Apparatus and method for repairing damage to underwater fixed structures

Abstract

This invention discloses a device and method for repairing damaged underwater fixed structures. The device includes a hemispherical or multi-hemispherical shell with the same shape and material as the underwater fixed structure to be repaired. Two flexible ropes connected to a ship's winch are fixed to the top of the shell for pulling the shell to adjust the horizontality of the shell's bottom surface in the Y direction. Two first electromagnetic reversing valves are symmetrically arranged on the bottom of the outer wall of the shell for spraying water downwards to adjust the horizontality of the shell's bottom surface in the X direction; these two first electromagnetic reversing valves also serve as water inlet valves. The device also includes a second electromagnetic reversing valve for adjusting forward or backward movement in the X direction, a third electromagnetic reversing valve for adjusting forward or backward movement in the Y direction, multiple horizontality sensors, an air pump, and a flexible air pipe for inflating the shell. This invention is highly practical, easy to operate, simple to construct, safe to construct, and can completely prevent the damage from spreading while ensuring the long-term normal use of the underwater structure to be repaired.

Description

Technical Field

[0001] This invention relates to the field of underwater structure repair and construction technology, specifically to a device and method for repairing damage to underwater fixed structures. Background Technology

[0002] Underwater fixed structures refer to various engineering structures fixed to the bottom of oceans, lakes, or rivers, such as marine cable ancillary structures, underwater isolation chambers, and underwater marine observation stations. They are generally constructed of precast reinforced concrete or tempered glass, and share common characteristics such as being curved, enclosed, and typically housing expensive, precision monitoring instruments. These underwater structures undertake important functions and tasks, including marine resource development, energy exploration, transportation, marine scientific research, and ecological protection. However, due to long-term impacts from water currents, water erosion, changes in seabed, lakebed, or riverbed sediments, and natural disasters such as earthquakes, underwater structures may experience damage during use. Damage is generally detected during regular, irregular, or timely inspections of underwater fixed structures. For example, if a grid of ultrasonic probes is attached to the inner and outer surfaces of the original structure, the ultrasonic probes transmit signals to the onshore control system. The control system analyzes the ultrasonic signals and, upon detecting damage to the underwater structure, issues a warning signal. If underwater structures are damaged during use, it will not only affect the stability and service life of the structure itself, but if it is not repaired in time, it may lead to water ingress into the structure or other safety hazards. It must be repaired before it can be used normally.

[0003] In shallow water areas, where conditions permit, cofferdams can be used for protection. After the water is pumped out, the structures can be reinforced and repaired on dry ground. The construction methods are the same as those for the reinforcement and repair of ground structures.

[0004] However, the underwater structures mentioned above are generally located in deep water, such as at depths of less than 300 meters, and these structures are usually situated in complex and variable underwater environments, making it impossible to construct them using the cofferdam, dewatering, and dry-land methods.

[0005] Traditional repair methods involve divers carrying pre-mixed, delayed-setting adhesive or cement grout from a ship to manually repair underwater structures. However, this method can only repair obvious cracks and cannot comprehensively reinforce and repair damaged underwater structures. Furthermore, it is difficult to implement, carries high safety risks, and the repair results often fail to meet quality requirements, directly impacting the normal use of underwater structures.

[0006] Because the site selection for underwater structures is generally very demanding—meaning the original site is usually not moved—some have attempted to dismantle existing damaged underwater structures and replace them with new ones. However, in deep or turbulent water, transporting precision instruments and equipment intact to shore before dismantling the damaged underwater structure and removing the construction debris is a massive, time-consuming, and costly undertaking. Constructing a new underwater structure on the original site and then reinstalling and testing the precision instruments and equipment is an even larger, more time-consuming, and more expensive project. Therefore, in practice, the conventional approach of directly dismantling and rebuilding damaged underwater structures and installing equipment has been abandoned.

[0007] In recent years, underwater robots have been commonly used to repair cracked underwater fixed structures. The robot first dives to inspect and pinpoint the exact location requiring repair, then descends with the necessary tools to perform drilling and grouting operations. However, using underwater robots to repair damaged underwater fixed structures still has the following shortcomings: 1. The practicality and operability of using underwater robots to repair damaged underwater fixed structures are limited. For example, determining the specific repair location and performing targeted drilling and grouting operations requires high levels of robot functionality and precision. It is difficult to purchase robots that meet the repair requirements, and renting different robots from different companies for different functions is both impractical and costly. 2. Structures repaired by underwater robots are generally flat-topped. For hemispherical surfaces, especially those with tempered glass shells such as underwater monitoring stations, underwater robots struggle to be fixed and repaired on these surfaces. 2. In particular, the use of underwater robots to repair damaged underwater fixed structures also suffers from the shortcomings of manual repair by divers: they can only repair obvious cracks, but cannot comprehensively reinforce and repair damaged underwater structures; moreover, the construction is difficult, the safety risks are high, and the repair effect often fails to meet the quality requirements. For example, the repaired cracks are not repaired as a whole, so their durability is poor, which directly affects the normal use of the underwater structure. Summary of the Invention

[0008] One technical problem that this invention aims to solve is to provide an underwater fixed structure damage repair device that is highly practical, easy to operate, easy to construct, safe to construct, can completely prevent the expansion of damage, and can ensure that the underwater structure to be repaired can be used normally for a long time.

