Underwater precise riprap and self-flowing pouring cemented riprap body construction method

Abstract

The invention provides a cemented riprap body construction method for underwater precise riprap and self-flow pouring. The method comprises the steps that three-dimensional shape parameters of a plurality of stones are obtained; based on the three-dimensional morphological parameters and the water flow velocity in the water, the outlet position of the first guide pipe and / or the riprap point height of the first guide pipe are / is adjusted, so that the multiple stones are thrown into the water through the first guide pipe, and a target riprap accumulation body is formed at the water bottom; obtaining the flowing property of the gelled slurry in water; and based on the water flow velocity, adjusting at least one of the outlet position of the second guide pipe, the height of a pouring point and the single pouring amount, the pouring speed and the water flowing property of the gelled slurry, so that the gelled slurry is poured to the surface of the target riprap accumulation body through the second guide pipe, and the riprap particles in the pouring area of the target riprap accumulation body are converted into target cemented riprap clusters, and the anti-scouring structure with high anti-scouring capacity and deformation adaptability is formed.

Description

Technical Field

[0001] The invention relates to the technical field of underwater riprap, and in particular to a construction method of a cemented riprap body of underwater precise riprap and self-flowing casting. Background Art

[0002] The installation of pile foundations, bridge piers and other structures on the riverbed or seabed will change the distribution of the surrounding water flow field, causing local scouring of the soil around the structures and forming scouring pits. This may affect the long-term stability of these structures and the operational safety of the superstructure of the structures.

[0003] Riprap is the most commonly used and economical anti-scour measure in water conservancy projects, marine projects and port projects. At present, there are two processes for riprap construction protection: one is to riprap directly from the water surface, and the other is to riprap through a conduit on a construction ship. The landing point of riprap directly from the water surface is not accurate enough. The conduit can make the landing point of riprap more accurate to a certain extent, but during the riprap process, due to the presence of stones in the conduit, it is usually only possible to complete the riprap at one point and then move to the next point, and it is impossible to form a uniform and flat riprap accumulation. At the same time, the water flow will change the landing point of the riprap, making it uncontrollable.

[0004] In addition, the riprap accumulation formed by natural accumulation is relatively weak in anti-scouring ability. Under the action of water flow, the riprap material is easily dispersed, thus affecting its protective performance. In order to improve its protective performance, underwater cementing materials can be poured at the predetermined pouring points on the riprap accumulation to complete single-point pouring. This is because in offshore construction operations, since the ship cannot move and adjust the position of the grouting pipe in real time, only the fixed-point pouring method can be used. However, when the riprap range is large, it is difficult to form an ideal cemented riprap body in the riprap protective layer by relying solely on the fixed-point pouring method. Summary of the invention

[0005] The embodiment of the present invention provides a method for constructing a bonded riprap body by underwater precise riprap and self-flowing casting, so as to at least solve the problem that a uniform and flat riprap accumulation body cannot be formed during the riprap filling process, and when the riprap range is large, it is difficult to form an ideal bonded riprap body in the riprap protective layer by only relying on the fixed-point casting method.

[0006] The embodiment of the present invention discloses a method for constructing a cemented riprap body by underwater precise riprap and self-flowing casting, comprising:

[0007] Obtaining three-dimensional shape parameters of a plurality of preset stones;

[0008] Based on the three-dimensional morphological parameters and the water flow velocity in the water, adjusting the preset outlet position of the first conduit and / or the height of the riprap point of the first conduit, so that the plurality of stones are thrown into the water through the first conduit to form a target riprap accumulation body on the bottom of the water;

[0009] Obtaining the water flow properties of a preset gel slurry;

[0010] Based on the water flow rate, the outlet position of the preset second conduit, the height of the pouring point, and at least one of the single pouring amount, pouring speed and water flow properties of the cementitious slurry are adjusted so that the cementitious slurry is poured onto the surface of the target riprap accumulation body through the second conduit, so that the riprap particles in the pouring area of ​​the target riprap accumulation body are transformed into target cementitious riprap clusters.

[0011] Optionally, the three-dimensional morphological parameters include at least the particle size of the stones; the step of adjusting the outlet position of the first conduit and / or the height of the riprap point of the first conduit based on the three-dimensional morphological parameters and the water flow velocity in the water so that the multiple stones form a target riprap accumulation body at the bottom of the water includes:

[0012] For any stone, based on the target riprap accumulation body, obtaining a first target landing point position of the stone in the water;

[0013] Obtaining the density of the stone;

[0014] Based on the particle size, the water flow velocity, the density and the first target landing point position, a preset riprap calculation formula is used to obtain the target outlet position of the first conduit and the target riprap point height of the first conduit.

[0015] Optionally, the step of obtaining the target outlet position of the first conduit and the target riprap point height of the first conduit by using a preset riprap calculation formula based on the particle size, the water flow velocity, the density and the first target landing point position includes:

[0016] Using the riprap calculation formula, the horizontal distance between the target riprap point position of the first conduit and the first target landing point position, and the height of the target riprap point of the first conduit are obtained;

[0017] Determining the target riprap point position of the first conduit based on the horizontal distance between the target riprap point position of the first conduit and the first target landing point position and the first target landing point position;

[0018] A target exit position of the first conduit is determined based on the target riprap point position of the first conduit.

