An underwater rock base leveling device and a leveling method thereof

Abstract

The application provides an underwater broken stone base leveling device and a leveling method thereof, which comprises a ship body, the bottom of the ship body is provided with a leveling device, the leveling device comprises an outer frame, outer support leg oil cylinders are arranged at four corners of the outer frame, a sliding leveling mechanism is arranged on the outer frame, inner support leg oil cylinders are arranged at four corners of the leveling mechanism, and an elevation adjusting oil cylinder is arranged at the top of the leveling mechanism. The leveling device is automatically adjusted to be in a horizontal state, then the height of the outer frame is measured, the leveling head is automatically adjusted to a required height according to a set leveling thickness, the movement of the propelling oil cylinder is controlled, the leveling head is leveled at one station of the frame of the support, the walking type advancement of the leveling robot is realized through the interactive support of the four outer support leg oil cylinders and the four inner support leg oil cylinders, the overall device utilizes the fusion and coordination of multiple sensors, the automatic leveling of the underwater broken stone outer frame can be realized, the overall device is automatically leveled, and the problems that the traditional method is difficult to adapt to deep water and has low construction efficiency are overcome.

Description

Technical Field

[0001] This invention relates to the field of underwater crushed stone leveling, and in particular to an underwater crushed stone bed leveling device and its leveling method. Background Technology

[0002] Foundation treatment is fundamental to the entire immersed tunnel project and is one of the most important and complex procedures in its construction. Currently, commonly used foundation treatment methods for immersed tunnels fall into two main categories: pre-laying and post-filling. Pre-laying can be further divided into scraping and pile foundation methods. Post-filling involves first sinking the tunnel section and supporting it on temporary reinforced concrete blocks, then filling the space between the bottom of the section and the ground. This method mainly includes sand flow, sandblasting, grouting, and injection molding. The construction technology and equipment for the external frame of pre-laying tunnels primarily fall into two categories: one uses a self-elevating platform as a carrier, installing or suspending leveling equipment on the platform deck; the other uses a riprap leveling frame technology, placing a large steel frame equipped with leveling equipment on the seabed as a carrier.

[0003] Although the above two types of technologies have been widely used, they still face the following problems: 1) Limited operating water depth, unable to meet the construction requirements of 50 to 100 meters. Currently, the economical operating water depth for the deepest self-elevating leveling platform is usually around 50 meters. 2) Low level of automation and insufficient application of automation. In existing technologies, the leveling process of the crushed stone pile outer frame is highly dependent on manual operation, mainly in the following aspects: ① The positioning of the platform or barge depends entirely on manual operation; ② Precision control is highly dependent on underwater divers; ③ The laying process is outdated, with low automation and insufficient automation in construction control. To address these problems, we propose an underwater crushed stone foundation leveling device and its leveling method. Summary of the Invention

[0004] The technical problem to be solved by this invention is to address the following issues: low automation level of self-elevating leveling platforms; complete reliance on manual operation for platform or barge positioning during external frame leveling; high dependence on underwater divers for precision control; outdated laying technology; low automation level; and insufficient automation in construction control.

[0005] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is: an underwater gravel bed leveling device and its leveling method, including a hull, a leveling device provided at the bottom of the hull, the leveling device including an outer frame, an outer support leg cylinder provided at each of the four corners of the outer frame, a sliding leveling mechanism provided on the outer frame, an inner support leg cylinder provided at each of the four corners of the leveling mechanism, and an elevation adjustment cylinder provided at the top of the leveling mechanism.

[0006] In the preferred embodiment, the outer frame includes longitudinal beams at both ends and transverse beams at both ends, and the four corner support leg cylinders are respectively the first support leg cylinder, the second support leg cylinder, the third support leg cylinder and the fourth support leg cylinder.

[0007] The outer frame is a double-layered rectangular structure, with two horizontal beams and two vertical beams, one above the other. Each horizontal beam is equipped with a guide rail, and a limit switch is installed at one end of the guide rail.

[0008] The first outer outrigger cylinder is equipped with a displacement sensor and a pressure sensor, and the four outer outrigger cylinders have the same structure.