[0009] One technical solution of the present invention is to provide an underwater fixed structure damage repair device, comprising a hemispherical or multi-hemispherical shell with the same shape and material as the underwater fixed structure to be repaired;

[0010] Two flexible ropes are fixed to the top of the enclosure and are connected to the ship's winch for pulling the enclosure to adjust the horizontality of the bottom face of the enclosure in the Y direction. Two first electromagnetic reversing valves are symmetrically arranged at the bottom of the outer wall of the enclosure for spraying water downwards to adjust the horizontality of the bottom face of the enclosure in the X direction. The two first electromagnetic reversing valves also serve as water inlet valves. The enclosure also includes an underwater positioning device and multiple level sensors.

[0011] It also includes one or two flexible air pipes connected to the air pump on the ship and the first electromagnetic shut-off valve fixed to the top of the shell, and used for draining water to buffer the diving speed when the shell sinks, and for inflating the shell after the shell compacts the seabed, lakebed or riverbed.

[0012] It also includes at least one water pump pipe, the inlet end of which is located at the lower part of the inner wall of the housing, the water pump pipe passes through the top of the housing and is fixed and sealed, the top of the housing is provided with a second electromagnetic shut-off valve that connects the water pump pipe inside and outside the housing, and the outlet end of the water pump pipe is connected to the water pump on the ship.

[0013] Two horizontal water spray valves are symmetrically arranged at the bottom of the outer wall of the housing to adjust the forward or backward movement in the X direction. Two third electromagnetic reversing valves are symmetrically arranged at the bottom of the outer wall of the housing to adjust the forward or backward movement in the Y direction. A submersible pump is fixed inside the housing. The submersible pump is connected to the first electromagnetic reversing valve, the second electromagnetic reversing valve and the third electromagnetic reversing valve through multiple connecting water pipes.

[0014] It also includes a battery located inside the housing for providing power. The battery is electrically connected to and provides power to the first electromagnetic shut-off valve, the second electromagnetic shut-off valve, the first electromagnetic reversing valve, the second electromagnetic reversing valve, the third electromagnetic reversing valve, the submersible pump, the underwater positioning device, and multiple level sensors.

[0015] It also includes a split-type underwater acoustic communication device. The underwater part of the split-type underwater acoustic communication device is installed inside the housing and is connected to the underwater controller. The underwater controller is connected to the first electromagnetic shut-off valve, the second electromagnetic shut-off valve, the first electromagnetic reversing valve, the second electromagnetic reversing valve, the third electromagnetic reversing valve, the submersible pump, the underwater positioning device, and multiple level sensors. The above-water part of the split-type underwater acoustic communication device is connected to the above-water controller. The above-water controller is connected to the winch, the air pump, and the water pump.

[0016] The bottom of the inner wall of the enclosure is provided with multiple steel balls along the circumference for radial positioning with the bottom of the underwater fixed structure to be repaired. Each steel ball is rotatably fitted in a steel ball hoop fixed to the bottom of the inner wall of the enclosure. The steel ball can roll with the inner wall of the enclosure and the outer wall of the underwater fixed structure and abut against the inner wall of the enclosure and the outer wall of the underwater fixed structure after the enclosure compacts the seabed, lakebed or riverbed.

[0017] With the above structure, the underwater fixed structure damage repair device of the present invention has the following advantages:

[0018] It overcomes the technical shortcomings of manual repair by divers, which cannot fully reinforce and repair damaged underwater structures, and is characterized by high construction difficulty, high safety risks, and unsatisfactory repair results.

[0019] Compared with the conventional construction method of directly dismantling and rebuilding underwater fixed structures and reinstalling equipment inside them, this technical solution requires only a fraction of the time, manpower, material resources, and cost, while its construction efficiency is several times or even more than ten times that of the existing construction method.

[0020] Compared with underwater robots used for repairing underwater fixed structures, the repair device of this invention has a simple and robust structure, good mechanical properties, and highly versatile auxiliary devices on the casing. The casing is easy to manufacture, and the auxiliary devices are easy to install. This allows construction personnel to easily sink the casing from a vessel and place it over the underwater fixed structure to be repaired. The construction process is highly practical, operable, easy to perform, efficient, and safe. Especially after this repair device (casing) is placed over the underwater fixed structure, the quality and strength of the casing fully meet the design requirements. The underwater fixed structure will no longer be subject to impacts and damage from water flow and water bodies, completely preventing the expansion of damage and ensuring long-term normal use.

[0021] After the shell itself weighs several tons, tens of tons, or hundreds of tons and is pressed onto the seabed, lakebed, or riverbed, steel balls firmly radially limit the inner wall of the shell to the underwater fixed structure to be repaired. This further ensures that the underwater fixed structure can completely avoid the expansion of damage and thus ensure that the underwater fixed structure can be used normally for a long time.

[0022] Furthermore, the connection structure between the submersible pump and the solenoid valves via connecting water pipes is as follows: the submersible pump's inlet is connected to two first solenoid directional valves via connecting water pipes, and the submersible pump's outlet is also connected to two first solenoid directional valves via connecting water pipes. The outer end of each first solenoid directional valve is connected to a third solenoid shut-off valve via connecting water pipes. The submersible pump's outlet is also connected to two second solenoid directional valves via connecting water pipes and two fourth solenoid shut-off valves. The submersible pump's outlet is also connected to two third solenoid directional valves via connecting water pipes and two fifth solenoid shut-off valves. The battery is electrically connected to and provides power to the third, fourth, and fifth solenoid shut-off valves. The third, fourth, and fifth solenoid shut-off valves are all connected to the underwater controller for signal transmission. With the above structure, the horizontal adjustment during the hull's sinking process and the levelness adjustment of the bottom surface of the hull are more flexible, accurate, stable, and reliable.

