of the hull to obtain the hull's positioning.

[0035] Preferably, the positioning calculation of the sling-throwing pipe specifically includes the following steps:

[0036] S1. Taking the center of the stone-throwing pipe as the origin (0,0), set the installation coordinates of the third GPS receiver and the fourth GPS receiver relative to the center of the stone-throwing pipe, and obtain the coordinates A(a3,b3) of the third GPS receiver and the coordinates B(a4,b4) of the fourth GPS receiver.

[0037] S2. Calculate the coordinates of the third GPS receiver to the coordinates of the fourth GPS receiver, i.e., the azimuth angle of line segment AB. Calculate the coordinates of the center of the boulders to the coordinates of the fourth GPS receiver, i.e., the azimuth angle of line segment CB. Then calculate the difference ∠α.

[0038] S3. Calculate the length L of the line segment CB, and save the values ​​of ∠α and L as model parameters;

[0039] S4. Calculate the azimuth angle ∠α2 of line segment AB in real time based on the coordinates of the third GPS receiver to the coordinates of the fourth GPS receiver, and subtract the stored ∠α to obtain the azimuth angle of line segment CB.

[0040] S5. Using L*COS(α²-α) and L*SIN(α²-α), the X-axis and Y-axis components of the coordinate point based on the fourth GPS receiver are obtained. After superposition, the coordinates of the center point of the boulders are:

[0041] The center point X of the riprap tube is calculated as: X = GPS4.X + L*COS(α2-α);

[0042] The center point of the riprap is Y = GPS4.Y + L*SIN(α2-α);

[0043] S6. Finally, the positioning of the stone-throwing pipe is obtained.

[0044] Preferably, the elevation measurement of the riprap tube specifically includes the following steps:

[0045] S1. Install the fifth GPS receiver on the top of the rock-throwing pipe, and obtain the length L of the rock-throwing pipe using the elevation value h5 of the top of the rock-throwing pipe;

[0046] S2, The installation height of the sonar relative to the bottom of the rock-throwing tube is L1;

[0047] S3. The measured value of the sonar is L2, and the measured elevation of the boulders is h5 - (L + L1 - L2)COSα.

[0048] This invention provides a rock-dropping and leveling measurement and control system and method for rock-dropping and leveling vessels. It is a high-precision construction system specifically developed for rock-dropping and leveling before the immersed tube section of an undersea tunnel using jack-up and floating rock-dropping and leveling vessels. The system integrates vessel positioning, hull guidance, ridge construction positioning, and quality control, becoming the core brain of the rock-dropping and leveling vessel. The entire system mainly includes hull guidance, construction positioning, and ridge elevation control functions. During construction, the system's main functions are hull positioning, real-time navigation path calculation between the vessel and target vessel positions, positioning of the rock-dropping pipes and ridges, and calculation and detection of the ridge position and elevation. Attached Figure Description

[0049] Figure 1 This is a schematic diagram of the frame structure of the rock-throwing leveling measurement and control system of the present invention;

[0050] Figure 2 This is a schematic diagram of the framework principle of the rock-throwing leveling measurement and control system of the present invention;

[0051] Figure 3 This is a schematic diagram of the hull induction calculation in the rock-throwing leveling measurement and control method of the present invention;

[0052] Figures 4(a) and 4(b) are schematic diagrams of the hull guiding interface;

[0053] Figure 5 This is a schematic diagram of the positioning calculation of the stone-throwing pipe in the stone-throwing leveling measurement and control method of the present invention;

[0054] Figure 6 This is a schematic diagram of the construction positioning interface;

[0055] Figure 7 This is a schematic diagram of the elevation measurement of the stone-throwing pipe in the stone-throwing leveling measurement and control method of the present invention. Detailed Implementation

[0056] To better understand the above-mentioned technical solutions of the present invention, the technical solutions of the present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0057] Combination Figure 1 and Figure 2 As shown, the present invention provides a rock-throwing leveling measurement and control system for a rock-throwing leveling vessel, comprising:

[0058] GPS receiver 1 is used for positioning the ship's hull, positioning the trolley and the sling, and positioning the elevation of the sling.

[0059] Inclinometer 2 is used to calculate the tilt compensation value of the stone-throwing pipe when it is tilted.

