A precise underwater positioning system for water intake head

Abstract

The present invention relates to the technical field of water intake head construction, and specifically discloses an underwater precise positioning system for a water intake head, the system comprising: a sinking preparation module, used for driving a lifting frame to perform a force check on the water intake head before sinking; a data acquisition module, used for acquiring data of a river body during a sinking operation of the water intake head, and calculating the sinking risk value of the water intake head at different time points by combining the data of the river body with basic data of the water intake head through a data calculation unit, so as to judge the sinking risk at different time points, and thus make a judgment on whether a large increase in the offset distance of the water intake head will occur when the sinking operation is performed at different time points, and then select a suitable sinking time point for the sinking operation through a decision-making single pedal, so as to avoid a large increase in the offset distance of the water intake head during the sinking process, thereby increasing the difficulty of position adjustment, and causing the water intake head to be unable to be accurately dropped to the designed position.

Description

Technical Field

[0001] The invention relates to the technical field of water intake head construction, and in particular to an underwater precise positioning system for a water intake head. Background Art

[0002] The water intake head is an important part of the water intake project. It is usually located at a submerged or semi-submerged position at the bottom of the river. Water is taken into the inlet pipe through its water inlet hole. There are many types of water intake heads, and the commonly used ones are trumpet-shaped, mushroom-shaped, fish-shaped cover, box-type and pier-type.

[0003] When the water intake head is being sunk, due to the influence of dynamic factors such as water level fluctuations, water flow speed and direction, the water intake head will be offset during the underwater lifting process, affecting the actual position of the water intake head. The traditional construction method of the water intake head is underwater plane positioning. The general practice is to perform plane measurement and positioning above the water surface through a total station or GPS, plus an estimated deviation value. During the descent of the lifting equipment on the ship, the control component is controlled to fall slowly, and measurements and observations are made while falling, and the position of the floating vessel is adjusted in time until the water intake head is accurately placed at the designed position.

[0004] In the prior art, when the water intake head is sinking, the position of the floating boat is adjusted in time by measuring and observing while sinking, so as to ensure the accuracy of the position of the water intake head. However, the environment of the sinking operation is not observed. If the sinking operation is carried out under poor environment, the displacement distance of the water intake head during the sinking process may increase, thereby increasing the difficulty of adjusting its position, and further resulting in the water intake head being unable to be accurately placed at the designed position. Summary of the invention

[0005] The purpose of the present invention is to provide an underwater precise positioning system for a water intake head to solve the following technical problems:

[0006] How to reduce the offset distance of the water intake head during the sinking process so as to reduce the difficulty of adjusting its position.

[0007] The purpose of the present invention can be achieved through the following technical solutions:

[0008] An underwater precise positioning system for a water intake head, the system comprising:

[0009] The sinking preparation module is used to drive the lifting frame to check the force of the water intake head before sinking;

[0010] Data collection module, used to collect river data during the sinking operation of the water intake head;

[0011] The data processing module includes a data calculation unit, a data analysis unit, a decision unit and an adjustment unit. The data calculation unit is used to calculate the sinking risk value of the water intake head at different time points according to the river body data and the basic data of the water intake head;

[0012] The data analysis unit is used to compare the sinking risk value of the water intake head at different time points with the preset sinking risk value;

[0013] The decision-making unit is used to decide whether to perform the sinking operation according to the comparison and judgment result of the data analysis unit;

[0014] The adjustment unit is used to calculate the deviation values ​​at different time points in the sinking process in real time and adjust the position of the floating boat when the water intake head is sinking.

[0015] Furthermore, the data collected by the data collection module include: water flow velocity, sand content in the water body, water body temperature and dissolved matter content.

[0016] Furthermore, the calculation process of the data calculation unit includes:

[0017] By formula Calculate the sinking risk value δ at the i-th time point i ;

[0018] Among them, i is a data collection at a fixed time interval, ls i is the water velocity at the ith time point, ls z For ls i The standard value of θ i is the water density influence coefficient at the i-th time point, a is any water intake head assembly, zl a is the weight of the a-th water intake head assembly, zl z For zl a The standard value, V a is the volume of the a-th water intake head assembly, V z V a is the standard value of , x1 and x2 are weight coefficients.