[0023] Furthermore, the lower end of each flexible rope is secured to a lifting lug on the top of the enclosure via a detachable buckle; each flexible air hose is detachably connected to the first electromagnetic shut-off valve using a first screw-on joint; at least one flexible pumping pipe is detachably connected via a second screw-on joint located on the outer wall of the top of the enclosure. Each flexible air hose, flexible pumping pipe, and flexible rope is tied together at intervals along its length. During the enclosure's descent, the flexible ropes are taut, while the flexible air hoses and flexible pumping pipes are retracted. With this structure, after construction is completed, divers can descend and use tools such as wrenches to disassemble and recover the flexible ropes, flexible air hoses, and flexible pumping pipes. This operation is routine for divers, convenient and safe, and allows for the recovery and reuse of the flexible ropes, flexible air hoses, and flexible pumping pipes to reduce construction costs. It also reduces environmental pollution and other potential negative impacts caused by hundreds of meters of flexible ropes, flexible air hoses, and flexible pumping pipes remaining underwater.

[0024] Furthermore, the underwater fixed structure damage repair device of the present invention also includes a liquid level sensor installed on the inner wall of the casing, with the probe of the liquid level sensor located at the bottom of the inner wall of the casing; it also includes a barometer installed inside the casing for detecting whether the casing is leaking air, with a battery electrically connected to the liquid level sensor and the barometer providing power, and both the liquid level sensor and the barometer being signal-connected to the underwater controller. With the above structure, after the bottom of the casing is compacted and the water inside the casing is pumped out, air is injected into the casing through an air pump, a flexible air pipe, and a first electromagnetic shut-off valve to create a pressure difference between the inside and outside of the casing and maintain this pressure difference for a certain period of time, such as 1 hour. If no air bubbles overflow, it can be determined that the airtightness of the casing is good, thus confirming good construction quality.

[0025] Furthermore, the underwater fixed structure damage repair device of the present invention also includes one or more cameras with lights mounted on the casing. A battery is electrically connected to the one or more cameras with lights and provides power. The one or more cameras with lights are signal-connected to the underwater controller. With the above structure, the onboard operators can observe the casing's sinking process and compaction status more comprehensively and clearly on the computer screen, making operation more convenient and accurate. This further ensures that the horizontal adjustment during the casing's sinking process and the levelness adjustment of the casing's bottom surface are more flexible, accurate, stable, and reliable.

[0026] Another technical problem that this invention aims to solve is to provide a method for repairing underwater fixed structures that is highly practical, easy to operate, easy to construct, safe to construct, and can completely prevent the expansion of damage and ensure that the underwater structures to be repaired can be used normally for a long time.

[0027] Another technical solution of the present invention is to provide a method for repairing damage to underwater fixed structures using the aforementioned repair device, comprising the following construction steps:

[0028] 1) Based on the positioning signal emitted by the underwater fixed structure to be repaired, the operator lowers the prefabricated enclosure from the boat above the underwater fixed structure into the water. The surface controller controls the winch to gradually release the flexible rope to sink the enclosure. If necessary, the surface controller starts the air pump, and the underwater controller controls the first electromagnetic shut-off valve to open, inflating the enclosure to buffer the descent speed. The underwater positioning device provides positioning signals to the underwater controller at any time. The underwater controller controls the start and stop of the submersible pump and controls all electromagnetic shut-off valves. The valves and solenoid directional valves are opened and closed to adjust the horizontal position of the housing in the X direction, the horizontal position in the Y direction, and the horizontality of the bottom surface of the housing in the X direction. The water controller controls the flexible rope on the winch to adjust the horizontality of the bottom surface of the housing in the Y direction. After the housing is aligned with the underwater fixed structure to be repaired, it sinks by gravity. Multiple steel balls distributed along the circumference of the inner wall of the housing roll against the inner wall of the housing and the outer wall of the underwater fixed structure. After the housing compacts the seabed, lakebed, or riverbed, it abuts against the inner wall of the housing and the outer wall of the underwater fixed structure.

[0029] 2) The surface controller starts the water pump, and the underwater controller simultaneously opens the second solenoid shut-off valve to pump water onto the ship and discharge it to the water surface through the drain pipe until the level sensor sends a signal that the water has been pumped out, at which point the water pump and the second solenoid shut-off valve are closed.

[0030] After adopting the above construction steps, the underwater fixed structure repair method of the present invention has the following advantages:

[0031] It overcomes the technical shortcomings of manual repair by divers, which cannot fully reinforce and repair damaged underwater structures, and is characterized by high construction difficulty, high safety risks, and unsatisfactory repair results.

[0032] Compared with the conventional construction method of directly dismantling and rebuilding underwater fixed structures and reinstalling equipment inside them, this technical solution requires only a fraction of the time, manpower, material resources, and cost, while its construction efficiency is several times or even more than ten times that of the existing construction method.

[0033] Compared with underwater robots used for repairing underwater fixed structures, the repair method of this invention employs a simple and robust repair device with good mechanical properties. The auxiliary devices on the casing are highly versatile, easy to manufacture, and easy to install. This allows construction personnel to operate from a vessel, sinking the casing and placing it over the underwater fixed structure to be repaired. The repair method of this invention is highly practical, operable, easy to construct, efficient, and safe. In particular, after the repair device (casing) is placed over the underwater fixed structure, the quality and strength of the casing fully meet design requirements. The underwater fixed structure will no longer be subject to impacts and damage from water flow and water bodies, completely preventing the expansion of damage and ensuring long-term normal use.

[0034] As the shell itself weighs several tons, tens of tons, or hundreds of tons, it is pressed onto the seabed, lakebed, or riverbed. During this process, multiple steel balls are guided along the inner wall of the shell and the outer wall of the underwater fixed structure to be repaired. After the shell is compacted, the steel balls firmly and radially limit the inner wall of the shell to the underwater fixed structure to be repaired, further ensuring the technical effect of completely preventing the expansion of damage to the underwater fixed structure and thus ensuring that the underwater fixed structure can be used normally for a long time.