[0009] In the preferred embodiment, the leveling mechanism includes a support frame, with rollers at the top and bottom on both sides of the support frame. The rollers rest against the guide rail. The bottom of the elevation adjustment cylinder is equipped with a leveling head, and a scraper is provided on one side of the leveling head. The top of the support frame is equipped with an elevation adjustment cylinder. The support frame is equipped with a dual-axis tilt sensor, and one end of the support frame is equipped with a measuring cylinder.

[0010] A motor is installed on one side of the leveling head, and an elevation displacement sensor and an elevation pressure sensor are installed on the elevation adjustment cylinder.

[0011] In the preferred embodiment, the four inner outrigger cylinders include a first inner outrigger cylinder, a second inner outrigger cylinder, a third inner outrigger cylinder, and a fourth inner outrigger cylinder, and the structure of the four inner outrigger cylinders is the same as that of the first outer outrigger cylinder.

[0012] In the preferred embodiment, a propulsion cylinder is provided between the leveling mechanism and the leveling device. The two ends of the propulsion cylinder are rotatably connected to the leveling mechanism and the leveling device, respectively. The outer frame is connected to the hull through a stone-throwing pipe.

[0013] A leveling method for an underwater gravel bed leveling device, the method being: S1, throwing stones into the stone throwing pipe;

[0014] S2, Four external support legs with hydraulic cylinders reach the bottom of the water;

[0015] S3. Tilt Angle Adjustment Modeling: Calculate the movement distance of the outer outrigger cylinder;

[0016] S4. Asynchronous adjustment of hydraulic cylinders: Drives the four external support leg hydraulic cylinders to adjust the leveling mechanism and scraper to the required posture;

[0017] S5. Elevation Adjustment Modeling: Calculate the elevation adjustment distance S, drive the elevation adjustment cylinder to make the scraper reach the theoretical target elevation;

[0018] S6. Drive the hydraulic cylinder to extend or retract until the target elevation is reached;

[0019] S7. Drive the leveling mechanism and propulsion cylinder to level, and complete the stage leveling;

[0020] S8. Lower the four outer outrigger cylinders and raise the four inner outrigger cylinders. Level the four inner outrigger cylinders and drive the propulsion cylinder to move the leveling device on the bottom of the water. After it moves into place, lower the four inner outrigger cylinders and raise the four outer outrigger cylinders. Repeat S1 to S6 to level the bed again.

[0021] S9. Repeat S1 to S8 to move the leveling device on the bottom of the water and level the target position on the bottom of the water.

[0022] In the preferred scheme, the steps for calculating the elevation adjustment distance S in S5 are as follows:

[0023] A1: After the tilt angle adjustment is completed, the elevation H of the elevation adjustment cylinder at the top of the leveling frame is obtained by GPS or ultra-short baseline measurement;

[0024] A2: The elevation adjustment distance S is: H-Lsin(α1)sin(β1)-h;

[0025] L is the distance between the elevation adjustment cylinder at the top of the leveling frame and the bottom of the scraper; h is the target elevation; α1 and β1 are the tilt angles of the detection scraper (4021).

[0026] In the preferred embodiment, the step in S4 for calculating the travel distance of the outer outrigger cylinder is as follows:

[0027] B1: The current scraper tilt angle change α1-α and longitudinal tilt angle change β1 need to be adjusted.

[0028] The formula for coordinate system and tilt angle transformation is:

[0029]

[0030] B2: The transformation matrix T between the scraper (4021) coordinate system and the target coordinate system is:

[0031]

[0032] B3: The coordinates of the four points of the oil cylinder of the scraper (4021) at the current position are as follows: A1 = (-a / 2, -b / 2, 0); B1 = (a / 2, -b / 2, 0); C1 = (a / 2, b / 2, 0); D1 = (-a / 2, b / 2, 0);

[0033] B4: The travel distance of the four outer support leg cylinders is:

[0034]

[0035] In the above formula, i = A, B, C, D; e i α is the movement distance of the outer support leg cylinder, and α is the inclination angle of the base bed; a and b are the side lengths of the two sides of the leveling device (2), respectively.