[0019] Furthermore, the calculation process of the data calculation unit also includes:

[0020] By formula Calculate the water density influence coefficient θ at the i-th time point i ;

[0021] Among them, ns i is the sediment content of the water body at the i-th time point, ns 0i is the preset water body sediment content, sw iis the water temperature at the i-th time point, sw 0i is the preset water temperature, rjw i is the dissolved matter content at the i-th time point, rjw 0i is the preset dissolved matter content, rjw z For rjw i The standard value of f c To define a function, if X>1, then f c (X) = X, if X ≤ 1, then f c (X) = 1, β is the precipitation influence coefficient, which is set based on empirical fitting.

[0022] Furthermore, the processing of the data analysis unit includes:

[0023] By taking the sinking risk value δ at the i-th time point i Compared with the preset sinking risk value δ σ Make a comparison;

[0024] If δ i >δ σ , the system determines that the sinking risk at this time point is high, indicating that if the sinking operation is carried out at this time point, the water intake head position will be too far offset, and stops the sinking operation through the decision unit;

[0025] If δ i <δ σ , the system determines that the sinking risk at this point in time is low, indicating that if the sinking operation is carried out at this point in time, there will be no excessive deviation in the water intake head position, and notifies the sinking operation through the decision-making unit.

[0026] Furthermore, the adjustment process of the adjustment unit includes:

[0027] By formula r i =γ i *f L (δ i ) Calculate the moving distance r of the floating ship at the i-th time point i ;

[0028] Among them, γ i f is the horizontal distance of the water intake head at the ith time point relative to the preset point, L It is the adjustment coefficient comparison table function. According to the empirical data (δ i )The degree of influence of the value range on the speed is obtained based on test data.

[0029] Furthermore, the processing process of the data processing module includes:

[0030] S1: The data calculation unit calculates the sinking risk value of the water intake head at different time points based on the river data and the basic data of the water intake head:

[0031] S2: using a data analysis unit to compare the sinking risk value of the water intake head at different time points with a preset sinking risk value;

[0032] S3: The decision unit decides whether to perform the sinking operation according to the comparison and judgment result of the data analysis unit. If not, the operation is stopped. Otherwise, the operation proceeds to step S4.

[0033] S4: When the sinking operation is performed at the water intake head, the deviation values ​​at different time points in the sinking process are calculated in real time through the adjustment unit, and the position of the floating vessel is adjusted.

[0034] Furthermore, the preparation process of the sinking preparation module includes:

[0035] S10: Lift the bottom of the water intake head to a height of 20 cm using the lifting frame;

[0036] S20: Stop lifting and wait for 20 minutes to observe the stress of each node of the lifting frame. If the stress of each node is normal, start floating, otherwise proceed to S30;

[0037] S30: Stop working, lower the fall chain, return the water intake head to its original position, check the stress condition of the lifting frame, verify and reinforce it, and lift again.

[0038] Beneficial effects of the present invention:

[0039] (1) The present invention calculates the sinking risk value of the water intake head at different time points by combining the river data and the basic data of the water intake head through a data calculation unit, and can judge the sinking risk at different time points, so as to judge whether the offset distance of the water intake head will increase significantly when the sinking operation is performed at different time points, and then select the appropriate sinking time point for the sinking operation through a decision-making single pedal, so as to avoid a large increase in the offset distance of the water intake head during the sinking process, which increases the difficulty of position adjustment and causes the water intake head to be unable to be accurately placed at the designed position.

[0040] (2) The present invention calculates the sinking risk value δ at the i-th time point i Compared with the preset sinking risk value δ σBy making this comparison, an accurate judgment can be made on the degree of sinking risk at that point in time, and further a reliable judgment can be made on whether a large deviation will occur in the position of the water intake head when the sinking operation is performed at that point in time, and a decision-making unit can be used to decide whether to perform the sinking operation based on the judgment result, thereby avoiding sinking operations in poor environments, causing the water intake head to deviate too far during the sinking process, thereby increasing the difficulty of adjusting the position of the water intake head, and thus avoiding the situation where the water intake head cannot be accurately placed in the designed position.

[0041] (3) The present invention can improve the accuracy of adjusting the position of the floating vessel by combining the sinking risk value at the i-th time point with the calculation of the moving distance of the floating vessel at the i-th time point, thereby improving the accuracy of the water intake head at each position adjustment, ensuring that the water intake head can be accurately placed at the designed position.

