High-frequency breaking hammer underwater reef cleaning device and construction method thereof

Abstract

The application provides a high-frequency breaking hammer underwater reef cleaning device and a construction method thereof, comprising a vehicle body, an extension arm and a movable arm, a plurality of vehicle space sensing positioning devices are arranged on the vehicle body, a movable arm posture monitoring device is arranged on the movable arm, an extension arm posture monitoring device is arranged on the extension arm, and an extension arm positioning device floating on the water surface is arranged on the top of the extension arm. Through an automatic processing control system and various sensing sensors, the inconvenience of underwater tracking measurement operation in the construction process is solved, compared with the original traditional method of underwater measurement after the first reef cleaning is completed, and then processing the shallow points, underwater reef cleaning construction and tracking measurement integration are realized, quality guarantee measures for underwater rock drilling construction of the high-frequency breaking hammer are provided, the underwater reef cleaning process is optimized, and the application is suitable for popularization and use.

Description

Technical Field

[0001] This invention relates to the field of underwater reef clearing, and in particular to a high-frequency hydraulic breaker underwater reef clearing device and its construction method. Background Technology

[0002] Currently, the reef clearing methods used in my country's engineering construction are mainly blasting, heavy hammer drilling, and high-frequency hydraulic breaker drilling. Underwater blasting has a significant impact on the surrounding aquatic environment and poses a high risk to construction safety; heavy hammer drilling has low accuracy in reef clearing, and the hammer is prone to falling off and being lost, which hinders construction efficiency; high-frequency hydraulic breaker drilling has low safety risks, has virtually no impact on the aquatic environment, and does not have the problem of equipment falling off and being lost. However, high-frequency hydraulic breaker underwater reef clearing operations rely heavily on the operator's experience and skills. GPS cannot be installed underwater, the breaker's positioning is inaccurate, it cannot detect the actual elevation of the underwater rock mass, and it cannot achieve three-dimensional spatial positioning perception, resulting in low economic efficiency and reef clearing efficiency. In addition, underwater measurements during the initial stage of reef clearing operations are easily affected by underwater silt, leading to deviations in the measurement results. Therefore, we propose a high-frequency hydraulic breaker underwater reef clearing device and its construction method to solve the above problems.

[0003] Chinese patent document CN 114960535 A describes an underwater high-frequency breaker extended arm positioning device and a positioning and reef clearing method. However, this method has the following defects: 1. It cannot achieve positioning and sensing of three-dimensional spatial position; 2. It cannot make effective adjustments with changes in water level; 3. It cannot detect the actual elevation of underwater rock mass, and its use is limited, so it needs to be improved. Summary of the Invention

[0004] The technical problem to be solved by this invention is to provide a high-frequency hydraulic breaker underwater reef clearing device and its construction method, which solves the problems that high-frequency hydraulic breaker underwater reef clearing operations rely heavily on the operator's experience and skills, the breaker positioning is inaccurate, it cannot detect the actual elevation of the underwater rock mass, it cannot achieve three-dimensional spatial positioning perception, and the economy and reef clearing efficiency are low. At the same time, when conducting underwater measurements in the early stage of reef clearing operations, it is easy to be affected by underwater silt, which leads to deviations in measurement results.

[0005] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is: a high-frequency hydraulic breaker underwater reef clearing device and its construction method, including a vehicle body, an extension arm and a boom. The vehicle body is equipped with multiple vehicle body space sensing and positioning devices, the boom is equipped with a boom attitude monitoring device, the extension arm is equipped with an extension arm attitude monitoring device, and the top of the extension arm is equipped with an extension arm positioning device floating on the water surface.

[0006] In the preferred embodiment, the vehicle body is equipped with a vehicle space perception and positioning device on both sides of the main body. The vehicle space perception and positioning device is a GNNS receiver. The main body of the vehicle body is equipped with an automated processing and control system and a permanent magnet.

[0007] In the preferred embodiment, multiple boom cylinders are provided between the main body and the boom, the extension arm and the boom are rotatably connected, multiple extension arm cylinders are provided between the extension arm and the boom, and a rotating shaft is provided on the extension arm.