[0036] In the preferred scheme, the asynchronous adjustment method of the hydraulic cylinder in S4 is the tilt angle error adjustment method, and the tilt angle error adjustment method steps are as follows:

[0037] C1: With the first outer support leg cylinder stationary, first check the tilt angles α1 and β1 of the scraper, and compare |α1-α| and |β1|.

[0038] C2: When |α1-α|>|β1|, first adjust the lateral tilt of the scraper, and simultaneously adjust the extension and retraction of the second and third outer support leg cylinders until the lateral tilt of the scraper α1=α; detect the longitudinal tilt β1 of the scraper, and simultaneously adjust the extension and retraction of the third and fourth outer support leg cylinders until the longitudinal tilt β1 of the scraper β1=0.

[0039] C3: When |α1-α|<|β1|, first adjust the longitudinal tilt of the scraper, and simultaneously adjust the extension and retraction of the third and fourth outer support leg cylinders until the longitudinal tilt β1 of the scraper is 0; when the lateral tilt α1 of the scraper is detected, simultaneously adjust the extension and retraction of the second and third outer support leg cylinders until the lateral tilt α1 of the scraper is α.

[0040] In the preferred scheme, the asynchronous adjustment method of the hydraulic cylinder in S4 is the target chasing adjustment method. The steps of the target chasing adjustment method are as follows: based on the inclination angle φ and τ of the rock-throwing pipe and the elevation of the GPS on the rock-throwing pipe, calculate the length of each hydraulic cylinder on the leveling mechanism when the theoretical elevation of each ridge is reached. Then compare the calculated length of each hydraulic cylinder with the current length of the hydraulic cylinder. Finally, control each hydraulic cylinder to extend or retract until the calculated length value is reached.

[0041] This invention provides an underwater gravel bed leveling device and method. Based on a dual-axis tilt sensor on the leveling mechanism, the device automatically adjusts to a horizontal state using an adjustment method. Then, a measuring cylinder measures the height of the outer frame, and the elevation cylinder automatically adjusts its movement according to the set leveling thickness, adjusting the leveling head to the required height. Next, the propulsion cylinder is controlled to level the leveling head at one position on the support frame. Finally, the robot's walking motion is achieved through the interactive support of four outer and four inner support cylinders, allowing it to reach the next position. The entire device utilizes multi-sensor fusion and coordination to achieve automated leveling of the underwater gravel bed frame. It can meet water depth requirements, descending to relatively deep waters, automating the positioning of the platform or hull without manual operation. The automated leveling and precision control of the entire device eliminates the need for divers, saving time and labor, overcoming the problems of traditional methods being difficult to adapt to deep water and having low construction efficiency, making it suitable for widespread use. Attached Figure Description

[0042] The present invention will be further described below with reference to the accompanying drawings and embodiments:

[0043] Figure 1This is a front view of the leveling structure of the present invention;

[0044] Figure 2 This is an axonometric view of the leveling device of the present invention;

[0045] Figure 3 This is an axonometric view of the leveling device of the present invention;

[0046] Figure 4 For the present invention Figure 2 A magnified view of A in the middle;

[0047] Figure 5 This is a top view of the leveling device of the present invention;

[0048] Figure 6 This is an axonometric view of the leveling mechanism of the present invention;

[0049] Figure 7 This is a side view of the leveling mechanism of the present invention;

[0050] Figure 8 This is a diagram showing the adjustment of the tilt angle of the leveling mechanism of the present invention;

[0051] Figure 9 This is the coordinate system of the scraper after elevation adjustment according to the present invention;

[0052] Figure 10 Here is the flowchart for tilt angle adjustment control;