[0042] (4) With the cooperation of the decision-making unit and the data analysis unit, the present invention can accurately judge the risk of the current sinking operation and allow the sinking operation when it is judged that the risk of the current sinking operation is low, thereby avoiding the situation where the displacement distance of the water intake head during the sinking process increases due to strong interference from the external environment, thereby reducing the difficulty of adjusting the position of the water intake head during the sinking process, and ensuring that the water intake head can be accurately placed at the designed position. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] The present invention will be further described below in conjunction with the accompanying drawings.

[0044] Figure 1 It is a schematic block diagram of an underwater precise positioning system for a water intake head in the present invention;

[0045] Figure 2 It is a flow chart of the processing process of the data processing module in the present invention;

[0046] Figure 3 It is a flow chart of the preparation process of the sinking preparation module in the present invention. DETAILED DESCRIPTION

[0047] 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.

[0048] See also Figure 1 As shown, in one embodiment, the present application provides an underwater precise positioning system for a water intake head, the system comprising:

[0049] The sinking preparation module is used to drive the lifting frame to check the force of the water intake head before sinking;

[0050] Data collection module, used to collect river data during the sinking operation of the water intake head;

[0051] The data processing module includes a data calculation unit, a data analysis unit, a decision unit and an adjustment unit. The data calculation unit is used to calculate the sinking risk value of the water intake head at different time points according to the river body data and the basic data of the water intake head;

[0052] The data analysis unit is used to compare the sinking risk value of the water intake head at different time points with the preset sinking risk value;

[0053] The decision-making unit is used to decide whether to perform the sinking operation according to the comparison and judgment result of the data analysis unit;

[0054] The adjustment unit is used to calculate the deviation values ​​at different time points in the sinking process in real time when the water intake head is sinking, and adjust the position of the floating boat;

[0055] Through the above technical scheme, this embodiment provides a sinking preparation module, through which the lifting frame can be driven to perform a force check on the water intake head before sinking. After waiting for the inspection to be completed, the data of the river body can be collected through the data acquisition module. Subsequently, the data calculation unit calculates the sinking risk value of the water intake head at different time points according to the data of the river body and the basic data of the water intake head, and the data analysis unit is used to compare the sinking risk value of the water intake head at different time points with the preset sinking risk value. Finally, the decision unit decides whether to perform the sinking operation according to the comparison and judgment result of the data analysis unit;

[0056] Through such a setting, the data calculation unit combines the river data and the basic data of the water intake head to calculate the sinking risk value of the water intake head at different time points, and can judge the sinking risk at different time points, so as to judge whether there will be a large increase in the offset distance of the water intake head when the sinking operation is performed at different time points, and then select the appropriate sinking time point for the sinking operation through the decision-making single pedal, so as to avoid the situation that the displacement distance of the water intake head increases greatly during the sinking process, which increases the difficulty of position adjustment, and then causes the water intake head to be unable to be accurately placed at the designed position;

[0057] When the decision-making unit decides to carry out a sinking operation, the adjustment unit will calculate the deviation values ​​at different time points during the sinking process in real time, and adjust the position of the floating vessel in time to ensure the accuracy of the position of the water intake head, so that the water intake head can be accurately placed at the designed position.

[0058] The data collected by the data collection module include: water flow velocity, sand content of water body, water body temperature and dissolved matter content;

[0059] Through the above-mentioned technical scheme, this embodiment provides data collected by the data acquisition module, including water flow velocity, water sand content, water temperature and dissolved matter content. By acquiring this data in real time, it can provide accurate data for the subsequent calculation of the sinking risk value of the water intake head at different time points and the deviation value at different time points during the sinking process, thereby improving the accuracy of the calculation results and ensuring the normal implementation of the water intake head sinking operation.