[0019] Optionally, the riprap calculation formula is:

[0020]

[0021] Wherein, l is the horizontal distance between the target riprap point position of the first conduit and the first target landing point position, k is the first coefficient, and F r is the dimensionless number of the ratio of the gravity of the water flow to the inertial force in the water, a is the second coefficient, ρ r is the density, ρ is the density of water in the water, b is the third coefficient, d r is the particle size, h is the target riprap point height, and c is the fourth coefficient.

[0022] Optionally, the cementitious slurry is used to spread on the surface of the target riprap accumulation body; the step of adjusting the outlet position of the preset second conduit, the height of the pouring point, and at least one of the single pouring amount, pouring speed and water flow performance of the cementitious slurry based on the water flow rate, so that the cementitious slurry is poured onto the surface of the target riprap accumulation body through the second conduit, so that the riprap particles in the pouring area of ​​the target riprap accumulation body are transformed into target cementitious riprap clusters includes:

[0023] Based on the water flow rate, the outlet position of the second conduit, the height of the pouring point, and at least one of the single pouring amount, pouring speed and flow properties of the cementitious slurry in water are adjusted so that the landing point of the cementitious slurry on the surface of the target riprap accumulation body is a preset second target landing point position, and the diffusion radius of the cementitious slurry meets the preset diffusion requirements.

[0024] Optionally, the step of adjusting the outlet position of the second conduit, the height of the pouring point, and at least one of the single pouring amount, pouring speed, and flow performance of the cementitious slurry in water based on the water flow velocity, so that the landing point of the cementitious slurry on the surface of the target riprap accumulation body is a preset second target landing point position, and the diffusion radius of the cementitious slurry meets the preset diffusion requirement includes:

[0025] Using a preset diffusion radius calculation formula, the predicted diffusion radius of the gel slurry is obtained;

[0026] Based on the predicted diffusion radius, the single pouring amount of the cementitious slurry and / or the yield strength in water are adjusted so that the diffusion radius of the cementitious slurry meets the preset diffusion requirement.

[0027] Optionally, the diffusion radius calculation formula is:

[0028]

[0029] Where R is the predicted diffusion radius, n r is the surface morphology influence coefficient of the target riprap accumulation body, ρ cis the density of the cementitious slurry, g is the acceleration due to gravity, v is the single pouring amount of the cementitious slurry, τ0 is the yield strength of the cementitious slurry in water, m is the fifth coefficient, and d is the sixth coefficient.

[0030] Optionally, the step of adjusting the outlet position of the second conduit, the height of the pouring point, and at least one of the single pouring amount, pouring speed, and flow performance of the cementitious slurry in water based on the water flow velocity, so that the landing point of the cementitious slurry on the surface of the target riprap accumulation body is a preset second target landing point position, and the diffusion radius of the cementitious slurry meets the preset diffusion requirement includes:

[0031] Taking at least one position on the surface of the target riprap accumulation body as a position to be measured;

[0032] After throwing the stone, obtaining the first elevation of the position to be measured;

[0033] After pouring, during the diffusion process of the gel slurry, obtaining a second elevation at the position to be measured;

[0034] Based on the first elevation and the second elevation of the position to be measured, a diffusion radius of the gel slurry is obtained.

[0035] Optionally, the step of obtaining the diffusion radius of the gel slurry based on the first elevation and the second elevation of the position to be measured includes:

[0036] For any of the positions to be measured, determining whether the first elevation and the second elevation of the position to be measured are the same;

[0037] If the first elevation and the second elevation of the position to be measured are different, the position to be measured indicates that the gel slurry exists at the position; if the first elevation and the second elevation of the position to be measured are the same, the position to be measured indicates that the gel slurry does not exist at the position, and the boundary where the elevation difference is zero is the diffusion area of ​​the gel slurry;

[0038] Based on the diffusion area of ​​the gel slurry, a diffusion radius of the gel slurry is determined.

[0039] Optionally, after the step of obtaining the diffusion radius of the gel slurry based on the first elevation and the second elevation of the position to be measured, the method includes:

[0040] If the diffusion radius does not meet the preset diffusion requirement, the flowability of the cementitious slurry in water and / or the single pouring amount of the cementitious slurry are adjusted until the diffusion radius of the cementitious slurry meets the preset diffusion requirement.

[0041] Optionally, the step of obtaining the first elevation of the target riprap accumulation body at the position to be measured includes:

[0042] The first elevation of the target riprap accumulation body at the position to be measured is obtained by using sonar scanning technology and / or multi-beam scanning technology.

[0043] Optionally, the step of obtaining the three-dimensional morphological parameters of the preset plurality of stones comprises:

[0044] Acquire images of at least one angle of the plurality of stones;

[0045] Modeling the stone based on the image to obtain a three-dimensional model of the stone;

[0046] Based on the three-dimensional model, the three-dimensional morphological parameters of the stone are obtained.

[0047] Optionally, the step of obtaining the flowability of the preset gel slurry in water comprises:

[0048] Obtaining flow performance parameters of the gel slurry in air;

[0049] Based on the flowability parameters, the flowability parameters in water of the gel slurry are obtained.