[0053] In the diagram: 1. Hull; 2. Leveling device; 3. Outer frame; 301. Longitudinal beam; 302. Crossbeam; 303. Guide rail; 304. Limit switch; 4. Leveling mechanism; 401. Bracket; 402. Leveling head; 4021. Scraper; 403. Motor; 404. Elevation adjustment cylinder; 4041. Elevation displacement sensor; 4042. Elevation pressure sensor; 405. Roller; 406. Dual-axis tilt sensor; 5. First outer outrigger cylinder; 5. Displacement sensor; 501. Pressure sensor; 502. Second outer outrigger cylinder; 6. Third outer outrigger cylinder; 7. Fourth outer outrigger cylinder; 8. First inner outrigger cylinder; 9. Second inner outrigger cylinder; 10. Third inner outrigger cylinder; 11. Fourth inner outrigger cylinder; 12. Propulsion cylinder; 13. Measuring cylinder; 14. Rock-throwing pipe; 15. Detailed Implementation

[0054] Example 1:

[0055] like Figures 1-10A leveling device for an underwater gravel bed includes a hull 1, a leveling device 2 at the bottom of the hull 1, an outer frame 3, outer support leg cylinders at each of the four corners of the outer frame 3, a sliding leveling mechanism 4 on the outer frame 3, inner support leg cylinders at each of the four corners of the leveling mechanism 4, and an elevation adjustment cylinder 404 at the top of the leveling mechanism 4. This mechanism automatically adjusts the leveling device 2 to a horizontal state based on a dual-axis tilt sensor 406 on the leveling mechanism 4. Then, a measuring cylinder 14 measures the height of the outer frame 3, and the elevation cylinders are automatically adjusted according to the set leveling thickness to adjust the leveling head to the required height. Next, the propulsion cylinder 13 is controlled to move, leveling the leveling head 402 at one position on the frame of the support 401. Finally, the four outer support leg cylinders and four inner support leg cylinders interact to support the leveling robot's walking motion, allowing the robot to reach the next position. The overall device utilizes the fusion and coordination of multiple sensors to achieve automated leveling of the underwater crushed stone outer frame. The overall device can meet the water depth requirements and descend to a relatively deep bottom. The positioning of the platform or hull 1 is automated and does not rely on manual operation. The overall device automatically levels and controls precision without relying on divers, saving time and effort, saving a lot of manpower, and overcoming the problems of traditional methods being difficult to adapt to deep water and having low construction efficiency.

[0056] In the preferred embodiment, the outer frame 3 includes longitudinal beams 301 at both ends and transverse beams 302 at both ends, and the four corner outer support leg cylinders are respectively the first outer support leg cylinder 5, the second outer support leg cylinder 6, the third outer support leg cylinder 7 and the fourth outer support leg cylinder 8.

[0057] The outer frame 3 is a double-layered rectangular structure. There are two beams 302 and two longitudinal beams 301, one above the other. Each beam 302 is equipped with a guide rail 303, and one end of the guide rail 303 is equipped with a limit switch 304.

[0058] The first outer outrigger cylinder 5 is equipped with a displacement sensor 501 and a pressure sensor 502. The four outer outrigger cylinders have the same structure. With this structure, the outer frame 3 includes a double-layer frame structure. All four outer outrigger cylinders are hinged to the outer frame 3. The displacement sensor 501 is used to detect the displacement of the first outer outrigger cylinder 5, and the pressure sensor 502 is used to detect the pressure of the first outer outrigger cylinder 5. When the pressure sensor on the four outer outrigger cylinders detects that the load pressure of each outer outrigger cylinder reaches the set value P1, it is considered that the outer outrigger cylinder has contacted the ground of the outer frame 3, and the outer outrigger cylinder stops moving.

[0059] The four outer outrigger cylinders have the same structure, and each outer outrigger cylinder and inner outrigger cylinder is equipped with a displacement sensor and a pressure sensor.

[0060] In the preferred embodiment, the leveling mechanism 4 includes a bracket 401, with rollers 405 on the top and bottom of both sides of the bracket 401. The rollers 405 abut against the guide rail 303. The bottom of the elevation adjustment cylinder 404 is provided with a leveling head 402, and a scraper is provided on one side of the leveling head 402. The top of the bracket 401 is provided with an elevation adjustment cylinder 404. The bracket 401 is provided with a dual-axis tilt sensor 406, and one end of the bracket 401 is provided with a measuring cylinder 14.