[0035] Furthermore, the underwater fixed structure repair method of the present invention also includes the following construction steps: After the liquid level sensor sends a signal to drain the water, the bottom of the casing is compacted and the water inside the casing is drained. The surface controller starts the air pump, and the underwater controller simultaneously opens the first electromagnetic shut-off valve to inflate the casing, creating a pressure difference between the inside and outside of the casing and maintaining this pressure difference for a certain period of time to determine the airtightness of the casing. After adopting the above construction steps, after the bottom of the casing is compacted and the water inside the casing is drained, air is inflated into the casing through the air pump, flexible air pipe, and the first electromagnetic shut-off valve to create a pressure difference between the inside and outside of the casing and maintain this pressure difference for a certain period of time, such as 1 hour. If no air bubbles overflow, it can be determined that the airtightness of the casing is good, thus confirming good construction quality.

[0036] Furthermore, the underwater fixed structure repair method of the present invention also includes the following construction steps: After construction is completed, a diver descends to the top of the enclosure, removes the buckle of the flexible rope, screws in and out the first screw-in joint and the second screw-in joint, and the surface controller controls the winch to retrieve the detached flexible air hose, flexible pumping pipe and flexible rope together to the ship. After adopting the above construction steps, once construction is completed, a diver can descend and use tools such as a wrench to disassemble and retrieve the flexible rope, flexible air hose and flexible pumping pipe. This operation is a routine operation for divers, convenient and safe, and can both recycle the flexible rope, flexible air hose and flexible pumping pipe to reduce construction costs, and reduce the environmental pollution and other possible negative impacts caused by hundreds of meters of flexible rope, flexible air hose and flexible pumping pipe remaining underwater. Attached Figure Description

[0037] Figure 1 This is a schematic diagram of the repair device of the present invention. Figure 1 (Showing the shape).

[0038] Figure 2 yes Figure 1 A magnified structural diagram of A in the diagram.

[0039] Figure 3 yes Figure 1 A magnified structural diagram of B in the diagram.

[0040] Figure 4 This is a schematic diagram of the repair device of the present invention. Figure 2 (The internal structure is shown from below; X-rays and Y-rays are also shown.)

[0041] Figure 5 This is a schematic diagram of the repair device of the present invention. Figure 3 (Looking up to show the internal structure; air inlet and water pump pipe are shown).

[0042] Figure 6 This is a schematic diagram of the connection structure between the submersible pump and the solenoid valve in the repair device of the present invention via a connecting water pipe.

[0043] The diagram shows: 1. Flexible water pump pipe, 2. Flexible air pipe, 3. Flexible pull rope, 4. Cover, 5. Third electromagnetic directional valve, 6. Second electromagnetic directional valve, 7. First electromagnetic directional valve, 8. Connecting column, 9. Second electromagnetic shut-off valve, 10. First electromagnetic shut-off valve, 11. Buckle, 12. Lifting lug, 13. Camera, 14. Submersible pump, 15. Barometer, 16. Steel ball, 17. Steel ball clamp, 18. Connecting water pipe, 19. Rigid water pump pipe, 20. Air inlet, 21. Fifth electromagnetic shut-off valve, 22. Third electromagnetic shut-off valve, 23. Fourth electromagnetic shut-off valve. Detailed Implementation

[0044] The specific embodiments of the present invention will be further described below with reference to the accompanying drawings. It should be noted that these descriptions of specific embodiments are for the purpose of aiding understanding the present invention, but do not constitute a limitation thereof. Furthermore, the technical means involved in the various specific embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0045] like Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 and Figure 6 As shown.

[0046] Existing underwater fixed structures refer to various engineering structures fixed to the bottom of oceans, lakes, or rivers, such as marine cable attachments, underwater isolation chambers, and underwater ocean observation stations. They are generally constructed of precast reinforced concrete or tempered glass and share common characteristics such as being curved, enclosed, and usually containing relatively expensive precision monitoring instruments.

[0047] This invention relates to an underwater fixed structure repair device, comprising a hemispherical or multi-hemispherical shell 4 with the same shape and material as the underwater fixed structure to be repaired. It is easy to understand that a hemispherical shape refers to the shape of a sphere cut in half, with its bottom surface pressed firmly against the seabed, lakebed, or riverbed. A multi-hemispherical shape is higher than a hemispherical shape and can also be considered as an integral shape formed by extending a cylindrical section downwards from a hemispherical shape; the bottom surface of the multi-hemispherical shape is also pressed firmly against the seabed, lakebed, or riverbed. The shell 4 is also called the hull. The material of the shell 4 is the aforementioned precast reinforced concrete or tempered glass.

[0048] Two flexible pull ropes 3, connected to the ship's winch, are fixed to the top of the casing 4 for pulling the casing 4 to adjust the horizontality of the bottom surface of the casing 4 in the Y direction. Two first electromagnetic reversing valves 7 are symmetrically arranged at the bottom of the outer wall of the casing 4 for spraying water downwards to adjust the horizontality of the bottom surface of the casing 4 in the X direction. These two first electromagnetic reversing valves 7 also serve as water inlet valves for adjusting the horizontal direction forward or backward. The underwater fixed structure damage repair device of this invention also includes an underwater positioning instrument and multiple level sensors mounted on the casing 4. The underwater positioning instrument can be located at the top inside the casing, and the multiple level sensors can be located on the edge or bottom surface of the bottom wall of the casing. Multiple sensors, such as four, can be evenly arranged along the circumference and can be used in conjunction with... Figure 4 The X-rays and Y-rays shown correspond to each other.

