An underwater jet robot for offshore pile foundation assembly

Abstract

The invention discloses an underwater jet robot for assembling a pile foundation in coastal areas, which relates to the technical field of construction engineering. The underwater jet robot comprises a supporting mechanism, a control panel and three independent suspension systems. The supporting mechanism is used to connect and support the three independent suspension systems. The three independent suspension systems are used to adjust the posture of a Mecanum wheel and provide power for the movement of the Mecanum wheel. The underwater jet robot also comprises a spherical steering controller and a jet pump. The control panel comprises a three-dimensional positioning unit, an offset correction unit and a fault alarm unit. The three-dimensional positioning unit obtains the position information of the midpoint of the underwater jet robot in the X-axis direction and the Y-axis direction through a GPS positioning device. The offset correction unit comprises an offset measurement module and an offset correction module. The fault alarm unit is used for alarm prompting. The underwater jet robot can accurately locate and perform offset correction, thereby improving the accuracy of construction. The underwater jet robot can also realize accurate installation of assembled pile foundations in a complex underwater environment, thereby significantly improving construction efficiency and safety.

Description

Technical Field

[0001] The invention relates to the technical field of construction engineering, and in particular to an underwater jet robot used for assembling coastal pile foundations. Background Art

[0002] With the rapid development of pile foundation engineering, the demand for pile foundation construction under coastal silt geological conditions is increasing. The existing construction methods often face the problem of low construction efficiency when facing such special geological conditions. At the same time, the construction cost is high and the equipment requirements are high. Therefore, it is particularly important to develop a new technology that can efficiently and accurately complete the pile foundation construction task.

[0003] During the installation of prefabricated sheet piles and prefabricated suction pile foundations, traditional construction methods are difficult to adapt to complex geological conditions such as iron plate sand or hard soil layers. Traditional construction equipment cannot be accurately positioned, and the construction efficiency and safety are not high, which may cause danger during the construction process.

[0004] In view of the above technical defects, a solution is now proposed. Summary of the invention

[0005] The purpose of the present invention is to accurately locate and correct offsets, thereby improving the accuracy of the position of the underwater jet robot during pile foundation assembly, and to achieve accurate installation of assembled pile foundations in complex underwater environments, thereby significantly improving construction efficiency and safety.

[0006] In order to achieve the above-mentioned object, the present invention adopts the following technical scheme: an underwater jet robot for coastal pile foundation assembly, comprising a support mechanism, a control panel, three independent suspension systems and a Mecanum wheel, wherein the support mechanism is used to connect and support the three independent suspension systems, the three independent suspension systems are used to adjust the posture of the Mecanum wheel and provide power for the movement of the Mecanum wheel, and also comprises a spherical steering controller and a jet pump;

[0007] The control panel includes a three-dimensional positioning unit, an offset correction unit and a fault alarm unit;

[0008] The three-dimensional positioning unit obtains the position information of the midpoint of the underwater jet robot in the X-axis direction and the Y-axis direction through the GPS positioning device, determines the straight-line distance between the midpoint of the robot and the midpoint of the pile foundation through the acoustic wave sensor, and calculates the position information of the Z-axis direction and the deflection angle of the spherical steering controller according to the formula to preliminarily determine the position information of the underwater jet robot;

[0009] The offset correction unit includes an offset measurement module and an offset correction module. The offset measurement module is used to measure the offset position of the underwater jet robot, obtain offset information according to the offset position, obtain the offset coefficient of the underwater jet robot through the offset information, and preset the offset error interval (F min , F max ), when the offset coefficient is less than F min When the offset factor is greater than F min and less than F max When the offset coefficient exceeds F, an offset correction signal is generated and sent to the offset correction module. max When an abnormality signal is generated, the abnormality signal is sent to the fault alarm unit;

[0010] The offset correction module receives the offset correction signal, performs data processing, and sends the offset correction signal to the independent suspension system to correct the offset position of the underwater jet robot;

[0011] The fault alarm unit is used to receive and process abnormal signals, and control the abnormal alarm to emit a prompt sound for alarm reminder.