[0061] A motor 403 is mounted on one side of the leveling head 402, and an elevation displacement sensor 4041 and an elevation pressure sensor 4042 are mounted on the elevation adjustment cylinder 404. With this structure, the roller 405 slides against the guide rail 303, the output end of the motor 403 has a helical blade, and a dual-axis tilt sensor 406 is used to detect the tilt angle of the leveling head 402. The elevation adjustment cylinder 404 on the bracket 401 is used to adjust the height of the leveling head 402, and the leveling mechanism 4 is used for leveling the entire device.

[0062] In the preferred embodiment, the four inner outrigger cylinders include a first inner outrigger cylinder (9), a second inner outrigger cylinder (10), a third inner outrigger cylinder (11), and a fourth inner outrigger cylinder (12). The structure of the four inner outrigger cylinders is the same as that of the first outer outrigger cylinder (5). Therefore, the four inner outrigger cylinders have identical structures, and each inner outrigger cylinder is equipped with a displacement sensor and a pressure sensor.

[0063] In the preferred embodiment, a propulsion cylinder 13 is provided between the leveling mechanism 4 and the leveling device 2. The two ends of the propulsion cylinder 13 are rotatably connected to the leveling mechanism 4 and the leveling device 2, respectively. The outer frame 3 is connected to the hull 1 through the sling pipe 15. With this structure, the leveling mechanism 4 and the propulsion cylinder 13 are driven to level, completing the stage leveling. The leveling mechanism 4, driven by the propulsion cylinder 13, moves from one side close to the outer frame 3 to the other side of the outer frame 3, completing the leveling of one station of the overall structure. When the leveling mechanism 4 reaches the end of the outer frame 3, the limit switch 304 is triggered. According to the signal of the limit switch 304, the propulsion cylinder 13 stops moving. The displacement of the propulsion cylinder 13 during the movement is detected by the elevation displacement sensor 4041 installed on the propulsion cylinder 13.

[0064] Example 2:

[0065] Further explanation based on Example 1: An underwater gravel bed leveling device and its leveling method include the following steps: S1, throwing stones into the stone throwing pipe 15;

[0066] S2, Four external support legs with hydraulic cylinders reach the bottom of the water;

[0067] S3. Tilt Angle Adjustment Modeling: Calculate the movement distance of the outer outrigger cylinder;

[0068] S4. Asynchronous adjustment of hydraulic cylinders: Drives the four outer support leg hydraulic cylinders to adjust the leveling mechanism and scraper 4021 to the required posture;

[0069] S5. Elevation Adjustment Modeling: The elevation adjustment distance S is calculated, and the elevation adjustment cylinder 404 is driven to make the scraper reach the theoretical target elevation.

[0070] S6. Drive the hydraulic cylinder to extend or retract until the target elevation is reached;

[0071] The leveling mechanism 4 is driven by the push cylinder 13 to move from one side of the outer frame 3 to the other side of the outer frame 3, completing the leveling of one position of the overall structure. When the leveling mechanism 4 reaches the end of the outer frame 3, the limit switch 304 is triggered. According to the signal of the limit switch 304, the push cylinder 13 stops moving. The displacement of the push cylinder 13 during the movement is detected by the elevation displacement sensor 4041 installed on the push cylinder 13.

[0072] S7, drive the leveling mechanism 4 and propulsion cylinder 13 to level, and complete the stage leveling;

[0073] S8. Lower the four outer outrigger cylinders and raise the four inner outrigger cylinders. Level the four inner outrigger cylinders and drive the propulsion cylinder 13 to move the leveling device 2 on the bottom of the water. After it moves into place, lower the four inner outrigger cylinders and raise the four outer outrigger cylinders. Repeat S1 to S6 to level the base bed again.

[0074] S9. Repeat S1 to S8 to move the leveling device 2 on the bottom of the water and level the target position on the bottom of the water.