[0049] The underwater fixed structure damage repair device of the present invention further includes one or two, preferably two, flexible air pipes 2 connected to an air pump on the ship and a first electromagnetic shut-off valve 10 fixed to the top of the casing 4, used for draining water to buffer the diving speed when the casing 4 sinks, and for inflating the casing 4 with air after the casing 4 compacts the seabed, lakebed, or riverbed. The first electromagnetic shut-off valve 10 is also preferably two. It is easy to understand that two air inlets 20 penetrating the top wall of the casing 4 are connected to the inside of the casing 4 and the first electromagnetic shut-off valves 10. The underwater positioning device is also called an underwater locator. The air inlets 20 are also called inflation ports.

[0050] The underwater fixed structure damage repair device of the present invention further includes at least one water pumping pipe. The inlet end of the water pumping pipe is located at the lower part of the inner wall of the housing 4. The water pumping pipe passes through the top of the housing 4 and is fixedly sealed to the top of the housing 4. A second electromagnetic shut-off valve 9 is provided at the top of the housing 4 to connect the water pumping pipes inside and outside the housing 4. The outlet end of the water pumping pipe is connected to a water pump on the ship. The water pumping pipe inside the housing 4 can be a rigid water pumping pipe 19, such as a metal pipe. The water pumping pipe above the second shut-off valve 9 can be a flexible water pumping pipe 1, as described below.

[0051] Flexible draw rope 3, such as nylon rope, or nylon rope with steel wire inside. Flexible air hose 2, such as pressure-resistant plastic corrugated pipe or pressure-resistant rubber hose. Flexible water pumping pipe 1, such as plastic corrugated pipe or rubber hose.

[0052] Two horizontal water jets are symmetrically arranged at the bottom of the outer wall of the casing 4 to adjust the forward or backward movement in the X direction using second electromagnetic reversing valves 6. Two third electromagnetic reversing valves are also symmetrically arranged at the bottom of the outer wall of the casing 4 to adjust the forward or backward movement in the Y direction using third electromagnetic reversing valves 5. A submersible pump 14 is fixed inside the casing 4. The submersible pump 14 is connected to the first electromagnetic reversing valve 7, the second electromagnetic reversing valve 6, and the third electromagnetic reversing valve 5 via multiple connecting water pipes 18. The number of pipes is determined according to specific connection requirements, such as... Figure 6 The multiple connecting water pipes 18 shown may have different diameters depending on whether they are main pipes or branch pipes.

[0053] The first electromagnetic reversing valve 7, the second electromagnetic reversing valve 6, and the third electromagnetic reversing valve 5 can all be fixed to the outer wall of the housing 4 via the connecting column 8.

[0054] The underwater fixed structure damage repair device of the present invention also includes a battery disposed inside the housing 4 for providing power. The battery is electrically connected to and provides power to the first electromagnetic shut-off valve 10, the second electromagnetic shut-off valve 9, the first electromagnetic reversing valve 7, the second electromagnetic reversing valve 6, the third electromagnetic reversing valve 5, the submersible pump 14, the underwater positioning instrument, and multiple level sensors.

[0055] This invention relates to an underwater fixed structure damage repair device, which also includes a split-type underwater acoustic communication unit. The underwater portion of the split-type underwater acoustic communication unit is installed inside a housing 4 and is signal-connected to an underwater controller. The underwater controller is signal-connected to a first electromagnetic shut-off valve 10, a second electromagnetic shut-off valve 9, a first electromagnetic reversing valve 7, a second electromagnetic reversing valve 6, a third electromagnetic reversing valve 5, a submersible pump 14, an underwater positioning device, and multiple level sensors. The surface portion of the split-type underwater acoustic communication unit is signal-connected to a surface controller, which in turn is signal-connected to a winch, an air pump, and a water pump. The underwater controller can use an MCU chip or a PLC chip. The surface controller can use a computer. It is easy to understand that the power supply for the winch, air pump, and water pump is provided by the ship's power supply equipment.

[0056] The bottom of the inner wall of the casing 4 is provided with multiple steel balls 16 along the circumference for radial positioning against the bottom of the underwater fixed structure to be repaired. Each steel ball 16 is rotatably fitted within a steel ball clamp 17 fixed to the bottom of the inner wall of the casing 4. The steel ball 16 can roll against the inner wall of the casing 4 and the outer wall of the underwater fixed structure, and after the casing 4 compacts the seabed, lakebed, or riverbed, it abuts against the inner wall of the casing 4 and the outer wall of the underwater fixed structure. It is easy to understand that the diameter of the steel ball 16 can be equal to or slightly smaller than the gap between the inner wall of the casing 4 and one side of the original outer wall of the underwater fixed structure to be repaired, such as less than 1-15 mm. The radial positioning of the steel balls 16 can be achieved by radially positioning all steel balls 16 or by radially positioning only some of them. The steel balls 16 can also be replaced by steel rollers, which have a larger contact surface. "Multiple" here can be understood as more than one, such as two to ten, a dozen, etc. The steel ball 16 can also be called a steel ball.