[0008] In the preferred embodiment, a rotating high-frequency breaker is provided at one end of the boom, and a bucket cylinder is provided between the high-frequency breaker and the boom. A bucket cylinder hydraulic monitoring device is provided on the bucket cylinder.

[0009] In the preferred embodiment, the outrigger positioning device includes a gimbal, a small permanent magnet and multiple floating plates at the bottom of the gimbal, a universal ball seat at the bottom of the gimbal, a rotating universal ball on the universal ball seat, and the universal ball connected to the outrigger via a wire.

[0010] The small permanent magnet has the same magnetic force direction as the permanent magnet.

[0011] In the preferred embodiment, the ball joint is equipped with a transparent cover, the transparent cover is equipped with marking lines, the ball joint is equipped with a pointer, and the ball joint contains liquid and a magnetic ball.

[0012] The liquid and the magnetic sphere have the same density.

[0013] In the preferred embodiment, the bottom of the gimbal is equipped with a wire box and a gimbal processor. The wires are wound around the rotating shaft, which is rotatably connected to the wire box. The wire box is mounted on the extension arm.

[0014] In the preferred embodiment, the arm extension posture monitoring device includes a monitoring sphere, a second marking line on the monitoring sphere, a second liquid inside the monitoring sphere, and air bubbles and a second magnetic ball on the second liquid.

[0015] The second magnetic sphere has the same density as the second liquid.

[0016] The second magnetic ball is used to measure the horizontal deflection angle, and the bubble is used to measure the vertical deflection angle.

[0017] In the preferred embodiment, the boom posture monitoring device and the boom posture monitoring device have the same structure.

[0018] The high-frequency hydraulic breaker underwater reef clearing device and its construction method are as follows: S1. Measure the underwater topography and divide the area to be cleared into grids according to the underwater measurement results.

[0019] S2. The equipment arrives at the starting point of the reef clearing construction grid and inputs the underwater measurement data into the automated processing and control system.

[0020] S3. Drive the boom and extension arm to lower the high-frequency breaker until the reading of the hydraulic monitoring device of the bucket cylinder confirms that it is in contact with the rock strata;

[0021] S4. The automated processing and control system calculates underwater elevation information based on the attitude and spatial coordinate information fed back by various sensors after the high-frequency breaker hits the bottom. This information is then combined with underwater measurement data for calibration. After calibration, the vehicle-mounted spatial sensing and positioning device establishes a spatial coordinate system with the center of the two vehicle-mounted spatial sensing and positioning devices as the origin, based on the actual location of the equipment in the water area.

[0022] S5. Start the main body of the vehicle, and the high-frequency breaker starts to break rocks. The camera on the boom positioning device monitors the position of the pointer and magnetic ball in real time, and transmits the image signal to the gimbal processor. The boom positioning device controls the gimbal to make the pointer position at the center of the marker line. The boom elevation is determined by the number of rotations of the motor.

[0023] S6. The bubble in the boom posture monitoring device determines the deflection angle in the vertical direction, and the second magnetic ball in the boom posture monitoring device determines the deflection angle in the horizontal direction; similarly, the boom posture monitoring device determines the deflection angle.

[0024] S7. The real-time data fed back by the vehicle body space perception and positioning device, the boom space perception and positioning device, the boom posture monitoring device and the boom posture monitoring device are transmitted to the automated processing and control system. After the automated processing and control system calculates and analyzes, it feeds back the information on the body body rotation angle, boom, boom extension angle and telescopic height that need to be adjusted to the display.

[0025] S8. The vehicle body is cleared of reefs within the corresponding grid area. The automated processing and control system stores and records the original underwater elevation of each drilling point, and uses a high-frequency breaker to contact the bottom rock layer at corresponding drilling points to check whether the underwater elevation of the previous operation area is qualified.

[0026] S9. After the reef clearing in the grid area is completed, the display of the automated processing and control system shows that the area has been completed. At this time, move to the next area and repeat S3~S8 until the reef clearing work is completed.

[0027] This invention provides a high-frequency hydraulic breaker underwater reef clearing device and its construction method. Through an automated processing and control system, data from the boom attitude monitoring device, extension boom attitude monitoring device, vehicle space perception and positioning device, and bucket cylinder hydraulic monitoring device are used to determine the underwater attitude and three-dimensional spatial coordinates of the high-frequency hydraulic breaker. This information is compared with the design elevation, and the attitude information requiring adjustment is output to a display screen, providing operators with a basis for judgment. Compared to traditional methods where operators rely on experience and intuition, this invention significantly improves the efficiency of high-frequency hydraulic breaker reef clearing operations.