[0060] Sonar 3 is used to measure the formation height of underwater ridges;

[0061] The measurement and control system 4 coordinates with the PLC controller 5 of the electrical equipment to control the operation of all electrical equipment.

[0062] GPS receiver 1 includes a first GPS receiver 11, a second GPS receiver 12, a third GPS receiver 13, a fourth GPS receiver 14, and a fifth GPS receiver 15, wherein:

[0063] The first GPS receiver 11 and the second GPS receiver 12 are used for positioning the ship.

[0064] The third GPS receiver 13 and the fourth GPS receiver 14 are used for the positioning of the trolley. Since the planar positions of the trolley and the rock-throwing tube are fixed, the positioning of the rock-throwing tube is also obtained at the same time.

[0065] The fifth GPS receiver 15 is used for elevation positioning of the rock-throwing pipe.

[0066] Inclinometer 2 is a set that is installed on the stone-throwing pipe.

[0067] Sonar 3 has two sets, both located at the bottom of the rock-throwing tube.

[0068] The measurement and control system 4 includes:

[0069] The communication server 41 is mainly responsible for establishing communication connections between the workstation computer, GPS receiver 1, inclinometer 2, sonar meter 3, and PLC controller 5. It is used to collect data from the sonar meter, read data from the GPS receiver, communicate with the PLC controller, and determine the communication connection status.

[0070] Database 42 is used to record data change trends, operation records, and event records, providing various operation, quality, and analysis reports for the entire construction process.

[0071] The measurement and control system 4 also includes a hull guidance module 43, a construction positioning module 44, and an equipment control module 45. These are business function modules that operate independently in a distributed manner and can be flexibly deployed according to on-site use to realize various functions in the rock-filling and leveling construction process.

[0072] The communication protocols adopted are industrial communication protocols (Modbus / TCP, S7-TCP, NMEA0183) to form an industrial communication network platform, realizing device interconnection and data sharing functions.

[0073] The present invention also provides a method for measuring and controlling the leveling of quarrying for quarrying vessels. The quarrying leveling measurement and control system of the present invention is used to realize the hull induction calculation, the positioning calculation of the quarrying tube, and the measurement elevation of the quarrying tube.

[0074] Combination Figure 3 As shown, the position of the hull is determined by the position data of the first GPS receiver 11 and the second GPS receiver 12 installed on the hull deck. The two GPS receivers are installed on the hull deck at a distance of more than 5 meters to improve calculation accuracy. Once the relative positions of the installation coordinates and the outer contour of the hull are locked, the algorithm driven by real-time GPS data can calculate the precise position of the hull. Specifically, the following steps are included:

[0075] S1. Install the first GPS receiver 11 and the second GPS receiver 12 on the deck of the ship;

[0076] S2. Set the hull shape parameters. Enter the values ​​for width a and length b. The default shape is a rectangle, with the upper part being the bow and the lower part being the stern.

[0077] S3. Set the outline of the moon pool, and input the starting coordinates of the lower left corner of the moon pool and the length and width dimensions of the moon pool;

[0078] S4. Taking the lower left vertex of the hull as the origin (0,0), set the installation coordinates on the outer contour plane of the first GPS receiver 11 and the second GPS receiver 12 to obtain the coordinates A(a1,b1) of the first GPS receiver 11, the coordinates B(a2,b2) of the second GPS receiver 12, and the coordinates C(a / 2,b / 2) of the center of the hull.

[0079] S5. Calculate the coordinates from the first GPS receiver 11 to the second GPS receiver 12, i.e., the azimuth angle of line segment AB. Calculate the coordinates from the center of the ship to the second GPS receiver 12, i.e., the azimuth angle of line segment CB. Then calculate the difference ∠α.

[0080] S6. Calculate the difference between the azimuth angle of line segment AB and the longitudinal axis of the ship, i.e., 90° to obtain ∠β;

[0081] S7. Calculate the length L of line segment CB, and save the values ​​of ∠α, ∠β and L as model parameters;

[0082] S8. When the latitude and longitude of the first GPS receiver 11 and the second GPS receiver 12 are obtained in the actual application process and transformed by local coordinates, the relative positions of the first GPS receiver 11, the second GPS receiver 12 and the center point of the ship form a fixed triangle. In the modeling, if one included angle and one side length are known, the coordinates of the other point can be calculated. Based on the coordinates of the first GPS receiver 11 to the coordinates of the second GPS receiver 12, the azimuth angle ∠α1 of line segment AB is calculated in real time. Subtracting the stored ∠α, the azimuth angle of line segment CB is obtained.