[0057] The preferred connection structure between the submersible pump 14 and the solenoid valves via the connecting water pipe 18 is as follows: the inlet of the submersible pump 14 is connected to two first solenoid directional valves 7 via the connecting water pipe 18, and the outlet of the submersible pump 14 is also connected to two first solenoid directional valves 7 via the connecting water pipe 18. The outer end of each first solenoid directional valve 7 is connected to a third solenoid shut-off valve 22 via the connecting water pipe 18. The outlet of the submersible pump 14 is also connected to two second solenoid directional valves 6 via the connecting water pipe 18 and two fourth solenoid shut-off valves 23. The outlet of the submersible pump 14 is also connected to two third solenoid directional valves 5 via the connecting water pipe 18 and two fifth solenoid shut-off valves 21. The battery is electrically connected to the third solenoid shut-off valves 22, the fourth solenoid shut-off valves 23, and the fifth solenoid shut-off valves 21 and provides power; the third solenoid shut-off valves 22, the fourth solenoid shut-off valves 23, and the fifth solenoid shut-off valves 21 are all signal-connected to the underwater controller. It is easy to understand that one fourth solenoid shut-off valve 23 is connected to one second solenoid directional valve 6, and another fourth solenoid shut-off valve 23 is connected to another second solenoid directional valve 6. One fifth solenoid shut-off valve 21 is connected to one third solenoid directional valve 5, and another fifth solenoid shut-off valve 21 is connected to another third solenoid directional valve 5. The solenoid valves mentioned in the first line of this paragraph refer to the solenoid shut-off valves and solenoid directional valves described in this paragraph.

[0058] The lower end of each flexible pull rope 3 is fastened to a lifting lug 12 on the top of the housing 4 via a detachable buckle 11. The lifting lug 12 can be fixed to the top of the housing 4 via a connecting post 8. It is easy to understand that the lifting lug 12, the connecting post 8, and the buckle 11 are all made of steel. The flexible pull rope 3 can be fastened to the buckle via a metal clamp. Figure 1 , Figure 3 Metal sleeves are not shown in the image. Figure 1 , Figure 3 (The connection shown in the image is only schematic.) Each flexible air tube 2 is detachably connected to the first electromagnetic shut-off valve 10 via a first screw-on joint. At least one flexible water-drawing tube 1 is detachably connected via a second screw-on joint located on the top outer wall of the casing 4; that is, the portion of the water-drawing tube above the second screw-on joint constitutes the flexible water-drawing tube 1. Each flexible air tube 2, flexible water-drawing tube 1, and flexible pull rope 3 are tied together at intervals along their length. During the sinking process of the casing 4, the flexible pull rope 3 is in a straightened state, while the flexible air tube 2 and flexible water-drawing tube 1 are in a contracted state. The tying rope can be called a binding rope. Preferably, the at least one water-drawing tube refers to one flexible water-drawing tube 1.

[0059] The underwater fixed structure damage repair device of the present invention may further include a liquid level sensor installed on the inner wall of the housing 4, with the probe of the liquid level sensor located at the bottom of the inner wall of the housing 4. The underwater fixed structure damage repair device of the present invention may further include a barometer 15 installed inside the housing 4 for detecting whether the housing 4 is leaking. A battery is electrically connected to both the liquid level sensor and the barometer 15 and provides power. Both the liquid level sensor and the barometer 15 are signal-connected to the underwater controller.

[0060] The underwater fixed structure damage repair device of the present invention also includes one or more, such as three, cameras 13 equipped with lights, disposed on the inner and outer walls of the housing 4. Only the multiple cameras 13 equipped with lights mounted on the inner wall of the housing 4 are shown in the figure. A battery is electrically connected to one or more cameras with lights and provides power, and the one or more cameras with lights are signal-connected to an underwater controller.

[0061] The present invention provides a method for repairing damage to underwater fixed structures using the aforementioned repair device, comprising the following construction steps:

[0062] 1) Based on the positioning signal emitted by the underwater fixed structure to be repaired, the operator lowers the prefabricated cover 4 from the ship above the underwater fixed structure into the water. For example, the hook on the steel wire rope of the crane on the ship is hooked onto the lifting lug 12 of the two fixed flexible ropes 3 or onto two other lifting lugs on the top of the cover. After the cover 4 is lowered into the water, the two hooks are removed. The surface controller controls the winch to gradually release the flexible rope 3, causing the casing 4 to sink. When necessary, the surface controller starts the air pump, and the underwater controller controls the first electromagnetic shut-off valve 10 to open. If both first electromagnetic shut-off valves 10 are opened simultaneously, air is pumped into the casing 4 to buffer and slow down the descent speed. The underwater positioning device provides positioning signals to the underwater controller at any time. The underwater controller controls the start and stop of the submersible pump 14 and the start and stop of all electromagnetic shut-off valves and electromagnetic reversing valves to adjust the horizontal position of the casing 4 in the X and Y directions and the horizontality of the bottom surface of the casing 4 in the X direction. Meanwhile, the surface controller controls the flexible rope 3 on the winch to adjust the horizontality of the bottom surface of the casing 4 in the Y direction. After the casing 4 is aligned with the underwater fixed structure to be repaired, it sinks by gravity. Multiple steel balls 16 distributed circumferentially on the inner wall of the casing 4 roll against the inner wall of the casing 4 and the outer wall of the underwater fixed structure. After the casing 4 compacts the seabed, lakebed, or riverbed, it abuts against the inner wall of the casing 4 and the outer wall of the underwater fixed structure.

[0063] 2) The surface controller starts the water pump, and the underwater controller simultaneously opens the second solenoid shut-off valve 9 to pump water onto the boat and discharge it to the water surface through the drain pipe. The pumping continues until the level sensor sends a signal indicating that the water has been pumped out, at which point the pumping pump and the second solenoid shut-off valve 9 are shut off. Alternatively, an air pump can be started simultaneously to inflate the casing 4 to aid in pumping. The level sensor is also known as a water level sensor.

[0064] The underwater fixed structure repair method of the present invention further includes the following construction steps: after the liquid level sensor sends a signal to drain the water, the bottom of the cover 4 is compacted and the water inside the cover 4 is drained. The surface controller starts the air pump, and the underwater controller simultaneously opens the first electromagnetic shut-off valve 10 to inflate the cover 4, forming a pressure difference between the inside and outside of the cover 4 and maintaining this pressure difference for a certain period of time to determine the airtightness of the cover 4.