[0060] The calculation process of the data calculation unit includes:

[0061] By formula Calculate the sinking risk value δ at the i-th time point i ;

[0062] Among them, i is a data collection at a fixed time interval, ls i is the water velocity at the ith time point, ls z For ls i The standard value of θ can be selected and set according to the allowable error in empirical data. i is the water density influence coefficient at the i-th time point, a is any water intake head assembly, zl a is the weight of the a-th water intake head assembly, zl z For zl a The standard value can be selected and set according to the allowable error in the empirical data. a is the volume of the a-th water intake head assembly, V z V a The standard value of , which can be set according to the allowable error in the empirical data, x1 and x2 are weight coefficients, which can be set according to empirical fitting;

[0063] Through the above technical solution, this embodiment provides the sinking risk value δ at the i-th time point i , can be obtained by formula The calculation shows that the water flow velocity in the river directly determines the distance that the water intake head is offset in the water. The greater the weight and volume of the water intake head, the smaller the distance that the water intake head is offset in the water. Therefore, when the water flow velocity at the i-th time point is faster and the weight and volume of the a-th water intake head assembly are smaller, the sinking risk value δ at the i-th time point is i On the contrary, when the water flow speed at the i-th time point is slower and the weight and volume of the a-th water intake head assembly are larger, the sinking risk value δ at the i-th time point is i The smaller it is;

[0064] By setting this up, the sinking risk value δ at the i-th time point is calculated. i After that, the sinking risk at the ith time point can be judged, and according to the size of the sinking risk value at the ith time point, it can be judged whether the position of the water intake head will be too far offset during the sinking operation at the current time point, and a decision can be made whether to perform the sinking operation based on the judgment result, thereby avoiding a large increase in the offset distance of the water intake head during the sinking process, which increases the difficulty of position adjustment and causes the water intake head to be unable to be accurately placed at the designed position.

[0065] The calculation process of the data calculation unit also includes:

[0066] By formula Calculate the water density influence coefficient θ at the i-th time point i ;

[0067] Among them, ns i is the sediment content of the water body at the i-th time point, ns 0i is the preset water body sediment content, sw i is the water temperature at the i-th time point, sw 0i is the preset water temperature, rjw i is the dissolved matter content at the i-th time point, rjw 0i is the preset dissolved matter content, rjw z For rjw i The standard value of f can be selected and set according to the allowable error in empirical data. c To define a function, if X>1, then f c (X) = X, if X ≤ 1, then f c (X) = 1, β is the precipitation influence coefficient, which is set based on empirical fitting;

[0068] Through the above technical solution, this embodiment provides the water density influence coefficient θ at the i-th time point: i , can be obtained by formula It is calculated that under normal atmospheric pressure, the more sand and dissolved matter content in the water at the i-th time point, and the lower the water temperature, the water density influence coefficient θ at the i-th time point i On the contrary, under normal atmospheric pressure, the less the sand content and dissolved matter content of the water at the i-th time point, and the higher the water temperature, the greater the water density influence coefficient θ at the i-th time point. i The smaller the water density is, the smaller the water density is. This data can reflect the water density at the i-th time point. Since the water density will affect the speed at which the water intake head moves in the water, the water density influence coefficient θ at the i-th time point is combined. i, which can increase the sinking risk value δ at the i-th time point i The accuracy of the calculation results can improve the accuracy of the judgment of whether the position of the water intake head will deviate too much when the sinking operation is performed at the current time point.

[0069] The processing process of the data analysis unit includes:

[0070] By taking the sinking risk value δ at the i-th time point i Compared with the preset sinking risk value δ σ Make a comparison;

[0071] If δ i >δ σ , the system determines that the sinking risk at this time point is high, indicating that if the sinking operation is carried out at this time point, the water intake head position will be too far offset, and stops the sinking operation through the decision unit;

[0072] If δ i <δ σ , the system determines that the sinking risk at this time point is low, indicating that if the sinking operation is carried out at this time point, the water intake head position will not deviate too much, and notifies the decision-making unit to carry out the sinking operation;

[0073] Through the above technical solution, this embodiment converts the sinking risk value δ at the i-th time point into i Compared with the preset sinking risk value δ σ By making this comparison, an accurate judgment can be made on the degree of sinking risk at that point in time, and further a reliable judgment can be made on whether a large deviation will occur in the position of the water intake head when the sinking operation is performed at that point in time, and a decision-making unit can be used to decide whether to perform the sinking operation based on the judgment result, thereby avoiding sinking operations in poor environments, causing the water intake head to deviate too far during the sinking process, thereby increasing the difficulty of adjusting the position of the water intake head, and thus avoiding the situation where the water intake head cannot be accurately placed in the designed position.