[0083] S9. Using L*COS(α1-α) and L*SIN(α1-α), the X-axis and Y-axis components of the coordinate point based on the second GPS receiver 12 are obtained. After superposition, the coordinates of the ship's center point are:

[0084] The ship's center point X = GPS2 (second GPS receiver 12)X + L*COS(α1-α);

[0085] The center point of the hull, Y = GPS2(second GPS receiver 12).Y + L*SIN(α1-α);

[0086] S10. After calculating the coordinates of the ship's center point, calculate the azimuth angle ∠α1-β of the ship's longitudinal axis to obtain the ship's positioning.

[0087] As shown in Figures 4(a) and 4(b), the ship model can be driven onto the electronic map using the coordinates of the ship's center point and the azimuth angle to display the ship's real-time graphical representation. Entering the main interface for ship guidance, selecting the target ship position selection box, and selecting the preset ship position option, the electronic map will display the position of the target ship. The system will calculate the relative distance (absolute distance of east, south, west, and north) between the target ship position and the real-time ship position, as well as the corresponding guidance data (angle, forward, backward, left, and right position directions). Based on the guidance data, the operator can use the propulsion or dragging system to move the white real-time position toward the target ship position until the two symbols overlap. The guidance data can be monitored in real time to achieve high-precision ship positioning, with a maximum accuracy of ±2cm.

[0088] Combination Figure 5 As shown, the trolley and the stone-throwing tube 6 are fixedly connected. Therefore, the center position of the stone-throwing tube 6 can be calculated from the data installed on the third GPS receiver 13 and the fourth GPS receiver 14. By inputting the relative positions of the two GPS receivers and the center of the stone-throwing tube 6, the center position of the stone-throwing tube 6 can be determined by the algorithm driven by the real-time data of the GPS receivers. Specifically, the following steps are included:

[0089] S1. Taking the center of the rock-throwing pipe 6 as the origin (0,0), set the installation coordinates of the third GPS receiver 13 and the fourth GPS receiver 14 relative to the center of the rock-throwing pipe 6, and obtain the coordinates A(a3,b3) of the third GPS receiver and the coordinates B(a4,b4) of the fourth GPS receiver inside the vehicle.

[0090] S2. Calculate the coordinates from the third GPS receiver 13 to the fourth GPS receiver 14, i.e., the azimuth angle of line segment AB. Calculate the coordinates from the center of the sling pipe 6 to the fourth GPS receiver 14, i.e., the azimuth angle of line segment CB. Then calculate the difference ∠α.

[0091] S3. Calculate the length L of line segment CB, and save the values ​​of ∠α and L as model parameters;

[0092] S4. When the latitude and longitude of the third GPS receiver 13 and the fourth GPS receiver 14 are obtained in the actual application process and transformed by local coordinates, the relative positions of the center points of the third GPS receiver 13, the fourth GPS receiver 14, and the boulders 6 form a fixed triangle. In the modeling, given an included angle and a side length, the coordinates of the other point can be calculated. Based on the coordinates of the third GPS receiver 13 to the coordinates of the fourth GPS receiver 14, the azimuth angle ∠α2 of line segment AB is calculated in real time. Subtracting the stored ∠α, the azimuth angle of line segment CB is obtained.

[0093] S5. Using L*COS(α²-α) and L*SIN(α²-α), the X and Y components of the coordinate point based on the fourth GPS receiver 14 are obtained. After superposition, the coordinates of the center point of the boulders 6 are:

[0094] The center point X of the sling-throwing pipe 6 is equal to GPS4 (fourth GPS receiver 14).X + L*COS(α2-α);

[0095] The center point of the slingshot tube 6 is Y = GPS4 (fourth GPS receiver 14).Y + L*SIN(α2-α);

[0096] S6. Finally, the location of the slingshot is obtained.