[0012] Furthermore, the specific process of determining the midpoint coordinates of the underwater jet robot is as follows:

[0013] S101, establish a three-dimensional coordinate system: take the midpoint of the pile foundation as the origin, define the directions perpendicular to each other in the horizontal plane of the pile foundation as the X-axis direction and the Y-axis direction, define the Z-axis perpendicular to the surface of the pile foundation and upward,

[0014] S102, receiving GPS signals through a GPS positioning device, locking the position of the robot in the X-axis direction and the Y-axis direction, and obtaining the distance in the X direction between the midpoint of the robot and the midpoint of the pile foundation as X. k , the distance from the midpoint of the pile foundation in the Y direction is Y k ;

[0015] S103, obtain the time when the acoustic wave sensor sends the acoustic wave and receives its reflected signal, set the time of sending the signal to K1, k2, k3, k4, ..., kn, and the time of receiving the reflected signal to K1^, k2^, k3^, k4^, ..., kn^. It is known that the speed of the acoustic wave in water is V k , calculate the straight-line distance between the underwater jet robot and the pile foundation;

[0016] S104, obtaining the distance between the underwater jet robot and the pile foundation in the Z-axis direction;

[0017] S105, the midpoint coordinates of the underwater jet robot are obtained as (X p , Y p , Z p ).

[0018] The specific process of calculating the deviation coefficient of the underwater jet robot is as follows:

[0019] S201, obtain the midpoint position (X p , Y p , Z p ), according to the distance formula, the midpoint coordinates (X r , Y r , Z r );

[0020] S202, simulating the optimal position of the underwater jet robot during pile foundation assembly according to the pile foundation position, and obtaining the midpoint coordinates of the preset underwater jet robot as (X p2 , Y p2 , Z p2 ), and then the midpoint coordinate (X r2 , Y r2 , Z r2 );

[0021] S203, according to the preset midpoint coordinates (X r , Y r , Z r ), determine a preset three-dimensional contour map of the jet pump (8), overlap the three-dimensional contour map of the jet pump (8) with the preset standard three-dimensional contour map, then obtain its transverse and longitudinal cutouts and compare them to generate a total overlap area d lm and a total non-overlap area elm, wherein the total non-overlap area elm is the offset of the jet pump.

[0022] The specific process of determining the offset coefficient is as follows:

[0023] Get the preset offset error range (F min , F max ), when the offset coefficient is less than or equal to F min When , no signal is generated;

[0024] When the offset factor is greater than F min and less than F max When , an offset correction signal is generated, and the offset correction signal is sent to the offset correction module;

[0025] When the offset factor is greater than or equal to F max , an exception signal is generated.

[0026] The specific process of offset correction is as follows:

[0027] S301, after obtaining the offset correction signal, calculate the correction angle θ according to the following formula t ;

[0028] S302, obtaining the offset position (X) of the jet pump (8) r2 -X r , Y r2 -Y r， Z r2 -Z r ), find the offset position (X p2 -X p , Y p2 -Y p， Z p2 -Z p );

[0029] S303, controlling the independent suspension system to adjust the midpoint position of the underwater jet robot according to the offset position, and controlling the spherical steering controller (15) to rotate θ t , the offset correction is completed.

[0030] Furthermore, the supporting mechanism includes a connecting shaft, a supporting shaft and a transmission gear, the transmission gear and the supporting shaft are both sleeved on the outer surface of the connecting shaft, the outer surface of the connecting shaft is also sleeved with two hydraulic oil rods, a fixed angle is formed between the two hydraulic oil rods, the transmission gear is in active contact with the surface of the hydraulic oil rod, and the supporting shaft is in contact with the two hydraulic oil rods.

[0031] Furthermore, the support mechanism also includes a deformation transmission control system, which includes a transmission shaft, which is rotatably connected to the transmission gear, one end of the support shaft is connected to an independent suspension system, and the other ends of the two hydraulic oil rods are each provided with a wheel posture control rotating shaft, the two hydraulic oil rods are sleeved on the wheel posture control rotating shaft, and one end of the two wheel posture control rotating shafts is each connected to an independent suspension system.