[0065] The underwater fixed structure repair method of the present invention also includes the following construction steps: After the construction is completed, the diver descends to the top of the shell 4 and can use tools such as wrenches to disassemble the buckle 11 of the flexible pull rope 3, screw the first screw joint to disengage and screw the second screw joint to disengage. The water controller controls the winch to retrieve the disengaged flexible air pipe 2, flexible water pumping pipe 1 and flexible pull rope 3 together to the ship.

[0066] The specific operation of adjusting the horizontal position of the cover 4 in the X-direction, the horizontal position in the Y-direction, and the horizontality of the bottom surface of the cover 4 in the X-direction using all electromagnetic shut-off valves and electromagnetic directional valves is as follows:

[0067] Water enters through two third electromagnetic shut-off valves 22 simultaneously, passes through two first electromagnetic reversing valves 7 into the submersible pump 14, and is sprayed in one direction simultaneously through the outlet of the submersible pump 14 from two respective fourth electromagnetic shut-off valves 23 and second electromagnetic reversing valves 6, causing the casing 4 to move forward in the X direction.

[0068] Water enters through two third electromagnetic shut-off valves 22 simultaneously, passes through two first electromagnetic reversing valves 7 into the submersible pump 14, and then sprays water from the outlet of the submersible pump 14 through two respective fourth electromagnetic shut-off valves 23 and second electromagnetic reversing valves 6 in the opposite direction after reversal. The casing 4 retracts in the X direction.

[0069] Water enters through two third electromagnetic shut-off valves 22 simultaneously, passes through two first electromagnetic reversing valves 7 into the submersible pump 14, and is sprayed in one direction simultaneously through the outlet of the submersible pump 14 from two respective fifth electromagnetic shut-off valves 21 and third electromagnetic reversing valves 5, while the casing 4 moves forward in the Y direction.

[0070] Water enters through the two third electromagnetic shut-off valves 22 simultaneously, passes through the two first electromagnetic reversing valves 7 into the submersible pump 14, and is sprayed out through the outlet of the submersible pump 14 from the two respective fifth electromagnetic shut-off valves 21 and the third electromagnetic reversing valve 5, simultaneously in the other direction after reversal, and the cover 4 retracts along the Y direction.

[0071] Water enters through a third electromagnetic shut-off valve 22, passes through a first electromagnetic directional valve 7, and enters the submersible pump 14. Water is then sprayed downwards from the outlet of the submersible pump 14 through another first electromagnetic directional valve 7 and another third electromagnetic shut-off valve 22, causing the point at the bottom of the housing 4, which is located on the X-ray, to rise upwards.

[0072] Water enters through a third electromagnetic shut-off valve 22, passes through a first electromagnetic directional valve 7, and enters the submersible pump 14. Water is then sprayed downwards from the outlet of the submersible pump 14 through another first electromagnetic directional valve 7 and another third electromagnetic shut-off valve 22, causing the other point at the bottom of the housing 4, which is located on the X-ray, to rise upwards.

[0073] The camera 13, equipped with a light, returns images at any time.

[0074] It is easy to understand that the chips, all electromagnetic shut-off valves, electromagnetic reversing valves, positioning instruments, sensors such as level sensors and liquid level sensors, barometers, submersible pumps, air pumps, water pumps, winches, cameras with lights, nylon ropes, hoses, steel balls, etc. of the aforementioned split-type underwater acoustic communication device can all be commercially available products.

[0075] Components, structures, or quantities not marked above are not shown in the diagram. For example, all shut-off valves are only... Figure 6 The following items are not shown in the diagram: positioning device, sensor, battery, underwater controller, underwater acoustic communication device, screw-in connector, lashing rope, underwater fixed structure to be repaired, boat and onboard equipment, etc. The accompanying drawings are for illustrative purposes only. In case of any discrepancies between the drawings and the textual description, or between the drawings themselves, the textual description shall prevail.

[0076] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., 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 device for repairing damaged underwater fixed structures, characterized in that: This includes hemispherical or multi-hemispherical shells with the same shape and material as the underwater fixed structure to be repaired; Two flexible ropes are fixed to the top of the enclosure and are connected to the ship's winch for pulling the enclosure to adjust the horizontality of the bottom face of the enclosure in the Y direction. Two first electromagnetic reversing valves are symmetrically arranged at the bottom of the outer wall of the enclosure for spraying water downwards to adjust the horizontality of the bottom face of the enclosure in the X direction. The two first electromagnetic reversing valves also serve as water inlet valves. The enclosure also includes an underwater positioning device and multiple level sensors. It also includes one or two flexible air pipes connected to the air pump on the ship and the first electromagnetic shut-off valve fixed to the top of the shell, used for draining water to buffer the sinking speed when the shell sinks, and for inflating the shell after the shell compacts the seabed, lakebed or riverbed. It also includes at least one water pump pipe, the inlet end of which is located at the lower part of the inner wall of the housing, the water pump pipe passes through the top of the housing and is fixed and sealed, the top of the housing is provided with a second electromagnetic shut-off valve that connects the water pump pipe inside and outside the housing, and the outlet end of the water pump pipe is connected to the water pump on the ship. Two horizontal water spray valves are symmetrically arranged at the bottom of the outer wall of the housing to adjust the forward or backward movement in the X direction. Two third electromagnetic reversing valves are symmetrically arranged at the bottom of the outer wall of the housing to adjust the forward or backward movement in the Y direction. A submersible pump is fixed inside the housing. The submersible pump is connected to the first electromagnetic reversing valve, the second electromagnetic reversing valve and the third electromagnetic reversing valve through multiple connecting water pipes. It also includes a battery located inside the housing for providing power. The battery is electrically connected to and provides power to the first electromagnetic shut-off valve, the second electromagnetic shut-off valve, the first electromagnetic reversing valve, the second electromagnetic reversing valve, the third electromagnetic reversing valve, the submersible pump, the underwater positioning device, and multiple level sensors. It also includes a split-type underwater acoustic communication device. The underwater part of the split-type underwater acoustic communication device is installed in the housing and is connected to the underwater controller. The underwater controller is connected to the first electromagnetic shut-off valve, the second electromagnetic shut-off valve, the first electromagnetic reversing valve, the second electromagnetic reversing valve, the third electromagnetic reversing valve, the submersible pump, the underwater positioning device, and multiple level sensors. The above-water part of the split-type underwater acoustic communication device is connected to the above-water controller. The above-water controller is connected to the winch, the air pump, and the water pump. The bottom of the inner wall of the enclosure is provided with multiple steel balls along the circumference for radial positioning with the bottom of the underwater fixed structure to be repaired. Each steel ball is rotatably fitted in a steel ball hoop fixed to the bottom of the inner wall of the enclosure. The steel ball can roll with the inner wall of the enclosure and the outer wall of the underwater fixed structure and abut against the inner wall of the enclosure and the outer wall of the underwater fixed structure after the enclosure compacts the seabed, lakebed or riverbed.