[0097] After calculating the coordinates of the center point of the trebuchet 6, the accurate location of the trebuchet 6 can be obtained. By applying these coordinates to an electronic map, a real-time graphical display of the trebuchet 6 can be generated. Figure 6 As shown, the electronic map displays the real-time movement of the slingshot location.

[0098] Combination Figure 7 As shown, a fifth GPS receiver 15 is installed at the top of the riprap pipe 6, using only elevation values. An inclinometer 2 is installed on the pipe to calculate the actual elevation of the riprap ridge measured by the riprap pipe. Figure 7 As shown, the actual elevation of the gravel ridge is obtained by taking the elevation value of the fifth GPS receiver 15, the length of the downward-extending rock-throwing pipe 6, the measurement value of the sonar 3, and then offsetting the installation height of the sonar probe. The calculation process requires compensation for errors caused by the pipe's tilt to achieve this. The specific steps include:

[0099] S1. Install the fifth GPS receiver 15 on the top of the rock-throwing pipe 6, and obtain the length L of the rock-throwing pipe 6 by using the elevation value h5 of the top of the rock-throwing pipe 6.

[0100] S2, The installation height of the sonar 3 relative to the bottom of the rock-throwing tube 6 is L1;

[0101] If the measured value of S3 and sonar 3 is L2, then the measured elevation of the boulders 6 is h5 - (L + L1 - L2)COSα.

[0102] Gravel ridges are laid in underwater tunnels using the method of immersing pipes. Before immersion, a solid foundation needs to be laid on the seabed. This foundation is not in a continuous strip, but arranged in rows. Each row is shaped like a ridge in a field, so it is called an underwater ridge, or gravel ridge.

[0103] In summary, this invention achieves precise positioning, measurement, and control functions during the rock-filling and leveling construction process through equipment layout, data acquisition, and computation, becoming the core system of the rock-filling and leveling vessel.

[0104] Those skilled in the art should recognize that the above embodiments are merely illustrative of the present invention and are not intended to limit the present invention. Any variations or modifications to the above embodiments that are within the spirit and essence of the present invention will fall within the scope of the claims of the present invention.

Claims

1. A method for measuring and controlling the leveling of rocks using a rock-throwing leveling vessel, characterized in that, The rock-dropping and leveling measurement and control system of the rock-dropping leveling vessel realizes the induction calculation of the hull, the positioning calculation of the rock-dropping pipe, and the measurement elevation of the rock-dropping pipe. The rock-dropping and leveling monitoring and control system using the rock-dropping and leveling vessel includes: The GPS receiver is used for positioning the ship's hull, the trolley and the boulders, and the elevation positioning of the boulders. The GPS receiver includes a first GPS receiver, a second GPS receiver, a third GPS receiver, a fourth GPS receiver, and a fifth GPS receiver; The first GPS receiver and the second GPS receiver are used for the positioning of the ship's hull; The third and fourth GPS receivers are used for positioning the trolley and the boulders; The fifth GPS receiver is used for elevation positioning of the quarry pipe; Inclinometer, used to calculate the inclination compensation value of the stone-throwing pipe; Sonar meter, used to measure the formation height of underwater ridges; The measurement and control system coordinates with the PLC controller of the electrical equipment to control the operation of all the aforementioned electrical equipment. The induced calculation of the hull specifically includes the following steps: S1. Install the first GPS receiver and the second GPS receiver on the deck of the ship; S2. Set the hull shape parameters. Enter the values ​​for width a and length b. The default shape is a rectangle, with the upper part being the bow and the lower part being the stern. S3. Set the outline of the moon pool, and input the starting coordinates of the lower left corner of the moon pool and the length and width dimensions of the moon pool; S4. Taking the lower left vertex of the hull as the origin (0,0), set the installation coordinates on the outer contour plane of the first GPS receiver and the second GPS receiver on the hull shape to obtain the coordinates A(a1,b1) of the first GPS receiver, the coordinates B(a2,b2) of the second GPS receiver, and the coordinates C(a / 2,b / 2) of the center of the hull. S5. Calculate the coordinates of the first GPS receiver to the coordinates of the second GPS receiver, i.e., the azimuth angle of line segment AB; calculate the coordinates of the ship's center to the coordinates of the second GPS receiver, i.e., the azimuth angle of line segment CB; and then calculate the difference ∠α. S6. Calculate the difference between the azimuth angle of the line segment AB and the longitudinal axis of the ship, i.e., 90° to obtain ∠β; S7. Calculate the length L of the line segment CB, and save the values ​​of ∠α, ∠β and L as model parameters; S8. Calculate the azimuth angle ∠α1 of line segment AB in real time based on the coordinates of the first GPS receiver to the coordinates of the second GPS receiver, and subtract the stored ∠α to obtain the azimuth angle of line segment CB. S9. Using L*COS(α1-α) and L*SIN(α1-α), the X-axis and Y-axis components of the coordinate point based on the second GPS receiver are obtained. After superposition, the coordinates of the ship's center point are: The center point of the hull, X, is calculated as: X = GPS2.X + L*COS(α1 - α); The center point of the ship's hull is Y = GPS2.Y + L*SIN(α1-α); S10. Then calculate the azimuth angle ∠α1-β of the longitudinal axis of the hull to obtain the hull's positioning.