[0032] Furthermore, one end of the connecting shaft is connected to a mechanical arm control system, and the mechanical arm control system includes a U-shaped connecting block, the connecting shaft is inserted into the U-shaped connecting block, and two flushing jet mechanical arms are rotatably connected to the U-shaped connecting block, and the bottom of one side of the two flushing jet mechanical arms is rotatably connected to the flushing jet control system.

[0033] Furthermore, the flushing jet control system includes a shell, a spherical steering controller is provided at the bottom of the shell, a jet pump and an underwater high-definition camera are provided on the spherical steering controller, the jet pump is provided on one side of the underwater high-definition camera, a mud and water pump is provided on one side of the spherical steering controller at the bottom of the shell, and a lighting system is provided between the spherical steering controller and the mud and water pump on the side wall of the shell.

[0034] Furthermore, the three independent suspension systems each include a suspension system body, and three rolling wheel groups are arranged on the three suspension system bodies, wherein two of the rolling wheel groups are arranged on one side of the suspension system body, and the other rolling wheel group is arranged on the other side of the suspension system body, and the rolling wheel groups each include two Mecanum wheels, and the two Mecanum wheels are arranged on both sides of the independent suspension system through a connecting rod, and one end of the three suspension system bodies is connected to a driving device.

[0035] In summary, due to the adoption of the above technical solution, the beneficial effects of the present invention are:

[0036] 1. After the underwater jet robot is hoisted into the hollow part of the assembled pile foundation, the support mechanism of the robot can be adjusted according to the size of the pile foundation so that it can fit closely on the surface of the pile foundation. By controlling the independent suspension system of the robot, it can be moved and positioned in all directions to ensure that the robot reaches the target position accurately. By using the flushing jet manipulator, the power and flow of the jet pump can be controlled and the angle of the spherical steering controller can be adjusted to achieve high-pressure water flow to flush the soil embedded in the hollow part of the pile foundation, and the mud and water mixture flushed out can be pumped away with a mud and water pump. At the same time, the flushing mud is used to lubricate the interface between the pile foundation and the soil to reduce the installation friction resistance.

[0037] 2. The underwater jet robot can roughly determine the midpoint coordinates of the underwater jet robot and the midpoint coordinates of the jet pump through the three-dimensional positioning unit. The offset measurement module of the offset correction unit can obtain the midpoint coordinates of the underwater jet robot and the midpoint coordinates of the jet pump under simulation conditions, determine the three-dimensional contour map of the preset jet pump, superimpose the three-dimensional contour map of the jet pump with the preset standard three-dimensional contour map, and obtain the offset coefficient. When the offset coefficient is too high, a fault alarm is issued. When the offset coefficient is within the preset range, an offset correction is performed, thereby improving the construction accuracy and work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 The overall external structure schematic diagram of the present invention is shown;

[0039] Figure 2 A top view of the present invention is shown;

[0040] Figure 3 Shows a front view of the present invention;

[0041] Figure 4 Shows a front view of the present invention;

[0042] Figure 5 The schematic diagram of the structure of the independent suspension system in the present invention is shown;

[0043] Figure 6The schematic diagram of the structure of the flushing jet mechanical arm in the present invention is shown;

[0044] Figure 7 A schematic diagram of the structure of the support mechanism in the present invention is shown;

[0045] Figure 8 A schematic diagram of the structure of the present invention acting on an annular segment is shown;

[0046] Fig. 9 The working principle diagram of the present invention is shown;

[0047] Fig.10 A schematic diagram of the structure of the control panel in the present invention is shown;

[0048] Legend: 1. Mecanum wheel; 2. Hydraulic oil rod; 3. Suspension system body; 4. Drive device; 5. Deformation transmission control system; 6. U-shaped connecting block; 7. Flushing jet manipulator arm; 8. Jet pump; 9. Mud and water pump; 10. Underwater high-definition camera; 11. Flushing jet control system; 12. Wheel attitude control rotating shaft; 13. Connecting shaft; 14. Lighting system; 15. Spherical steering controller; 16. Transmission shaft; 17. Transmission gear; 18. Support shaft. DETAILED DESCRIPTION