[0075] In the preferred scheme, the steps for calculating the elevation adjustment distance S in S5 are as follows:

[0076] A1: After the tilt angle adjustment is completed, the elevation H of the elevation adjustment cylinder at the top of the leveling frame is obtained by GPS or ultra-short baseline measurement;

[0077] A2: The elevation adjustment distance S is: H-Lsin(α1)sin(β1)-h;

[0078] L is the distance between the elevation adjustment cylinder at the top of the leveling frame and the bottom of the scraper, and h is the target elevation.

[0079] In the preferred embodiment, the step in S4 for calculating the travel distance of the outer outrigger cylinder is as follows:

[0080] B1: The current scraper tilt angle change α1-α and longitudinal tilt angle change β1 need to be adjusted.

[0081] The formula for coordinate system and tilt angle transformation is:

[0082]

[0083] B2: The transformation matrix T between the scraper (4021) coordinate system and the target coordinate system is:

[0084]

[0085] B3: The coordinates of the four points of the oil cylinder at the current position of scraper 4021 are as follows: A1 = (-a / 2, -b / 2, 0); B1 = (a / 2, -b / 2, 0); C1 = (a / 2, b / 2, 0); D1 = (-a / 2, b / 2, 0);

[0086] The coordinates of each cylinder connection point in the target coordinate system can be obtained as follows:

[0087]

[0088] and These are the coordinates of the connection points of the four outer outrigger cylinders;

[0089] B4: The travel distance of the four outer support leg cylinders is:

[0090]

[0091] In the above formula, i = A, B, C, D; e i α represents the travel distance of the outer outrigger cylinder, and α represents the inclination angle of the base bed.

[0092] In the preferred scheme, the asynchronous adjustment method of the hydraulic cylinder in S4 is the tilt angle error adjustment method, and the tilt angle error adjustment method steps are as follows:

[0093] The first outer support leg cylinder 5 remains stationary. First, detect the current scraper tilt angles α1 and β1, and compare |α1-α| and |β1|.

[0094] When |α1-α|>|β1|, first adjust the lateral tilt of the scraper. If the current tilt angle satisfies α1-α>0, then adjust the second outer outrigger cylinder 6 and the third outer outrigger cylinder 7 to extend synchronously until the lateral tilt of the scraper α1=α; if the current tilt angle satisfies α1-α<0, then adjust the second outer outrigger cylinder 6 and the third outer outrigger cylinder 7 to retract synchronously until the lateral tilt of the scraper α1=α. After the lateral tilt adjustment is completed, check the current longitudinal tilt β1 of the scraper. If β1>0, then adjust the third outer outrigger cylinder 7 and the fourth outer outrigger cylinder 8 to extend synchronously until the longitudinal tilt of the scraper β1=0; if β1<0, then adjust the third outer outrigger cylinder 7 and the fourth outer outrigger cylinder 8 to retract synchronously until the longitudinal tilt of the scraper β1=0. After the tilt angle adjustment is completed, finally adjust the elevation.

[0095] When |α1-α|<|β1|, first adjust the longitudinal tilt of the scraper. If the current tilt angle satisfies β1>0, then adjust the third outer outrigger cylinder 7 and the fourth outer outrigger cylinder 8 to extend synchronously until the longitudinal tilt β1 of the scraper is 0; if β1<0, then adjust the third outer outrigger cylinder 7 and the fourth outer outrigger cylinder 8 to retract synchronously until the longitudinal tilt β1 of the scraper is 0. After the tilt angle adjustment is completed, adjust the elevation. After the longitudinal tilt adjustment is completed, check the current lateral tilt α1 of the scraper. If α1-α>0, then adjust the second outer outrigger cylinder 6 and the third outer outrigger cylinder 7 to extend synchronously until the lateral tilt α1 of the scraper is α; if the current tilt angle satisfies α1-α<0, then adjust the second outer outrigger cylinder 6 and the third outer outrigger cylinder 7 to retract synchronously until the lateral tilt α1 of the scraper is α.