[0028] The data measured by the high-frequency hydraulic breaker enables accurate and rapid calculation of underwater elevation, and facilitates the confirmation and verification of the amount of work involved in reef clearing operations.

[0029] The second magnetic ball of the boom attitude monitoring device can measure the horizontal deflection angle of the boom, which is used to verify the horizontal deflection angle measured by the vehicle space perception and positioning device. Similarly, the boom attitude monitoring device also verifies the horizontal deflection angle measured by the vehicle space perception and positioning device. Through the dual control system composed of the space control system and the attitude control system, the accuracy of underwater reef clearing space is perceived, thus achieving dual protection.

[0030] By using an automated processing and control system and various sensing sensors, the inconvenience of underwater tracking and measurement during construction has been resolved. Compared with the traditional method of completing the first round of reef clearing and then conducting underwater measurements and processing shallow points, this method integrates underwater reef clearing construction with tracking and measurement, provides quality assurance measures for underwater rock drilling construction with high-frequency breakers, optimizes the underwater reef clearing process, and is suitable for widespread use. Attached Figure Description

[0031] The present invention will be further described below with reference to the accompanying drawings and embodiments:

[0032] Figure 1 This is a side view of the overall device of the present invention;

[0033] Figure 2 This is a top view of the overall device of the present invention;

[0034] Figure 3 This is a top view of the arm positioning device of the present invention;

[0035] Figure 4 This is a cross-sectional view of the arm positioning device of the present invention;

[0036] Figure 5 This is an axonometric view of a partial structure of the present invention;

[0037] Figure 6 This is a cross-sectional view of a partial structure of the present invention;

[0038] Figure 7 This is a top view of the universal ball of the present invention;

[0039] Figure 8 This is a front view schematic diagram of the universal ball of the present invention;

[0040] Figure 9 This is a front view schematic diagram of the monitoring sphere of the present invention;

[0041] Figure 10 This is a top view of the monitoring sphere of the present invention;

[0042] In the diagram: 1. Vehicle body; 2. Extended boom posture monitoring device; 201. Monitoring sphere; 2011. Second marking line; 202. Second liquid; 203. Bubble; 204. Second magnetic ball; 3. Boom posture monitoring device; 4. Vehicle body spatial perception and positioning device; 5. Extended boom positioning device; 501. Gimbal; 502. Small permanent magnet; 503. Universal ball; 504. Pointer; 5041. Liquid; 5042. Wire; 505. Float; 506. Motor; 507. Transparent cover; 508. Marking line; 5081. Magnetic ball; 509. Wire box; 510. Gimbal processor; 511. Automated processing and control system; 6. High-frequency breaker hammer; 7. Extended boom; 8. Rotary shaft; 801. Boom; 9. Boom cylinder; 10. Extended boom cylinder; 11. Bucket cylinder; 12. Magnetic level; 13. Bucket cylinder hydraulic monitoring device; 14. Detailed Implementation

[0043] Example 1:

[0044] like Figures 1-10 The high-frequency hydraulic breaker underwater reef clearing device and its construction method include a main body 1, an extension boom 8, and a boom 9. The main body 1 is equipped with multiple vehicle space sensing and positioning devices 4, the boom 9 is equipped with a boom attitude monitoring device 3, the extension boom 8 is equipped with an extension boom attitude monitoring device 2, and the top of the extension boom 8 is equipped with an extension boom positioning device 5 floating on the water surface. Based on this structure, the automated processing and control system 6 determines the underwater attitude and three-dimensional spatial coordinates of the high-frequency hydraulic breaker 7 by analyzing data from the boom attitude monitoring device 3, the extension boom attitude monitoring device 2, the vehicle space sensing and positioning device 4, and the bucket cylinder hydraulic monitoring device 14. This information is compared with the design elevation, and the attitude information requiring adjustment is output to the display, providing the operator with a basis for judgment. Compared to the traditional method where operators rely on experience and intuition, this significantly improves the efficiency of high-frequency hydraulic breaker reef clearing operations.