[0049] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0050] Embodiment 1:

[0051] like Figure 1-8 As shown, an underwater jet robot for coastal pile foundation assembly includes a support mechanism, a control panel, three independent suspension systems and a Mecanum wheel 1, wherein the support mechanism is used to connect and support the three independent suspension systems, the three independent suspension systems are used to adjust the posture of the Mecanum wheel 1 and provide power for the movement of the Mecanum wheel 1, and also includes a spherical steering controller 15 and a jet pump 8;

[0052] The supporting mechanism includes a connecting shaft 13, a supporting shaft 18 and a transmission gear 17. The transmission gear 17 and the supporting shaft 18 are both sleeved on the outer surface of the connecting shaft 13. The outer surface of the connecting shaft 13 is also sleeved with two hydraulic oil rods 2. A fixed angle is formed between the two hydraulic oil rods 2. The transmission gear 17 is in active contact with the surface of the hydraulic oil rod 2. The supporting shaft 18 is in contact with the two hydraulic oil rods 2. The supporting mechanism also includes a deformation transmission control system 5. The deformation transmission control system 5 includes a transmission shaft 16. The transmission shaft 16 is rotatably connected to the transmission gear 17. One end of the support shaft 18 is connected to an independent suspension system. The two hydraulic oil rods 2 are connected with a system, and the other ends of the two hydraulic oil rods 2 are provided with a wheel posture control rotating shaft 12. The two hydraulic oil rods 2 are sleeved on the wheel posture control rotating shaft 12, and one end of the two wheel posture control rotating shaft 12 is connected to an independent suspension system. The supporting mechanism serves as the main frame of the robot and plays a role in connecting and supporting other parts. Among them, the hydraulic oil rod 2 itself can adjust the length, and the transmission shaft 16 on the deformation transmission control system 5 is rotatably connected with the transmission gear 17 on the hydraulic oil rod 2, and the direction of the hydraulic oil rod 2 can be adjusted to adapt to assembled pile foundations of different shapes and sizes.

[0053] One end of the connecting shaft 13 is connected to a robotic arm control system, which includes a U-shaped connecting block 6. The connecting shaft 13 is inserted into the U-shaped connecting block 6. Two flushing jet robotic arms 7 are rotatably connected to the U-shaped connecting block 6. The bottom of one side of the two flushing jet robotic arms 7 is rotatably connected to a flushing jet control system 11. The flushing jet control system 11 includes a shell, a spherical steering controller 15 is provided at the bottom of the shell, a jet pump 8 and an underwater high-definition camera 10 are provided on the spherical steering controller 15, the jet pump 8 is provided on one side of the underwater high-definition camera 10, a mud and water pumping pump 9 is provided on one side of the spherical steering controller 15 at the bottom of the shell, and a lighting system 14 is provided between the spherical steering controller 15 and the mud and water pumping pump 9 on the side wall of the shell. The jet pump 8 is used to generate high-pressure water flow to flush the pile foundation, and the spherical steering controller 15 is used to control the spray direction of the flushing water column. The lighting system 14 and the underwater high-definition camera 10 provide a clear field of view for the flushing operation, and the mud and water pumping pump 9 is used to suck the flushed mud and water mixture.

[0054] The three independent suspension systems all include a suspension system body 3, and three rolling wheel groups are arranged on the three suspension system bodies 3, wherein two rolling wheel groups are arranged on one side of the suspension system body 3, and the other rolling wheel group is arranged on the other side of the suspension system body 3. The rolling wheel groups all include two Mecanum wheels 1, and the two Mecanum wheels 1 are arranged on both sides of the independent suspension system through a connecting rod. One end of the three suspension system bodies 3 is connected to a driving device 4. The independent suspension system is used to adjust the posture of the Mecanum wheel 1 according to the shape of the terrain and the assembled pile foundation to ensure that the robot walks stably in a complex environment, and the driving device 4 provides power for the movement of the rolling wheel groups.