[0096] Example 3:

[0097] Further explanation based on Examples 1-2: An underwater gravel bed leveling device and its leveling method includes the following steps: In S4, the asynchronous adjustment mode of the hydraulic cylinder is a target chasing adjustment method. The steps of the target chasing adjustment method are as follows: Based on the inclination angle φ and τ of the stone throwing pipe 15 and the elevation of the GPS on the stone throwing pipe 15, calculate the length of each hydraulic cylinder on the leveling mechanism 4 when the theoretical elevation of each ridge is reached. Then, compare the calculated length of each hydraulic cylinder with the current length of the hydraulic cylinder. Finally, control each hydraulic cylinder to extend and retract until the calculated length value is reached.

[0098] Based on the test results, the tilt angle of the leveling vessel is relatively small, which can be expressed as sin(α1-α)=α1-α, sinβ1=β1, sin(α1-α)sinβ1=0, cos(α1-α)=cosβ1=1. Therefore, the coordinate transformation matrix can be simplified to:

[0099]

[0100] Furthermore, when adjusting the tilt angle, the movement distance of each cylinder hinge point can be obtained as follows:

[0101]

[0102] Where (i = A, B, C, D);

[0103] Considering elevation adjustment, the distance that each hydraulic cylinder needs to move for adjustment is:

[0104]

[0105] 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 leveling method for an underwater gravel bed leveling device, characterized in that: Including S1, throwing stones into the sling pipe (15); S2, Four external support legs with hydraulic cylinders reach the bottom of the water; S3. Tilt Angle Adjustment Modeling: Calculate the movement distance of the outer outrigger cylinder; S4, Asynchronous adjustment of hydraulic cylinders: Drive the four outer support leg hydraulic cylinders to adjust the leveling mechanism and scraper (4021) to the required posture; S5. Elevation adjustment modeling: Calculate the elevation adjustment distance S, drive the elevation adjustment cylinder (404) to make the scraper reach the theoretical target elevation; S6. Drive the hydraulic cylinder to extend or retract until the target elevation is reached; S7. Drive the leveling mechanism (4) and the propulsion cylinder (13) to level, and complete the stage leveling; S8. Lower the four outer outrigger cylinders and raise the four inner outrigger cylinders. Level the four inner outrigger cylinders and drive the propulsion cylinder (13) so that the leveling device (2) moves on the bottom of the water. After it moves into place, lower the four inner outrigger cylinders and raise the four outer outrigger cylinders. Repeat S1 to S6 to level the bed again. S9. Repeat S1 to S8 to move the leveling device (2) on the bottom of the water and level all the target positions on the bottom of the water; In S5, the steps to calculate the elevation adjustment distance S are: A1: After the tilt angle adjustment is completed, the elevation H of the elevation adjustment cylinder at the top of the leveling frame is obtained by GPS or ultra-short baseline measurement; A2: The elevation adjustment distance S is: H-Lsin(α1)sin(β1)-h; L is the distance between the elevation adjustment cylinder at the top of the leveling frame and the bottom of the scraper; h is the target elevation; α1 and β1 are the tilt angles of the detection scraper (4021); A method for leveling an underwater crushed stone bed leveling device includes an underwater crushed stone bed leveling device, the leveling device includes a hull (1), a leveling device (2) is provided at the bottom of the hull (1), the leveling device (2) includes an outer frame (3), the four corners of the outer frame (3) are provided with outer support leg cylinders, the outer frame (3) is provided with a sliding leveling mechanism (4), the four corners of the leveling mechanism (4) are provided with inner support leg cylinders, and the top of the leveling mechanism (4) is provided with an elevation adjustment cylinder (404); The outer frame (3) includes longitudinal beams (301) at both ends and transverse beams (302) at both ends. The four corner outer support leg cylinders are the first outer support leg cylinder (5), the second outer support leg cylinder (6), the third outer support leg cylinder (7), and the fourth outer support leg cylinder (8), respectively. The outer frame (3) is a double-layered rectangular structure. There are two beams (302) and two longitudinal beams (301). Each beam (302) is equipped with a guide rail (303). One end of the guide rail (303) is equipped with a limit switch (304). The first outer outrigger cylinder (5) is equipped with a displacement sensor (501) and a pressure sensor (502). The four outer outrigger cylinders have the same structure. The leveling mechanism (4) includes a bracket (401), with rollers (405) on the top and bottom of both sides of the bracket (401), the rollers (405) abutting against the guide rail (303), a leveling head (402) at the bottom of the elevation adjustment cylinder (404), a scraper on one side of the leveling head (402), an elevation adjustment cylinder (404) at the top of the bracket (401), a dual-axis tilt sensor (406) on the bracket (401), and a measuring cylinder (14) at one end of the bracket (401). A motor (403) is provided on one side of the leveling head (402), and an elevation displacement sensor (4041) and an elevation pressure sensor (4042) are provided on the elevation adjustment cylinder (404); The four inner outrigger cylinders include the first inner outrigger cylinder (9), the second inner outrigger cylinder (10), the third inner outrigger cylinder (11) and the fourth inner outrigger cylinder (12). The structure of the four inner outrigger cylinders is the same as that of the first outer outrigger cylinder (5). A propulsion cylinder (13) is provided between the leveling mechanism (4) and the leveling device (2). The two ends of the propulsion cylinder (13) are rotatably connected to the leveling mechanism (4) and the leveling device (2) respectively. The outer frame (3) is connected to the hull (1) through the stone-throwing pipe (15).