2. The underwater fixed structure damage repair device according to claim 1, characterized in that: The submersible pump and solenoid valves are connected via water pipes as follows: the submersible pump inlet is connected to two first solenoid directional valves via a water pipe, and the submersible pump outlet is also connected to two first solenoid directional valves via a water pipe. The outer end of each first solenoid directional valve is connected to a third solenoid shut-off valve via a water pipe. The submersible pump outlet is also connected to two second solenoid directional valves via a water pipe and two fourth solenoid shut-off valves. The submersible pump outlet is also connected to two third solenoid directional valves via a water pipe and two fifth solenoid shut-off valves. The battery is electrically connected to the third, fourth, and fifth solenoid shut-off valves and provides power. The third, fourth, and fifth solenoid shut-off valves are all connected to the underwater controller for signal transmission.

3. The underwater fixed structure damage repair device according to claim 1, characterized in that: The lower end of each flexible pull rope is fastened to the lifting lug on the top of the casing via a detachable buckle; the connection between each flexible air pipe and the first electromagnetic shut-off valve is detachably connected via a first screw-fit joint; at least one flexible water suction pipe is detachably connected via a second screw-fit joint located on the outer wall of the top of the casing; each flexible air pipe, flexible water suction pipe, and flexible pull rope is tied together with ropes at intervals along the length direction; during the sinking process of the casing, the flexible pull rope is in a straight state, while the flexible air pipe and flexible water suction pipe are in a contracted state.

4. The underwater fixed structure damage repair device according to claim 1, characterized in that: It also includes a liquid level sensor installed on the inner wall of the housing, with the probe of the liquid level sensor located at the bottom of the inner wall of the housing; it also includes a barometer installed inside the housing to detect whether the housing is leaking air, with the battery electrically connected to the liquid level sensor and the barometer and providing power, and both the liquid level sensor and the barometer being signal-connected to the underwater controller.

5. The underwater fixed structure damage repair device according to claim 1, characterized in that: It also includes one or more illuminated cameras mounted on the housing, a battery electrically connected to and providing power to the one or more illuminated cameras, and the one or more illuminated cameras signal-connected to the underwater controller.

6. A method for repairing damage to underwater fixed structures using the repair device described in claim 1, characterized in that: The construction steps include the following: 1) Based on the positioning signal emitted by the underwater fixed structure to be repaired, the operator lowers the prefabricated enclosure from the boat above the underwater fixed structure into the water. The surface controller controls the winch to gradually release the flexible rope to sink the enclosure. If necessary, the surface controller starts the air pump, and the underwater controller controls the first electromagnetic shut-off valve to open, inflating the enclosure to buffer the descent speed. The underwater positioning device provides positioning signals to the underwater controller at any time. The underwater controller controls the start and stop of the submersible pump and controls all electromagnetic shut-off valves. The valves and solenoid directional valves are opened and closed to adjust the horizontal position of the housing in the X direction, the horizontal position in the Y direction, and the horizontality of the bottom surface of the housing in the X direction. The water controller controls the flexible rope on the winch to adjust the horizontality of the bottom surface of the housing in the Y direction. After the housing is aligned with the underwater fixed structure to be repaired, it sinks by gravity. Multiple steel balls distributed along the circumference of the inner wall of the housing roll against the inner wall of the housing and the outer wall of the underwater fixed structure. After the housing compacts the seabed, lakebed, or riverbed, it abuts against the inner wall of the housing and the outer wall of the underwater fixed structure. 2) The surface controller starts the water pump, and the underwater controller simultaneously opens the second solenoid shut-off valve to pump water onto the ship and discharge it to the water surface through the drain pipe until the level sensor sends a signal that the water has been pumped out, at which point the water pump and the second solenoid shut-off valve are closed.

7. The method according to claim 6, characterized in that: The construction process also includes the following steps: After the level sensor sends a signal to drain the water, the bottom of the cover is compacted and the water inside the cover is drained. Then, the surface controller starts the air pump, and the underwater controller simultaneously opens the first electromagnetic shut-off valve to inflate the cover, creating a pressure difference between the inside and outside of the cover and maintaining this pressure difference for a certain period of time to determine the airtightness of the cover.

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