[0055] The working principle is as follows: first, the underwater jet robot is hoisted into the hollow part of the assembled sheet pile or suction pile foundation, and then the operator adjusts the support mechanism of the robot according to the size of the hollow part of the assembled sheet pile or suction pile foundation, and then adjusts the length of the hydraulic oil rod 2, so that the support mechanism of the underwater jet robot can adapt to assembled foundations of different shapes and sizes. At the same time, because the transmission shaft 16 on the deformation transmission control system 5 is rotatably connected with the transmission gear 17, the direction of the hydraulic oil rod 2 can be adjusted, thereby cooperating with the change of its length, and further adapting to the complex shape of the assembled foundation;

[0056] Next, the underwater jet robot is moved and positioned through the independent suspension system. The independent suspension system further adjusts the direction and angle of the Mecanum wheel 1, so that the robot can easily cope with uneven or complex-shaped basic surfaces, and provides power for the movement of the rolling wheel group, so that the robot can move in all directions, including forward, backward, left and right translation, and rotation in place, so as to accurately reach the target position;

[0057] like Fig. 9 As shown, once the robot reaches the target position, the flushing jet robot arm 7 starts to work, and the robot arm control system controls the angle of the robot arm so that the flushing jet control system 11 can be extended to a suitable position. At the same time, combined with the angle change and telescopic length of the hydraulic oil rod 2, the flushing jet control system 11 can achieve flushing without dead angles. The jet pump 8 controls the spray direction of the flushing water column through the spherical steering controller 15 to ensure that the high-pressure water flow can accurately flush the soil embedded in the hollow part of the pile foundation. During the flushing process, the mud and water pump 9 works at the same time to pump out the flushed mud in time, and at the same time use the flushing mud to lubricate the interface between the pile foundation and the soil to reduce the installation friction resistance. The lighting system 14 and the underwater high-definition camera 10 arranged on the flushing jet control system 11 provide the operator with a clear view of the construction environment to ensure the accuracy and safety of the flushing operation.

[0058] Embodiment 2:

[0059] like Fig.10 As shown, the control panel includes a three-dimensional positioning unit, an offset correction unit and a fault alarm unit;

[0060] The three-dimensional positioning unit obtains the position information of the midpoint of the underwater jet robot in the X-axis direction and the Y-axis direction through the GPS positioning device, determines the straight-line distance between the midpoint of the robot and the midpoint of the pile foundation through the acoustic wave sensor, and calculates the position information of the Z-axis direction and the deflection angle of the spherical steering controller 15 according to the formula to preliminarily determine the position information of the underwater jet robot;

[0061] The offset correction unit includes an offset measurement module and an offset correction module. The offset measurement module is used to measure the offset position of the underwater jet robot, obtain the offset information according to the offset position, and obtain the offset coefficient of the underwater jet robot through the offset information. The offset error interval (F min , F max ), when the offset coefficient is less than F min When the offset factor is greater than F min and less than F max When the offset coefficient exceeds F, an offset correction signal is generated and sent to the offset correction module. max When an abnormality signal is generated, the abnormality signal is sent to the fault alarm unit;

[0062] The offset correction module receives the offset correction signal, performs data processing, and sends the offset correction signal to the independent suspension system to correct the offset position of the underwater jet robot;

[0063] The fault alarm unit is used to receive and process abnormal signals, and control the abnormal alarm to emit a prompt sound for alarm reminder.

[0064] The specific process of determining the midpoint coordinates of the underwater jet robot is as follows:

[0065] S101, establish a three-dimensional coordinate system: take the midpoint of the pile foundation as the origin, define the directions perpendicular to each other in the horizontal plane of the pile foundation as the X-axis direction and the Y-axis direction, define the Z-axis perpendicular to the surface of the pile foundation and upward,

[0066] S102, receiving GPS signals through a GPS positioning device, locking the position of the robot in the X-axis direction and the Y-axis direction, and obtaining the distance in the X direction between the midpoint of the robot and the midpoint of the pile foundation as X. k , the distance from the midpoint of the pile foundation in the Y direction is Y k ;