[0045] The camera inside the boom positioning device 5 can monitor the position of the pointer 5041 relative to the marker line 5081 in real time, drive the gimbal 501 to make the pointer 5041 located at the center of the marker line 5081, and keep the guide wire 505 vertical. The number of rotations of the motor 507 is used to determine the height of the boom positioning device 5 relative to the boom 8. The boom posture monitoring device 2 on the boom 8 is used to measure the vertical deflection angle of the boom 8. By measuring the extension length of the bucket cylinder 12, the vertical deflection angle of the boom 8, and the height of the boom positioning device 5 relative to the boom 8, the elevation of the high-frequency breaker hammer 7 can be determined.

[0046] When the vehicle body 1 rotates, the horizontal deflection angle of the boom 9 is determined by the horizontal rotation angle of the two vehicle body spatial sensing and positioning devices 4, which in turn determines the horizontal deflection angle of the high-frequency breaker 7. The vertical deflection angle of the boom 9 is determined by the boom attitude monitoring device 3 on the boom 9. Combined with the extension length of the boom cylinder 11, the spatial position coordinates of the end of the boom 8 are determined. The spatial position coordinates of the high-frequency breaker 7 are determined by the length of the bucket cylinder 12, the spatial position coordinates of the boom 8, and the vertical deflection angle of the boom 8, ensuring the accurate positioning of the high-frequency breaker 7.

[0047] The data measured by the high-frequency hydraulic breaker 7 enables accurate and rapid calculation of underwater elevation, and realizes the function of confirming and verifying the amount of work involved in reef clearing operations.

[0048] The second magnetic ball 204 of the boom attitude monitoring device 2 can measure the horizontal deflection angle of the boom 9 to verify the horizontal deflection angle measured by the vehicle space perception and positioning device 4. Similarly, the boom attitude monitoring device 3 also verifies the horizontal deflection angle measured by the vehicle space perception and positioning device 4. Through the dual control system composed of the space control system and the attitude control system, the accuracy of underwater reef clearing space is perceived, achieving dual protection.

[0049] By using an automated processing and control system 6 and various sensing sensors, the inconvenience of underwater tracking and measurement operations during construction has been resolved. Compared with the traditional method of completing the first round of reef clearing and then conducting underwater measurements and processing shallow points, this method integrates underwater reef clearing construction with tracking and measurement, provides quality assurance measures for underwater rock drilling construction with high-frequency hydraulic breakers, and optimizes the underwater reef clearing process.

[0050] In the preferred embodiment, the vehicle body 1 is equipped with vehicle space perception and positioning devices 4 on both sides. The vehicle space perception and positioning devices 4 are GNNS receivers. The vehicle body 1 is equipped with an automated processing and control system 6 and a magnetic level 13. With this structure, the automated processing and control system 6 calculates the underwater elevation information based on the attitude information and spatial coordinate information fed back by various sensors after the high-frequency breaker 7 touches the bottom. It also combines the underwater measurement data for calibration. After calibration, the vehicle space perception and positioning devices 4 establish a spatial coordinate system with the center of the two vehicle space perception and positioning devices 4 as the origin according to the actual position of the equipment in the water area. When the vehicle body 1 deflects, the deflection angle of the vehicle space perception and positioning devices 4 is the horizontal deflection angle of the boom 9 and the extension boom 8.

[0051] In the preferred embodiment, multiple boom cylinders 10 are provided between the main body 1 and the boom 9; the extension arm 8 and the boom 9 are rotatably connected; multiple extension arm cylinders 11 are provided between the extension arm 8 and the boom 9; and a rotating shaft 801 is provided on the extension arm 8. With this structure, preferably, the wire box 510 is installed at the hinge joint between the extension arm 8 and the boom 9.

[0052] In the preferred embodiment, a rotating high-frequency breaker 7 is provided at one end of the boom 8, and a bucket cylinder 12 is provided between the high-frequency breaker 7 and the boom 8. A bucket cylinder hydraulic monitoring device 14 is provided on the bucket cylinder 12. With this structure,

[0053] In the preferred embodiment, the outrigger positioning device 5 includes a gimbal 501, a small permanent magnet 503 and multiple floating plates 506 at the bottom of the gimbal 501, a universal ball seat 502 at the bottom of the gimbal 501, a rotating universal ball 504 on the universal ball seat 502, and the universal ball 504 is connected to the outrigger 8 through a wire 505.