[0074] The adjustment process of the adjustment unit includes:

[0075] By formula r i =γ i *f L (δ i ) Calculate the moving distance r of the floating ship at the i-th time point i ;

[0076] Among them, γ i f is the horizontal distance of the water intake head at the i-th time point relative to the preset point, L It is the adjustment coefficient comparison table function. According to the empirical data (δ i) The influence of the value range on the speed is based on the test data;

[0077] Through the above technical solution, this embodiment provides the moving distance r of the floating ship at the i-th time point i , can be obtained by formula r i =γ i *f L (δ i ), wherein the horizontal distance of the water intake head at the ith time point relative to the preset point can be located according to the GPS installed inside it. Since the position of the water intake head will still be offset under the action of the water flow during the process of adjusting the position of the water intake head by adjusting the position of the pontoon, the moving distance of the pontoon at the ith time point is calculated in combination with the sinking risk value at the ith time point, which can improve the accuracy of adjusting the position of the pontoon, thereby improving the accuracy of the water intake head at each position adjustment, and ensuring that the water intake head can be accurately placed at the designed position.

[0078] See also Figure 2 As shown, the processing process of the data processing module includes:

[0079] S1: The data calculation unit calculates the sinking risk value of the water intake head at different time points based on the river data and the basic data of the water intake head:

[0080] S2: using a data analysis unit to compare the sinking risk value of the water intake head at different time points with a preset sinking risk value;

[0081] S3: The decision unit decides whether to perform the sinking operation according to the comparison and judgment result of the data analysis unit. If not, the operation is stopped. Otherwise, the operation proceeds to step S4.

[0082] S4: When the sinking operation is performed at the water intake head, the deviation values ​​at different time points in the sinking process are calculated in real time by the adjustment unit, and the position of the floating vessel is adjusted;

[0083] Through the above technical solution, this embodiment provides a processing process of the data processing module. First, the data calculation unit calculates the sinking risk value of the water intake head at different time points according to the data of the river body and the basic data of the water intake head, and the data analysis unit is used to compare the sinking risk value of the water intake head at different time points with the preset sinking risk value. Then, the decision unit decides whether to perform the sinking operation according to the comparison and judgment result of the data analysis unit. When it is judged that the sinking operation cannot be performed, the operation is stopped. When it is judged that the sinking operation can be performed, the adjustment unit calculates the deviation value at different time points in the sinking process in real time when the sinking operation is performed at the water intake head, and adjusts the position of the floating boat.

[0084] Through such a setting, with the cooperation of the decision-making unit and the data analysis unit, the risk level of the current sinking operation can be accurately judged, and the sinking operation can be allowed when it is judged that the risk level of the current sinking operation is low, thereby avoiding the situation where the displacement distance of the water intake head during the sinking process increases due to strong interference from the external environment, thereby reducing the difficulty of adjusting the position of the water intake head during the sinking process, and ensuring that the water intake head can be accurately placed in the designed position.

[0085] See also Figure 3 As shown, the preparation process of the sinking preparation module includes:

[0086] S10: Lift the bottom of the water intake head to a height of 20 cm using the lifting frame;

[0087] S20: Stop lifting and wait for 20 minutes to observe the stress of each node of the lifting frame. If the stress of each node is normal, start floating, otherwise proceed to S30;

[0088] S30: Stop working, lower the fall chain, return the water intake head to its original position, check the stress of the lifting frame, perform verification and reinforcement, and lift again;

[0089] Through the above technical scheme, this embodiment provides a preparation process for the sinking preparation module. First, the bottom of the water intake head is lifted to a height of 20 cm by the lifting frame, and then the lifting is stopped and waited for 20 minutes to observe the stress conditions of the nodes of the lifting frame. If the stress of each node is normal, floating is started, otherwise work is stopped, the fall chain is lowered, the water intake head is returned to its position, the stress condition of the lifting frame is checked, verification and reinforcement are performed, and the lifting is performed again. Through such a setting, the stress condition of the lifting frame can be analyzed, thereby avoiding the situation in which the lifting frame is damaged and the position of the water intake head cannot be accurately adjusted due to abnormal stress on the lifting frame during the subsequent adjustment of the water intake head position.

[0090] The above is a detailed description of an embodiment of the present invention, but the content is only a preferred embodiment of the present invention and cannot be considered to limit the scope of implementation of the present invention. All equivalent changes and improvements made within the scope of the present invention should still fall within the scope of the patent coverage of the present invention.