[0067] S103, obtain the time when the acoustic wave sensor sends the acoustic wave and receives its reflected signal, set the time of sending the signal to K1, k2, k3, k4, ..., kn, and the time of receiving the reflected signal to K1^, k2^, k3^, k4^, ..., kn^. It is known that the speed of the acoustic wave in water is V k , according to the following formula i=1,2,3,…n, n is the number of times the signal is sent, S k is the straight-line distance between the underwater jet robot and the pile foundation;

[0068] S104, according to the following formula i=1,2,3,…n, n is the number of times the signal is sent, a and b are constants, Z kis the distance between the underwater jet robot and the pile foundation in the Z-axis direction.

[0069] S105, according to the following formula i=1,2,3,…n, n is the number of times the signal is sent, L is the angle constant, θ k is the deflection angle of the spherical steering controller 15, and the midpoint coordinates of the underwater jet robot are obtained as (X p , Y p , Z p ).

[0070] The specific process of calculating the deviation coefficient of the underwater jet robot is as follows:

[0071] S201, obtain the midpoint position (X p , Y p , Z p ), according to the distance formula, the midpoint coordinates of the jet pump 8 (X r , Y r , Z r );

[0072] S202, simulating the optimal position of the underwater jet robot during pile foundation assembly according to the pile foundation position, and obtaining the midpoint coordinates of the preset underwater jet robot as (X p2 , Y p2 , Z p2 ), and then the midpoint coordinate (X r2 , Y r2 , Z r2 );

[0073] S203, according to the preset midpoint coordinates (X r , Y r , Z r ), determine the preset three-dimensional contour map of the jet pump 8, overlap the three-dimensional contour map of the jet pump 8 with the preset standard three-dimensional contour map, then obtain its horizontal and vertical cutouts and compare them to generate the total overlap area d lm and the total non-overlap area elm, where the total non-overlap area e lm is the offset of the jet pump, according to the following formula b is a constant, Ψ is an offset factor, and F i is the offset coefficient.

[0074] The specific process of determining the offset coefficient is as follows:

[0075] Get the preset offset error range (F min , F max ), when the offset coefficient is less than or equal to F min When , no signal is generated;

[0076] When the offset factor is greater than F min and less than F max When , an offset correction signal is generated, and the offset correction signal is sent to the offset correction module;

[0077] When the offset factor is greater than or equal to F max , an exception signal is generated.

[0078] The specific process of offset correction is as follows:

[0079] S301, after obtaining the offset correction signal, calculate the correction angle θ according to the following formula t :

[0080]

[0081] i=1,2,3,…n, n is the number of times the signal is sent, L is the angle constant, θ t Correcting the angle of the spherical steering controller 15;

[0082] S302, obtaining the offset position (X r2 -X r , Y r2 -Y r， Z r2 -Z r ), find the offset position (X p2 -X p , Y p2 -Y p， Z p2 -Z p );

[0083] S303, according to the offset position, the independent suspension system is controlled to adjust the midpoint position of the underwater jet robot, and the spherical steering controller 15 is controlled to rotate θ t , the offset correction is completed.

[0084] The present invention specifies a three-dimensional coordinate system through a three-dimensional positioning unit, roughly determines the midpoint coordinates of the underwater jet robot, and then obtains the midpoint coordinates of the underwater jet robot and the midpoint coordinates of the jet pump 8 under simulation conditions through the offset measurement module of the offset correction unit, determines a preset three-dimensional contour map of the jet pump 8, superimposes the three-dimensional contour map of the jet pump 8 with a preset standard three-dimensional contour map, and obtains an offset coefficient. When the offset coefficient is too high, a fault alarm is issued, and when the offset coefficient is within a preset range, an offset correction is performed, thereby improving construction accuracy and work efficiency.

[0085] The size of the interval and threshold is set to facilitate comparison. The size of the threshold depends on the amount of sample data and the number of bases set by technical personnel in this field for each group of sample data; as long as it does not affect the proportional relationship between the parameter and the quantized value.