[0054] The small permanent magnet 503 is aligned with the magnetic direction of the magnetic level 13. This structure drives the gimbal 501 so that the front of the extension arm positioning device 5 is aligned with the front of the vehicle body 1, ensuring the small permanent magnet 503 and the magnetic level 13 are aligned. This allows the gimbal 501 to move horizontally and prevent rotation. Simultaneously, under the influence of the small permanent magnet 503, the magnetic ball 509 rests against the front of the gimbal 501 within the universal ball 504. In the camera's imaging, the position of the magnetic ball 509 provides direction.

[0055] When the guide wire 505 is vertical, the magnetic ball 509 of the extension arm positioning device 5 can measure the relative position of the omnidirectional ball 504 and the gimbal 501. The gimbal processor 511 receives the position signal from the pointer 5041, processes it, and controls the movement of the gimbal 501 to keep the guide wire 505 vertical.

[0056] In the preferred embodiment, the ball joint 502 is provided with a transparent cover 508, the transparent cover 508 is provided with a marking line 5081, the ball joint 504 is provided with a pointer 5041, and the ball joint 504 contains liquid 5042 and a magnetic ball 509.

[0057] Liquid 5042 and magnetic ball 509 have the same density. With this structure, the transparent cover 508 allows for real-time observation of the position of pointer 5041 relative to marker line 5081.

[0058] In the preferred embodiment, the gimbal 501 has a wire guide box 510 and a gimbal processor 511 at its bottom. The wire 505 is wound around the rotating shaft 801, which is rotatably connected to the wire guide box 510. The wire guide box 510 is mounted on the extension arm 8. With this structure, the gimbal 501 is driven to position the pointer 5041 at the center of the marker line 5081, keeping the wire 505 vertical. The height of the extension arm positioning device 5 relative to the extension arm 8 is determined by the number of rotations of the motor 507.

[0059] In the preferred embodiment, the arm extension posture monitoring device 2 includes a monitoring sphere 201, a second marking line 2011 on the monitoring sphere 201, a second liquid 202 inside the monitoring sphere 201, and bubbles 203 and a second magnetic ball 204 on the second liquid 202.

[0060] The second magnetic sphere 204 has the same density as the second liquid 202;

[0061] The second magnetic ball 204 is used to measure the horizontal deflection angle, and the bubble 203 is used to measure the vertical deflection angle. With this structure, the vertical deflection angle of the boom 8 is obtained through the boom posture monitoring device 2 on the boom 8. By measuring the extension length of the bucket cylinder 12, the measured vertical deflection angle of the boom 8, and the height of the boom positioning device 5 relative to the boom 8, the elevation of the high-frequency breaker 7 can be determined. The second magnetic ball 204 has the same density as the second liquid 202. The second magnetic ball 204 of the boom posture monitoring device 2 can measure the horizontal deflection angle of the boom 9, thus verifying the horizontal deflection angle measured by the vehicle space perception positioning device 4.

[0062] In the preferred embodiment, the boom posture monitoring device 2 and the boom posture monitoring device 3 have the same structure. With this structure, both the boom posture monitoring device 2 and the boom posture monitoring device 3 are equipped with cameras, which monitor the positions of the bubble 203 and the second magnetic ball 204 in real time.

[0063] The boom posture monitoring device 3 measures and determines the vertical deflection angle of the boom 9, and combines this with the extension length of the boom cylinder 11 to determine the spatial position coordinates of the end of the boom 8. The magnetic ball on the boom posture monitoring device 3 verifies the horizontal deflection angle measured by the vehicle space perception and positioning device 4.

[0064] Example 2:

[0065] Further explanation based on Example 1: The high-frequency hydraulic breaker underwater reef clearing device and its construction method include the following steps: S1, measuring the underwater topography and dividing the area requiring reef clearing construction into grids based on the underwater measurement results.

[0066] S2. The equipment arrives at the starting point of the reef clearing construction grid and inputs the underwater measurement data into the automated processing and control system 6.