[0050] The embodiment of the present invention also discloses a construction device for an underwater precise riprap and self-flowing cemented riprap body, comprising:

[0051] A parameter acquisition module, used to acquire three-dimensional morphological parameters of a plurality of preset stones;

[0052] A first adjustment module is used to adjust a preset outlet position of a first conduit and / or a height of a riprap point of the first conduit based on the three-dimensional morphological parameters and the water flow velocity in the water, so that the plurality of stones are thrown into the water through the first conduit to form a target riprap accumulation body at the bottom of the water;

[0053] A performance acquisition module, used for acquiring the water flow properties of a preset gel slurry;

[0054] The second adjustment module is used to adjust the outlet position of the preset second conduit, the height of the pouring point, and at least one of the single pouring amount, pouring speed and water flow performance of the cementitious slurry based on the water flow rate, so that the cementitious slurry is poured onto the surface of the target riprap accumulation body through the second conduit, so that the riprap particles in the pouring area of ​​the target riprap accumulation body are transformed into target cementitious riprap clusters.

[0055] Optionally, the three-dimensional morphological parameters at least include the particle size of the stone; and the first adjustment module includes:

[0056] A position acquisition submodule, for acquiring, for any stone, a first target landing point position of the stone in the water based on the target riprap pile;

[0057] A density acquisition submodule, used to acquire the density of the stone;

[0058] The height acquisition submodule is used to obtain the target outlet position of the first conduit and the target riprap point height of the first conduit based on the particle size, the water flow velocity, the density and the first target landing point position using a preset riprap calculation formula.

[0059] Optionally, the height acquisition submodule includes:

[0060] A height acquisition unit, configured to acquire the horizontal distance between the target riprap point position of the first conduit and the first target landing point position, and the height of the target riprap point of the first conduit by using the riprap calculation formula;

[0061] A position determination unit, configured to determine a target riprap point position of the first conduit based on a horizontal distance between the target riprap point position of the first conduit and the first target landing point position and the first target landing point position;

[0062] The outlet position determining unit is used to determine the target outlet position of the first conduit based on the target riprap point position of the first conduit.

[0063] Optionally, the riprap calculation formula is:

[0064]

[0065] Wherein, l is the horizontal distance between the target riprap point position of the first conduit and the first target landing point position, k is the first coefficient, and F r is the dimensionless number of the ratio of the gravity of the water flow to the inertial force in the water, a is the second coefficient, ρ r is the density, ρ is the density of water in the water, b is the third coefficient, d r is the particle size, h is the target riprap point height, and c is the fourth coefficient.

[0066] Optionally, the gelled slurry is used to spread on the surface of the target riprap pile; the second adjustment module includes:

[0067] The adjustment submodule is used to adjust the outlet position of the second conduit, the height of the pouring point, and at least one of the single pouring amount, pouring speed and flow performance of the cementitious slurry in water based on the water flow rate, so that the landing point of the cementitious slurry on the surface of the target riprap accumulation body is a preset second target landing point position, and the diffusion radius of the cementitious slurry meets the preset diffusion requirement.

[0068] Optionally, the adjustment submodule includes:

[0069] A radius acquisition unit, used to acquire the predicted diffusion radius of the gel slurry using a preset diffusion radius calculation formula;

[0070] The first adjustment unit is used to adjust the single pouring amount and / or the yield strength in water of the cementitious slurry based on the predicted diffusion radius, so that the diffusion radius of the cementitious slurry meets the preset diffusion requirement.

[0071] Optionally, the diffusion radius calculation formula is:

[0072]

[0073] Where R is the predicted diffusion radius, n r is the surface morphology influence coefficient of the target riprap accumulation body, ρ c is the density of the cementitious slurry, g is the acceleration due to gravity, v is the single pouring amount of the cementitious slurry, τ0 is the yield strength of the cementitious slurry in water, m is the fifth coefficient, and d is the sixth coefficient.

[0074] Optionally, the adjustment submodule includes:

[0075] as a unit, for taking at least one position on the surface of the target riprap accumulation body as a position to be measured;

[0076] A first elevation acquisition unit, used for acquiring the first elevation of the position to be measured after the stone is thrown;

[0077] A second elevation acquisition unit is used to acquire the second elevation of the position to be measured during the diffusion process of the gel slurry after pouring;

[0078] A diffusion radius acquisition unit is used to acquire the diffusion radius of the gel slurry based on the first elevation and the second elevation of the position to be measured.

[0079] Optionally, the diffusion radius acquisition unit includes:

[0080] A judging subunit, used for judging, for any of the positions to be measured, whether the first elevation and the second elevation of the position to be measured are the same;

[0081] The diffusion position is used as a subunit, and if the first elevation and the second elevation of the position to be measured are different, the position to be measured indicates that the gel slurry exists at the position; if the first elevation and the second elevation of the position to be measured are the same, the position to be measured indicates that the gel slurry does not exist at the position, and the boundary where the elevation difference is zero is the diffusion area of ​​the gel slurry;

[0082] The diffusion radius determination subunit is used to determine the diffusion radius of the gel slurry based on the diffusion area of ​​the gel slurry.