2. The leveling method of the underwater crushed stone bed leveling device according to claim 1, wherein the step of calculating the movement distance of the outer outrigger cylinder in S4 is as follows: B1: The current scraper tilt angle change α1-α and longitudinal tilt angle change β1 need to be adjusted. The formula for coordinate system and tilt angle transformation is: B2: The transformation matrix T between the scraper (4021) coordinate system and the target coordinate system is: B3: The coordinates of the four points of the oil cylinder of the scraper (4021) at the current position are as follows: A1 = (-a / 2, -b / 2, 0); B1 = (a / 2, -b / 2, 0); C1 = (a / 2, b / 2, 0); D1 = (-a / 2, b / 2, 0); B4: The travel distance of the four outer support leg cylinders is: In the above formula, i = A, B, C, D; e i α is the travel distance of the outer outrigger cylinder, and α is the inclination angle of the base bed; a and b are the length and width of the rectangle formed by connecting the positions of the four outer outrigger cylinders, respectively.

3. The leveling method of the underwater crushed stone bed leveling device according to claim 1, wherein the asynchronous adjustment mode of the hydraulic cylinder in S4 is the tilt angle error adjustment method, and the tilt angle error adjustment method steps are as follows: C1: The first outer support leg cylinder (5) is not moving. First, check the tilt angles α1 and β1 of the scraper (4021) and compare |α1-α| and |β1|. C2: When |α1-α|>|β1|, first adjust the lateral tilt of the scraper (4021), and simultaneously adjust the extension and retraction of the second outer support cylinder (6) and the third outer support cylinder (7) until the lateral tilt of the scraper α1=α; detect the longitudinal tilt β1 of the scraper (4021), and simultaneously adjust the extension and retraction of the third outer support cylinder (7) and the fourth outer support cylinder (8) until the longitudinal tilt β1 of the scraper (4021)=0; C3: When |α1-α|<|β1|, first adjust the longitudinal tilt of the scraper (4021), and simultaneously adjust the extension and retraction of the third outer support cylinder (7) and the fourth outer support cylinder (8) until the longitudinal tilt β1 of the scraper (4021) is 0; when the lateral tilt α1 of the scraper (4021) is detected, simultaneously adjust the extension and retraction of the second outer support cylinder (6) and the third outer support cylinder (7) until the lateral tilt α1 of the scraper (4021) is α.

4. The leveling method of the underwater crushed stone bed leveling device according to claim 1, wherein the method is: the asynchronous adjustment mode of the oil cylinder in S4 is the target chasing adjustment method, and the steps of the target chasing adjustment method are: according to the inclination angle φ and τ of the stone throwing pipe (15) and the elevation of the GPS on the stone throwing pipe (15), calculate the length of each oil cylinder on the leveling mechanism (4) when the theoretical elevation of each ridge is reached, then compare the calculated length of each oil cylinder with the current length of the oil cylinder, and finally control each oil cylinder to extend and retract until the calculated length value is reached.

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