[0086] The above formulas are all dimensionless and numerical calculations. The formula is a formula obtained by collecting a large amount of data and performing software simulation to obtain the most recent real situation. The preset parameters in the formula are set by technicians in this field according to actual conditions.

[0087] In the two embodiments provided in the present application, it should be understood that the disclosed devices and systems can be implemented in other ways; for example, the device embodiments described above are only schematic, for example, the division of the modules is only a logical function division, and there may be other division methods in actual implementation, such as multiple modules or components can be combined or integrated into another system, or some features can be ignored or not executed; another point, the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, the indirect coupling or communication connection of devices or modules can be electrical, mechanical or other forms;

[0088] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. An underwater jet robot for coastal pile foundation assembly, comprising a support mechanism, a control panel, three independent suspension systems and a Mecanum wheel (1), characterized in that: The support mechanism is used to connect and support three independent suspension systems, the three independent suspension systems are used to adjust the posture of the Mecanum wheel (1) and provide power for the movement of the Mecanum wheel (1), and also includes a spherical steering controller (15) and a jet pump (8); the support mechanism includes a connecting shaft (13), a supporting shaft (18) and a transmission gear (17), the transmission gear (17) and the supporting shaft (18) are both sleeved on the outer surface of the connecting shaft (13), the outer surface of the connecting shaft (13) is also sleeved with two hydraulic oil rods (2), a fixed angle is formed between the two hydraulic oil rods (2), the transmission gear (17) is in active contact with the surface of the hydraulic oil rod (2), and the support shaft (18) is in contact with the two hydraulic oil rods (2); The support mechanism further comprises a deformation transmission control system (5), wherein the deformation transmission control system (5) comprises a transmission shaft (16), wherein the transmission shaft (16) is rotationally connected to a transmission gear (17), wherein one end of the support shaft (18) is connected to an independent suspension system, and the other ends of the two hydraulic oil rods (2) are each provided with a wheel posture control rotating shaft (12), wherein the two hydraulic oil rods (2) are sleeved on the wheel posture control rotating shaft (12), and one end of the two wheel posture control rotating shafts (12) are each connected to an independent suspension system; One end of the connecting shaft (13) is connected to a robot control system, and the robot control system comprises a U-shaped connecting block (6). The connecting shaft (13) is inserted into the U-shaped connecting block (6), and two flushing jet robot arms (7) are rotatably connected to the U-shaped connecting block (6). The bottom of one side of the two flushing jet robot arms (7) is rotatably connected to a flushing jet control system (11); The flushing jet control system (11) comprises a shell, a spherical steering controller (15) is arranged at the bottom of the shell, a jet pump (8) and an underwater high-definition camera (10) are arranged on the spherical steering controller (15), the jet pump (8) is arranged on one side of the underwater high-definition camera (10), a muddy water pump (9) is arranged on one side of the spherical steering controller (15) at the bottom of the shell, and a lighting system (14) is arranged between the spherical steering controller (15) and the muddy water pump (9) on the side wall of the shell; The control panel includes a three-dimensional positioning unit, an offset correction unit and a fault alarm unit; The three-dimensional positioning unit obtains the position information of the midpoint of the underwater jet robot in the X-axis direction and the Y-axis direction through the GPS positioning device, determines the straight-line distance between the midpoint of the robot and the midpoint of the pile foundation through the acoustic wave sensor, calculates the position information of the robot in the Z-axis direction and the deflection angle of the spherical steering controller (15) according to the formula, and preliminarily determines the position information of the underwater jet robot; The offset correction unit includes an offset measurement module and an offset correction module. The offset measurement module is used to measure the offset position of the underwater jet robot, obtain offset information according to the offset position, obtain the offset coefficient of the underwater jet robot through the offset information, and preset the offset error interval (F min , F max ), when the offset coefficient is less than F min When the offset factor is greater than F min and less than F max When the offset coefficient exceeds F, an offset correction signal is generated and sent to the offset correction module. max When an abnormality signal is generated, the abnormality signal is sent to the fault alarm unit; The offset correction module receives the offset correction signal, performs data processing, and sends the offset correction signal to the independent suspension system to correct the offset position of the underwater jet robot; The fault alarm unit is used to receive and process abnormal signals, and control the abnormal alarm to emit a prompt sound for alarm reminder; The specific process of determining the midpoint coordinates of the underwater jet robot is as follows: S101, establishing a three-dimensional coordinate system: taking the midpoint of the pile foundation as the origin, defining the directions perpendicular to each other in the horizontal plane of the pile foundation as the X-axis direction and the Y-axis direction, and defining the Z-axis perpendicular to the surface of the pile foundation and pointing upward; S102, receiving GPS signals through a GPS positioning device, locking the position of the robot in the X-axis direction and the Y-axis direction, and obtaining the distance in the X direction between the midpoint of the robot and the midpoint of the pile foundation as X. k , the distance from the midpoint of the pile foundation in the Y direction is Y k ; S103, obtain the time when the acoustic wave sensor sends the acoustic wave and receives its reflected signal, set the time of sending the signal to K1, k2, k3, k4, ..., kn, and the time of receiving the reflected signal to K1^, k2^, k3^, k4^, ..., kn^. It is known that the speed of the acoustic wave in water is V k , find the straight-line distance between the midpoint of the underwater jet robot and the midpoint of the pile foundation; S104, obtaining the distance between the midpoint of the underwater jet robot and the midpoint of the pile foundation in the Z-axis direction; S105, the midpoint coordinates of the underwater jet robot are obtained as (X p , Y p , Z p ); The specific process of calculating the deviation coefficient of the underwater jet robot is as follows: S201, obtain the midpoint position (X p , Y p , Z p ), according to the distance formula, the midpoint coordinates (X r , Y r , Z r ); S202, simulating the optimal position of the underwater jet robot during pile foundation assembly according to the pile foundation position, and obtaining the midpoint coordinates of the preset underwater jet robot as (X p2 , Y p2 , Z p2 ), and then the midpoint coordinate (X r2 , Y r2 , Z r2 ); S203, according to the preset midpoint coordinates (X r , Y r , Z r ), determine a preset three-dimensional contour map of the jet pump (8), overlap the three-dimensional contour map of the jet pump (8) with a preset standard three-dimensional contour map, then obtain its transverse and longitudinal cutouts and compare them to generate a total overlap area dlm and a total non-overlap area elm, wherein the total non-overlap area elm is an offset of the jet pump; The specific process of determining the offset coefficient is as follows: Get the preset offset error range (F min , F max ), when the offset coefficient is less than or equal to F min When , no signal is generated; When the offset factor is greater than F min and less than F max When , an offset correction signal is generated, and the offset correction signal is sent to the offset correction module; When the offset factor is greater than or equal to F max , an exception signal is generated.