[0083] Optionally, the adjustment submodule includes:

[0084] The second adjustment unit is used to adjust the in-water flowability of the cementitious slurry and / or the single pouring amount of the cementitious slurry if the diffusion radius does not meet the preset diffusion requirement, until the diffusion radius of the cementitious slurry meets the preset diffusion requirement.

[0085] Optionally, the first elevation acquisition unit includes:

[0086] The first elevation acquisition subunit is used to acquire the first elevation of the target riprap accumulation body at the position to be measured by using sonar scanning technology and / or multi-beam scanning technology.

[0087] Optionally, the parameter acquisition module includes:

[0088] An image acquisition submodule, used to acquire images of at least one angle of the plurality of stones;

[0089] A modeling submodule, used for modeling the stone based on the image to obtain a three-dimensional model of the stone;

[0090] The parameter acquisition submodule is used to acquire the three-dimensional morphological parameters of the stone based on the three-dimensional model.

[0091] Optionally, the performance acquisition module includes:

[0092] A first performance acquisition submodule is used to acquire flow performance parameters of the gel slurry in air;

[0093] The second performance acquisition submodule is used to acquire the in-water flow performance parameters of the gel slurry based on the flow performance parameters.

[0094] The embodiment of the present invention further discloses an electronic device, comprising a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory communicate with each other via the communication bus;

[0095] The memory is used to store computer programs;

[0096] The processor is used to implement the method described in the embodiment of the present invention when executing the program stored in the memory.

[0097] The embodiment of the present invention further discloses one or more computer-readable media on which instructions are stored. When executed by one or more processors, the processors are enabled to execute the method described in the embodiment of the present invention.

[0098] The embodiments of the present invention include the following advantages:

[0099] In the embodiment of the present invention, the three-dimensional morphological parameters of a plurality of preset stones are obtained, and based on the three-dimensional morphological parameters and the water flow velocity in the water, the outlet position of the preset first conduit and / or the height of the riprap point of the first conduit are adjusted, so that the plurality of stones are thrown into the water through the first conduit to form a target riprap accumulation body on the bottom of the water. The water flow performance of the preset cementitious slurry is obtained, and based on the water flow velocity, the outlet position of the preset second conduit, the height of the pouring point, and at least one of the single pouring amount, pouring speed and water flow performance of the cementitious slurry are adjusted, so that the cementitious slurry is poured onto the surface of the target riprap accumulation body through the second conduit, so that the riprap particles in the pouring area of ​​the target riprap accumulation body are transformed into target cementitious riprap clusters, thereby improving the uniformity of the stacking and surface flatness of the target riprap accumulation body, improving the accuracy of the pouring position and diffusion radius of the cementitious slurry, and forming a target cementitious riprap body anti-scour structure with strong anti-scour ability and adaptive deformation, solving the technical problem of scour prevention and control of structures.

[0100] In addition, in an embodiment of the present invention, images of at least one angle of multiple stones are obtained; based on the images, the stones are modeled to obtain a three-dimensional model of the stones; based on the three-dimensional model, three-dimensional morphological parameters of the stones are obtained, thereby achieving multi-perspective recognition and three-dimensional reconstruction of multiple stones in the riprap material to obtain three-dimensional morphological parameters such as particle size, grading, and volume of the stones.

[0101] For any stone in the riprap material, based on the target riprap accumulation body, the first target landing point position of the stone in the water is obtained, and the density of the stone is obtained. Based on the particle size, water flow velocity, density and the first target landing point position, the preset riprap calculation formula is used to obtain the target outlet position of the first conduit and the target riprap point height of the first conduit, so that the landing point and accumulation form of multiple stones under the action of water flow can be quickly determined by using an empirical formula based on the experiment, so as to adjust the outlet position of the first conduit and the riprap point height, improve the riprap accuracy of the first conduit, and form a uniform and flat target riprap accumulation body.

[0102] Based on the water flow rate, the outlet position of the second conduit, the height of the pouring point, and at least one of the single pouring amount, pouring speed, and flow performance of the cementitious slurry in water are adjusted, so that the landing point of the cementitious slurry on the surface of the target riprap accumulation body is the preset second target landing point position, and the diffusion radius of the cementitious slurry meets the preset diffusion requirements. Specifically, the predicted diffusion radius of the cementitious slurry can be obtained by using a preset diffusion radius calculation formula, and based on the predicted diffusion radius, the single pouring amount and / or the yield strength in water of the cementitious slurry are adjusted, so that the diffusion radius of the cementitious slurry meets the preset diffusion requirements, thereby achieving precise pouring of the cementitious slurry. BRIEF DESCRIPTION OF THE DRAWINGS

[0103] Figure 1 It is a flow chart of the steps of a method for constructing a cemented riprap body of underwater precision riprap and self-flowing cast provided in an embodiment of the present invention;

[0104] Figure 2 is a schematic diagram of a construction of an anti-scour structure provided by an embodiment of the present invention;

[0105] Figure 3 It is a structural block diagram of a construction device for underwater precise riprap and self-flowing cemented riprap body provided in an embodiment of the present invention;

[0106] Figure 4 is a block diagram of an electronic device provided in an embodiment of the present invention;

[0107] Figure 5 is a schematic diagram of a computer-readable medium provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0108] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0109] Reference Figure 1 , shows a flow chart of the steps of a construction method of underwater precision riprap and self-flowing cemented riprap body provided in an embodiment of the present invention, which may specifically include the following steps:

[0110] Step 101, obtaining three-dimensional morphological parameters of a plurality of preset stones;

[0111] In an embodiment of the present invention, multiple stones can be thrown into the water through the first conduit to form a riprap pile at the bottom of the water. In an embodiment of the present invention, three-dimensional morphological parameters of the multiple stones can be obtained. The three-dimensional morphological parameters include but are not limited to parameters such as geometric size, particle size, gradation, and volume of the stones.