2. The method for measuring and controlling the leveling of rocks for a rock-throwing leveling vessel according to claim 1, characterized in that: The inclinometer is a set and is mounted on the stone-throwing tube.

3. The method for measuring and controlling rock-dropping and leveling of a rock-dropping and leveling vessel according to claim 1, characterized in that: The sonar has two sets, which are located at the bottom of the boulders.

4. The method for measuring and controlling rock-dropping and leveling of a rock-dropping and leveling vessel according to claim 1, characterized in that, The measurement and control system includes: A communication server is used to collect data from the sonar meter, read data from the GPS receiver, communicate with the PLC controller, and determine the communication connection status. A database is used to record data trends, operation records, and event records.

5. The method for measuring and controlling rock-dropping and leveling of a rock-dropping and leveling vessel according to claim 4, characterized in that, The measurement and control system also includes a hull guidance module, a construction positioning module, and an equipment control module.

6. The method for measuring and controlling rock-dropping and leveling of a rock-dropping and leveling vessel according to claim 1, characterized in that, The positioning calculation of the sling-throwing pipe specifically includes the following steps: S1. Taking the center of the stone-throwing pipe as the origin (0,0), set the installation coordinates of the third GPS receiver and the fourth GPS receiver relative to the center of the stone-throwing pipe, and obtain the coordinates A(a3,b3) of the third GPS receiver and the coordinates B(a4,b4) of the fourth GPS receiver. S2. Calculate the coordinates of the third GPS receiver to the coordinates of the fourth GPS receiver, i.e., the azimuth angle of line segment AB. Calculate the coordinates of the center of the boulders to the coordinates of the fourth GPS receiver, i.e., the azimuth angle of line segment CB. Then calculate the difference ∠α. S3. Calculate the length L of the line segment CB, and save the values ​​of ∠α and L as model parameters; S4. Calculate the azimuth angle ∠α2 of line segment AB in real time based on the coordinates of the third GPS receiver to the coordinates of the fourth GPS receiver, and subtract the stored ∠α to obtain the azimuth angle of line segment CB. S5. Using L*COS(α²-α) and L*SIN(α²-α), the X-axis and Y-axis components of the coordinate point based on the fourth GPS receiver are obtained. After superposition, the coordinates of the center point of the boulders are: The center point X of the riprap tube is calculated as: X = GPS4.X + L*COS(α2-α); The center point of the riprap is Y = GPS4.Y + L*SIN(α2-α); S6. Finally, the positioning of the stone-throwing pipe is obtained.

7. The method for measuring and controlling rock-dropping and leveling of a rock-dropping and leveling vessel according to claim 1, characterized in that, The elevation measurement of the quarry pipe specifically includes the following steps: S1. Install the fifth GPS receiver on the top of the rock-throwing pipe, and obtain the length L of the rock-throwing pipe using the elevation value h5 of the top of the rock-throwing pipe; S2, The installation height of the sonar relative to the bottom of the rock-throwing tube is L1; S3. The measured value of the sonar is L2, and the measured elevation of the boulders is h5 - (L + L1 - L2)COSα.

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