[0067] S3, drive the boom 9 and the extension arm 8 to lower the high-frequency breaker 7 until the reading of the bucket cylinder hydraulic monitoring device 14 confirms that it is in contact with the rock strata;

[0068] S4. The automated processing and control system 6 calculates the underwater elevation information based on the attitude information and spatial coordinate information fed back by various sensors after the high-frequency breaker 7 touches the bottom, and combines the calibration of underwater measurement data. After calibration, the vehicle space perception and positioning device 4 establishes a three-dimensional coordinate system based on the actual position and elevation of the water area where the equipment is located.

[0069] S5. Start the main body 1 of the vehicle body, and the high-frequency breaker starts to break rocks. The camera on the boom positioning device 5 monitors the position of the pointer 5041 and the magnetic ball 509 in real time, and transmits the image signal to the gimbal processor 511. The boom positioning device 5 controls the gimbal 501 to make the pointer 5041 located at the center of the marker line 5081. The elevation of the boom 8 is determined by the number of rotations of the motor 507.

[0070] S6. The bubble 203 of the boom posture monitoring device 2 determines the deflection angle in the vertical direction, and the second magnetic ball 204 of the boom posture monitoring device 2 determines the deflection angle in the horizontal direction; similarly, the boom posture monitoring device 3 determines the deflection angle.

[0071] The real-time data fed back by the vehicle body space perception and positioning device 4, the boom space perception and positioning device 5, the boom posture monitoring device 3 and the boom posture monitoring device 2 are transmitted to the automated processing and control system 6. After calculation and analysis by the automated processing and control system 6, the information on the rotation angle of the vehicle body 1, the extension angle of the boom 9 and the extension arm 8 and the telescopic height that need to be adjusted are fed back to the display.

[0072] S8. The main body 1 of the vehicle body 1 performs reef clearing operation in the corresponding grid area. The automated processing control system 6 stores and records the original underwater elevation of each drilling point, and uses a high-frequency breaker 7 to contact the bottom rock layer at corresponding drilling points to check whether the underwater elevation of the previous operation area is qualified.

[0073] S9. After the reef clearing in the grid area is completed, the display of the automated processing control system 6 shows that the area has been completed. At this time, it moves to the next area and repeats S3~S8 until the reef clearing work is completed.

[0074] The above embodiments are merely preferred technical solutions of the present invention and should not be considered as limitations on the present invention. The embodiments and features described in these embodiments can be arbitrarily combined without conflict. The scope of protection of the present invention should be limited to the technical solutions described in the claims, including equivalent substitutions of the technical features described in the claims. That is, equivalent substitutions and improvements within this scope are also within the scope of protection of the present invention.

Claims

1. A high-frequency hydraulic breaker underwater reef clearing device, characterized by: It includes a body body (1), a boom (8) and a boom (9). The body body (1) is equipped with multiple vehicle space perception and positioning devices (4), the boom (9) is equipped with a boom posture monitoring device (3), the boom (8) is equipped with a boom posture monitoring device (2), and the top of the boom (8) is equipped with a boom positioning device (5) floating on the water surface. The outrigger positioning device (5) includes a gimbal (501), a small permanent magnet (503) and multiple floating plates (506) at the bottom of the gimbal (501), a universal ball seat (502) at the bottom of the gimbal (501), a rotating universal ball (504) on the universal ball seat (502), and the universal ball (504) is connected to the outrigger (8) through a wire (505); The magnetic direction of the small permanent magnet (503) is consistent with that of the magnetic level (13); The ball joint (502) is provided with a transparent cover (508), the transparent cover (508) is provided with a marking line (5081), the ball joint (504) is provided with a pointer (5041), and the ball joint (504) contains liquid (5042) and a magnetic ball (509). The liquid (5042) and the magnetic ball (509) have the same density; The bottom of the gimbal (501) is provided with a wire box (510) and a gimbal processor (511). The wire (505) is wound on the rotating shaft (801). The rotating shaft (801) is rotatably connected to the wire box (510). The wire box (510) is installed on the extension arm (8).