[0112] In the embodiment of the present invention, a plurality of stones constitute riprap materials, which include but are not limited to crushed stone materials, gangue materials, waste building materials, slag, and the like.

[0113] Step 102, based on the three-dimensional morphological parameters and the water flow velocity in the water, adjusting the preset outlet position of the first conduit and / or the height of the riprap point of the first conduit, so that the plurality of stones are thrown into the water through the first conduit to form a target riprap accumulation body on the bottom of the water;

[0114] In the embodiment of the present invention, based on the three-dimensional morphological parameters of the stones and the flow velocity of the water in the water, the outlet position of the first conduit and / or the height of the riprap point of the first conduit can be adjusted, so that multiple stones are thrown into the water through the first conduit to form a target riprap accumulation body at the bottom of the water. It should be noted that the height of the riprap point of the first conduit is usually different from the outlet height of the first conduit, and the height of the riprap point of the first conduit can be higher than the outlet height of the first conduit; the target riprap accumulation body is a uniform and flat riprap accumulation body. The void ratio of the target riprap accumulation body reaches 50% (50 percent) or more.

[0115] Step 103, obtaining the water flowability of the preset gel slurry;

[0116] In an embodiment of the present invention, after a target riprap accumulation body is formed at the bottom of the water, a cementitious slurry can be poured onto the surface of the target riprap accumulation body through a second conduit. Then, the cementitious slurry can diffuse laterally on the surface of the target riprap accumulation body, flow and attach longitudinally downward along the gaps in the target riprap accumulation body, and penetrate into the interior of the target riprap accumulation body, so that the stones on the flow path of the cementitious slurry in the target riprap accumulation body are bonded to each other, the riprap particles in the pouring area of ​​the target riprap accumulation body are transformed into cementitious riprap clusters, and the target riprap accumulation body is transformed into a cementitious riprap body. In an embodiment of the present invention, the water flow properties of the cementitious slurry in water can be obtained.

[0117] Step 104, based on the water flow rate, adjust the outlet position of the preset second conduit, the height of the pouring point, and at least one of the single pouring amount, pouring speed and water flow properties of the cementitious slurry, so that the cementitious slurry is poured onto the surface of the target riprap accumulation body through the second conduit, so that the riprap particles in the pouring area of ​​the target riprap accumulation body are transformed into target cementitious riprap clusters.

[0118] In the embodiment of the present invention, based on the water flow velocity in the water, the outlet position of the second conduit, the height of the pouring point, and at least one of the single pouring amount, pouring speed, and water flow performance of the cementitious slurry can be adjusted, so that the pouring position of the cementitious slurry is located at the second target landing point position on the surface of the target riprap pile, the diffusion radius of the cementitious slurry on the surface of the target riprap pile meets the preset diffusion requirements, the riprap particles in the pouring area of ​​the target riprap pile are transformed into target cemented riprap clusters, and the target riprap pile body is transformed into a target cemented riprap body. It should be noted that the height of the pouring point is usually different from the outlet height of the second conduit. The height of the pouring point can be higher than the outlet height of the second conduit. In the process of the riprap particles in the pouring area of ​​the target riprap pile being transformed into the target cemented riprap clusters, the cementitious slurry effectively cements and reinforces the middle to top area of ​​the target riprap pile. Among them, the void ratio of the target riprap pile extending from the top to 1 / 3 of the entire height is maintained at more than 30%. Furthermore, starting from the 1 / 3 height downward from the top of the target riprap accumulation body, until reaching half of the entire height, that is, the middle 1 / 2 position, the void ratio of the target riprap accumulation body in this interval is maintained above 20%.

[0119] In the embodiment of the present invention, after the riprap particles in the casting area of ​​the target riprap accumulation body are transformed into the target cemented riprap clusters, the target riprap accumulation body can be used as the anti-scour structure of the structure. If the design height of the anti-scour structure is 3-5 times the median of the particle size of the stones in the target riprap accumulation body, the steps of riprap through the first conduit and casting the cementitious slurry through the second conduit can be alternately performed to form a target riprap accumulation body in which the riprap particles in the casting area with layered characteristics are transformed into the target cemented riprap clusters.