Claims

1. An underwater precise positioning system for a water intake head, characterized in that: The system comprises: The sinking preparation module is used to drive the lifting frame to check the force of the water intake head before sinking; Data collection module, used to collect river data during the sinking operation of the water intake head; The data processing module includes a data calculation unit, a data analysis unit, a decision unit and an adjustment unit. The data calculation unit is used to calculate the sinking risk value of the water intake head at different time points according to the river body data and the basic data of the water intake head; The data analysis unit is used to compare the sinking risk value of the water intake head at different time points with the preset sinking risk value; The decision-making unit is used to decide whether to perform the sinking operation according to the comparison and judgment result of the data analysis unit; The adjustment unit is used to calculate the deviation values ​​at different time points in the sinking process in real time when the water intake head is sinking, and adjust the position of the floating boat; The data collected by the data collection module include: water flow velocity, sand content of water body, water body temperature and dissolved matter content; The calculation process of the data calculation unit includes: By formula Calculate the sinking risk value δ at the i-th time point i ; Among them, i is a data collection at a fixed time interval, ls i is the water velocity at the ith time point, ls z For ls i The standard value of θ i is the water density influence coefficient at the i-th time point, a is any water intake head assembly, zl a is the weight of the a-th water intake head assembly, zl z For zl a The standard value, V a is the volume of the a-th water intake head assembly, V z V a is the standard value of , x1 and x2 are weight coefficients.

2. The underwater precise positioning system for water intake head according to claim 1, characterized in that: The calculation process of the data calculation unit also includes: By formula Calculate the water density influence coefficient θ at the i-th time point i ; Among them, ns i is the sediment content of the water body at the i-th time point, ns 0i is the preset water body sediment content, sw i is the water temperature at the i-th time point, sw 0i is the preset water temperature, rjw i is the dissolved matter content at the i-th time point, rjw 0i is the preset dissolved matter content, rjw z For rjw i The standard value of f c To define a function, if X>1, then f c (X) = X, if X ≤ 1, then f c (X) = 1, β is the precipitation influence coefficient, which is set based on empirical fitting.

3. The underwater precise positioning system for water intake head according to claim 2, characterized in that: The processing process of the data analysis unit includes: By taking the sinking risk value δ at the i-th time point i Compared with the preset sinking risk value δ σ Make a comparison; If δ i >δ σ , the system determines that the sinking risk at this time point is high, indicating that if the sinking operation is carried out at this time point, the water intake head position will be too much offset, and stops the sinking operation through the decision unit; If δ i <δ σ , the system determines that the sinking risk at this point in time is low, indicating that if the sinking operation is carried out at this point in time, there will be no excessive deviation in the water intake head position, and notifies the sinking operation through the decision-making unit.

4. The underwater precise positioning system for water intake head according to claim 3 is characterized in that: The adjustment process of the adjustment unit includes: By formula r i =γ i *f L (δ i ) Calculate the moving distance r of the floating ship at the i-th time point i ; Among them, γ i f is the horizontal distance of the water intake head at the i-th time point relative to the preset point, L It is the adjustment coefficient comparison table function. According to the empirical data (δ i )The degree of influence of the value range on speed is obtained based on test data.

5. The underwater precise positioning system for water intake head according to claim 4, characterized in that: The processing process of the data processing module includes: S1: The data calculation unit calculates the sinking risk value of the water intake head at different time points based on the river data and the basic data of the water intake head: S2: using a data analysis unit to compare the sinking risk value of the water intake head at different time points with a preset sinking risk value; S3: The decision unit decides whether to perform the sinking operation according to the comparison and judgment result of the data analysis unit. If not, the operation is stopped. Otherwise, the operation proceeds to step S4. S4: When the sinking operation is performed at the water intake head, the deviation values ​​at different time points in the sinking process are calculated in real time through the adjustment unit, and the position of the floating vessel is adjusted.

6. The underwater precise positioning system for water intake head according to claim 1, characterized in that: The preparation process of the sinking preparation module includes: S10: Lift the bottom of the water intake head to a height of 20 cm using the lifting frame; S20: Stop lifting and wait for 20 minutes, observe the stress condition of each rod node of the lifting frame, if the stress of each node is normal, start floating, otherwise proceed to S30; S30: Stop working, lower the fall chain, return the water head to its original position, check the stress condition of the lifting frame, verify and reinforce it, and lift again.

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