2. The high-frequency hydraulic breaker underwater reef clearing device according to claim 1, characterized in that: The vehicle body (1) is equipped with a vehicle space perception and positioning device (4) on both sides. The vehicle space perception and positioning device (4) is a GNNS receiver. The vehicle body (1) is equipped with an automated processing and control system (6) and a magnetic level (13).

3. The high-frequency hydraulic breaker underwater reef clearing device according to claim 1, characterized in that: Multiple boom cylinders (10) are provided between the main body (1) and the boom (9). The extension arm (8) and the boom (9) are rotatably connected. Multiple extension arm cylinders (11) are provided between the extension arm (8) and the boom (9). A rotating shaft (801) is provided on the extension arm (8).

4. The high-frequency hydraulic breaker underwater reef clearing device according to claim 1, characterized in that: A rotating high-frequency breaker (7) is provided at one end of the boom (8), and a bucket cylinder (12) is provided between the high-frequency breaker (7) and the boom (8). A bucket cylinder hydraulic monitoring device (14) is provided on the bucket cylinder (12).

5. The high-frequency hydraulic breaker underwater reef clearing device according to claim 1, characterized in that: The arm extension posture monitoring device (2) includes a monitoring sphere (201), a second marking line (2011) is provided on the monitoring sphere (201), a second liquid (202) is provided inside the monitoring sphere (201), and a bubble (203) and a second magnetic ball (204) are provided on the second liquid (202). The second magnetic sphere (204) has the same density as the second liquid (202); The second magnetic ball (204) is used to measure the horizontal deflection angle, and the bubble (203) is used to measure the vertical deflection angle.

6. The high-frequency hydraulic breaker underwater reef clearing device according to claim 1, characterized in that: The boom posture monitoring device (2) and the boom posture monitoring device (3) have the same structure.

7. A construction method for a high-frequency hydraulic breaker underwater reef clearing device, which uses the high-frequency hydraulic breaker underwater reef clearing device as described in any one of claims 1 to 6, the method being: S1, measuring the underwater topography, and dividing the area to be cleared into grids based on the underwater measurement results; S2. When the equipment reaches the starting point of the reef clearing construction grid, it inputs the underwater measurement data into the automated processing and control system (6). S3. Drive the boom (9) and extension arm (8) to lower the high-frequency breaker (7) until the reading of the bucket cylinder hydraulic monitoring device (14) confirms that it is in contact with the rock layer; S4. The automated processing control system (6) calculates the underwater elevation information based on the attitude information and spatial coordinate information fed back by various sensors after the high-frequency breaker (7) touches the bottom, and combines the calibration of underwater measurement data. After calibration, the vehicle space perception and positioning device (4) establishes a three-dimensional coordinate system based on the actual position and elevation of the water area where the equipment is located. S5. Start the main body of the vehicle (1), and the high-frequency breaker starts to break rocks. The camera on the boom positioning device (5) monitors the position of the pointer (5041) and the magnetic ball (509) in real time and transmits the image signal to the gimbal processor (511). The boom positioning device (5) controls the gimbal (501) so that the pointer (5041) is located at the center of the marking line (5081). The elevation of the boom (8) is determined by the number of rotations of the motor (507). S6. The bubble (203) of the boom posture monitoring device (2) determines the deflection angle in the vertical direction, and the second magnetic ball (204) of the boom posture monitoring device (2) determines the deflection angle in the horizontal direction; similarly, the boom posture monitoring device (3) determines the deflection angle. S7. The real-time data fed back by the vehicle body space perception and positioning device (4), the extension arm positioning device (5), the arm posture monitoring device (3) and the extension arm posture monitoring device (2) are transmitted to the automated processing control system (6). After the automated processing control system (6) calculates and analyzes, the rotation angle of the main body (1), the boom (9), the extension arm (8) extension angle and the telescopic height information that need to be adjusted are fed back to the display. S8. The main body of the vehicle (1) is cleared of reefs in the corresponding grid area. The automated processing control system (6) stores and records the original underwater elevation of each drilling point, and uses a high-frequency breaker (7) to contact the bottom rock layer at the corresponding drilling points to check whether the underwater elevation of the previous operation area is qualified. S9. After the reef clearing in the grid area is completed, the display of the automated processing control system (6) shows that the area has been completed. At this time, it will move to the next area and repeat S3~S8 until the reef clearing work is completed.

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