[0120] In the embodiment of the present invention, the three-dimensional morphological parameters of a plurality of preset stones are obtained, and based on the three-dimensional morphological parameters and the water flow velocity in the water, the outlet position of the preset first conduit and / or the height of the riprap point of the first conduit are adjusted, so that the plurality of stones are thrown into the water through the first conduit to form a target riprap accumulation body on the bottom of the water. The water flow performance of the preset cementitious slurry is obtained, and based on the water flow velocity, the outlet position of the preset second conduit, the height of the pouring point, and at least one of the single pouring amount, pouring speed and water flow performance of the cementitious slurry are adjusted, so that the cementitious slurry is poured onto the surface of the target riprap accumulation body through the second conduit, so that the riprap particles in the pouring area of ​​the target riprap accumulation body are transformed into target cementitious riprap clusters, thereby improving the uniformity of the stacking and surface flatness of the target riprap accumulation body, improving the accuracy of the pouring position and diffusion radius of the cementitious slurry, and forming a target cementitious riprap body anti-scour structure with strong anti-scour ability and adaptive deformation, solving the technical problem of scour prevention and control of structures.

[0121] Further, in any of the above embodiments, the three-dimensional morphological parameters at least include the particle size of the stone; step 102 includes:

[0122] Sub-step S11, for any stone, based on the target riprap pile, obtaining a first target landing point position of the stone in the water;

[0123] Sub-step S12, obtaining the density of the stone;

[0124] Sub-step S13, based on the particle size, the water flow velocity, the density and the first target landing point, a preset riprap calculation formula is used to obtain the target outlet position of the first conduit and the target riprap point height of the first conduit.

[0125] In the embodiment of the present invention, the three-dimensional morphological parameters of the multiple stones to be dumped can be obtained, wherein the three-dimensional morphological parameters include but are not limited to parameters such as geometric size, particle size, gradation, and volume of the stones.

[0126] Multiple stones can be thrown into the water through the first conduit to form a riprap pile at the bottom of the water. In order to obtain a uniform and flat target riprap pile, for any stone, the first target landing point position of the stone in the water is obtained. Then, the density of the stone is obtained, and based on the particle size of the stone, the water flow rate in the water, the density of the stone, the volume of the stone and the first target landing point position, the preset riprap calculation formula is used to obtain the target outlet position of the first conduit and the target riprap point height of the first conduit. It should be noted that the height of the riprap point is the height of the riprap point from the seabed surface.

[0127] Further, in any of the above embodiments, sub-step S13 includes:

[0128] Sub-step S21, using the riprap calculation formula to obtain the horizontal distance between the target riprap point position of the first conduit and the first target landing point position, and the height of the target riprap point of the first conduit;

[0129] Sub-step S22, determining the target riprap point position of the first conduit based on the horizontal distance between the target riprap point position of the first conduit and the first target landing point position and the first target landing point position;

[0130] Sub-step S23, determining a target outlet position of the first conduit based on a target riprap point position of the first conduit.

[0131] Further, in any of the above embodiments, the riprap calculation formula is:

[0132]

[0133] Wherein, l is the horizontal distance between the target riprap point position of the first conduit and the first target landing point position, k is the first coefficient, and F r is the dimensionless number of the ratio of the gravity of the water flow to the inertial force in the water, a is the second coefficient, ρ r is the density, ρ is the density of water in the water, b is the third coefficient, d r is the particle size, h is the target riprap point height, and c is the fourth coefficient.

[0134] In an embodiment of the present invention, based on the particle size of the stone, the flow velocity in the water, the density of the stone, the volume of the stone and the first target landing point of the stone, a preset stone throwing calculation formula is used to obtain the target outlet position of the first conduit and the target stone throwing point height of the first conduit.

[0135] Specifically, a riprap calculation formula can be used to obtain the horizontal distance between the target riprap point position of the first conduit and the first target landing point position, as well as the target riprap point height of the first conduit. Then, based on the horizontal distance between the target riprap point position of the first conduit and the first target landing point position and the first target landing point position, the target riprap point position of the first conduit can be determined. Based on the target riprap point position of the first conduit, the target exit position of the first conduit can be calculated. If the exit position of the first conduit is at the target exit position, the riprap point height of the first conduit is the target riprap point height, and the stone will be thrown to the first target landing point position.

[0136] The formula for calculating the riprap is:

[0137]

[0138] Where l is the horizontal distance between the target riprap point of the first conduit and the first target landing point, k is the first coefficient, and F r is the dimensionless number of the ratio of the gravity and inertia of the water flow in water, a is the second coefficient, ρ r is the density, ρ is the density of water in water, b is the third coefficient, d r is the particle size, h is the height of the target riprap point, and c is the fourth coefficient. It should be noted that k, a, b, and c are all obtained by statistical fitting of test data. In different water flow environments, k, a, b, and c are different.

[0139] In the embodiment of the present invention, based on the volume, particle size and other three-dimensional morphological parameters of the stone, the water flow velocity in the water, the outlet position of the first conduit and the height of the stone throwing point, a stone throwing calculation formula is used to obtain the predicted landing point range of the stone.

[0140] Further, in any of the above embodiments, the gelled slurry is used to spread on the surface of the target riprap accumulation body; step 104 includes:

[0141] Sub-step S31, based on the water flow rate, adjust the outlet position of the second conduit, the height of the pouring point, and at least one of the single pouring amount, pouring speed and flow properties of the cementitious slurry in water, so that the landing point of the cementitious slurry on the surface of the target riprap accumulation body is a preset second target landing point position, and the diffusion radius of the cementitious slurry meets the preset diffusion requirements.