2. The underwater jet robot for pile foundation assembly in coastal areas according to claim 1, characterized in that: The specific process of offset correction is as follows: S301, after obtaining the offset correction signal, calculate the correction angle θ according to the following formula t ; i=1,2,3,…n, n is the number of times the signal is sent, L is the angle constant, θ t Correcting the angle of the spherical steering controller (15); S302, obtaining the offset position (X) of the jet pump (8) r2 -X r , Y r2 -Y r， Z r2 -Z r ), calculate the offset position (X p2 -X p , Y p2 -Y p， Z p2 -Z p ); S303, controlling the independent suspension system to adjust the midpoint position of the underwater jet robot according to the offset position, and controlling the spherical steering controller (15) to rotate θ t , the offset correction is completed.

3. The underwater jet robot for pile foundation assembly in coastal areas according to claim 1, characterized in that: The three independent suspension systems each comprise a suspension system body (3), and three rolling wheel assemblies are each arranged on the three suspension system bodies (3), wherein two of the rolling wheel assemblies are arranged on one side of the suspension system body (3), and another rolling wheel assemblies are arranged on the other side of the suspension system body (3), and the rolling wheel assemblies each comprise two Mecanum wheels (1), and the two Mecanum wheels (1) are each arranged on both sides of the independent suspension system via a connecting rod, and one end of the three suspension system bodies (3) is each connected to a driving device (4).

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