[0142] In an embodiment of the present invention, after the cementitious slurry is poured onto the surface of the target riprap pile through the second conduit, the cementitious slurry can diffuse on the surface of the target riprap pile and penetrate into the interior of the target riprap pile, so that the stones in the target riprap pile are bonded to each other, so that the riprap particles in the pouring area of ​​the target riprap pile are transformed into cemented riprap clusters, and the target riprap pile is transformed into a cemented riprap body. In order to transform the target riprap pile into a target cemented riprap body, the landing point position of the cementitious slurry on the surface of the target riprap pile needs to be a preset second target landing point position, and the diffusion radius of the cementitious slurry on the surface of the target riprap pile needs to meet the preset diffusion requirement. The preset diffusion requirement means that the difference between the diffusion radius of the cementitious slurry and the design value of the diffusion radius is less than the preset threshold, that is, the difference between the diffusion radius of the cementitious slurry and the design value of the diffusion radius is small.

[0143] In an embodiment of the present invention, the outlet position of the second conduit, the height of the pouring point, and at least one of the single pouring amount, pouring speed, and water flow performance of the cementitious slurry can be adjusted based on the water flow rate, so that the landing point of the cementitious slurry on the surface of the target riprap accumulation body is the second target landing point, and the diffusion radius of the cementitious slurry meets the preset diffusion requirements. The landing point of the cementitious slurry is related to the water flow rate, the height of the pouring point, the pouring speed, and the outlet position of the second conduit. The diffusion radius of the cementitious slurry is related to the water flow rate, the single pouring amount, the pouring speed, and water flow performance of the cementitious slurry.

[0144] Further, in any of the above embodiments, sub-step S31 includes:

[0145] Sub-step S41, using a preset diffusion radius calculation formula to obtain a predicted diffusion radius of the gel slurry;

[0146] Sub-step S42, based on the predicted diffusion radius, adjusting the single pouring amount and / or the yield strength in water of the cementitious slurry, so that the diffusion radius of the cementitious slurry meets the preset diffusion requirement.

[0147] Furthermore, in any of the above embodiments, the diffusion radius calculation formula is:

[0148]

[0149] Where R is the predicted diffusion radius, n r is the surface morphology influence coefficient of the target riprap accumulation body, ρ c is the density of the cementitious slurry, g is the acceleration due to gravity, v is the single pouring amount of the cementitious slurry, τ0 is the yield strength of the cementitious slurry in water, m is the fifth coefficient, and d is the sixth coefficient.

[0150] In the embodiment of the present invention, in order to make the difference between the diffusion radius of the cementitious slurry and the design value of the diffusion radius less than a preset threshold, a preset diffusion radius calculation formula can be used to obtain the predicted diffusion radius of the cementitious slurry. Then, based on the predicted diffusion radius, the single pouring amount and / or the yield strength in water of the cementitious slurry are adjusted so that the diffusion radius of the cementitious slurry meets the preset diffusion requirement.

[0151] The calculation formula of diffusion radius is:

[0152]

[0153] Where R is the predicted diffusion radius, n r is the surface morphology influence coefficient of the target riprap accumulation body, ρ c is the density of the cementitious slurry, g is the acceleration of gravity, v is the single pouring amount of the cementitious slurry, τ0 is the yield strength of the cementitious slurry in water, m is the fifth coefficient, and d is the sixth coefficient. It should be noted that m and d are obtained by statistical fitting of the test data. Based on the predicted diffusion radius, the density of the cementitious slurry can also be adjusted so that the diffusion radius of the cementitious slurry meets the preset diffusion requirements.

[0154] In an embodiment of the present invention, in order to make the landing point of the cementitious slurry on the surface of the target riprap pile body the second target landing point, the landing point of the cementitious slurry under the action of water flow can be calculated according to the water flow velocity and the pouring point height, and during the pouring process, the outlet position of the second conduit, the pouring point height and the pouring speed of the cementitious slurry are adjusted in real time according to the change of the water flow velocity, and pouring is carried out at the second target landing point.

[0155] Further, in any of the above embodiments, sub-step S31 includes:

[0156] Sub-step S51, taking at least one position on the surface of the target riprap accumulation body as a position to be measured;

[0157] Sub-step S52, after throwing the stone, obtaining the first elevation of the position to be measured;

[0158] Sub-step S53, after pouring, during the diffusion process of the gel slurry, obtaining a second elevation at the position to be measured;

[0159] Sub-step S54, obtaining the diffusion radius of the gel slurry based on the first elevation and the second elevation of the position to be measured.

[0160] Further, in any of the above embodiments, sub-step S54 includes:

[0161] Sub-step S61, for any of the positions to be measured, determining whether the first elevation and the second elevation of the position to be measured are the same;

[0162] Sub-step S62, if the first elevation and the second elevation of the position to be measured are different, then the position to be measured indicates that the gel slurry exists at the position; if the first elevation and the second elevation of the position to be measured are the same, then the position to be measured indicates that the gel slurry does not exist at the position, and the boundary where the elevation difference is zero is the diffusion area of ​​the gel slurry;

[0163] Sub-step S63, determining the diffusion radius of the gel slurry based on the diffusion area of ​​the gel slurry.

[0164] In an embodiment of the present invention, after the target riprap accumulation body is transformed into a cemented riprap body, it is necessary to determine whether the diffusion radius of the cementitious slurry in the cemented riprap body meets the preset diffusion requirements. First, at least one position on the surface of the target riprap accumulation body is used as the position to be measured. After riprap, the first elevation at the position to be measured is obtained. After pouring, during the diffusion process of the cementitious slurry, the second elevation at the position to be measured is obtained, and based on the first and second elevations of the position to be measured, the diffusion radius of the cementitious slurry is obtained. It should be noted that the elevation is the distance between the position to be measured and the seabed surface.

[0165] In an embodiment of the present invention, the diffusion process of the gelled slurry on the surface of the target riprap accumulation body is obtained by calculating the elevation change of the surface of the target riprap accumulation body in real time. Specifically, based on the first elevation and the second elevation of the position to be measured, the step of obtaining the diffusion radius of the gelled slurry includes: for any position to be measured, judging whether the first elevation and the second elevation of the position to be measured are the same, if the first elevation and the second elevation of the position to be measured are not the same, then the position to be measured indicates that the gelled slurry exists at the position; if the first elevation and the second elevation of the position to be measured are the same, then the position to be measured indicates that the gelled slurry does not exist at the position, and the boundary with zero elevation difference is the diffusion area of ​​the gelled slurry; based on the diffusion area of ​​the gelled slurry, the diffusion radius of the gelled slurry can be determined; that is, the position through which the gelled slurry diffuses in the target riprap accumulation body is known, and the diffusion radius of the gelled slurry can be obtained. Specifically, the distance from the center point with the largest elevation difference between the first elevation and the second elevation to the diffusion edge is measured, and this distance can be regarded as the diffusion radius of the gelled slurry.

[0166] Further, in any of the above embodiments, after sub-step S54, the method includes:

[0167] Sub-step S71, if the diffusion radius does not meet the preset diffusion requirement, adjusting the flowability of the cementitious slurry in water and / or the single pouring amount of the cementitious slurry until the diffusion radius of the cementitious slurry meets the preset diffusion requirement.

[0168] In an embodiment of the present invention, after obtaining the diffusion radius of the cementitious slurry by measuring the distance from the center point with the largest elevation difference to the diffusion edge, if the diffusion radius does not meet the preset diffusion requirements, the water flow properties of the cementitious slurry and / or the single pouring amount of the cementitious slurry are adjusted until the diffusion radius of the cementitious slurry meets the preset diffusion requirements.

[0169] Further, in any of the above embodiments, sub-step S52 includes:

[0170] Sub-step S81, using sonar scanning technology and / or multi-beam scanning technology to obtain the first elevation of the target riprap accumulation body at the position to be measured.

[0171] In the embodiment of the present invention, when obtaining the first elevation or the second elevation of the position to be measured, an acoustic technology may be used, which is a sonar scanning technology and / or a multi-beam scanning technology.

[0172] If the sonar scanning technology is used to obtain the first elevation of the position to be measured, it is necessary to first clarify which specific point on the target riprap pile the position to be measured is. Then, ensure the accuracy of the selected sonar equipment, including the calibration of parameters such as sound velocity, tilt and offset, and design a detailed measurement plan and route according to the specific requirements of the position to be measured. Next, conduct more intensive sonar scanning of the position to be measured to obtain more accurate data. The position to be measured can also be scanned from different angles and directions to reduce blind spots and measurement errors. Remove noise and inaccurate data points from the collected data, and use the collected data to build a three-dimensional model to more accurately identify the position to be measured. Identify the specific point of the position to be measured in the three-dimensional model, which may require manual intervention to mark. Find the specific point of the position to be measured in the three-dimensional model and read its corresponding water depth data. Based on the aforementioned collected data, the first elevation of the position to be measured can be calculated.

[0173] If the multi-beam scanning technology is used to obtain the first elevation at the position to be measured, the accuracy of the selected multi-beam system can be ensured first, including the calibration of parameters such as sound velocity, tilt, and offset, and a detailed measurement plan and route can be designed according to the specific requirements of the position to be measured to ensure that the multi-beam data covers the entire target area. Then, a high-resolution multi-beam scan is performed on the position to be measured to obtain detailed underwater terrain data. Scanning can also be performed from different angles and directions to reduce blind spots and improve data quality. Next, the data collected by the multi-beam system is imported into professional data processing software to remove noise and abnormal data points. Correction is performed based on data such as sound velocity profile, tide level, and hull attitude. Finally, a three-dimensional terrain model is established using the processed data, and the position to be measured is identified in the three-dimensional model, and the water depth data of the position to be measured is read in the three-dimensional model. Based on the aforementioned collected data, the first elevation at the position to be measured can be calculated.

[0174] Further, in any of the above embodiments, step 101 includes:

[0175] Sub-step S91, acquiring images of at least one angle of the plurality of stones;

[0176] Sub-step S92, modeling the stone based on the image to obtain a three-dimensional model of the stone;

[0177] Sub-step S93, based on the three-dimensional model, obtaining the three-dimensional morphological parameters of the stone.

[0178] In the embodiment of the present invention, the stones to be dumped can be 3D modeled by a multi-view image recognition system and 3D reconstruction technology, thereby obtaining the 3D morphological parameters of the stones. The multi-view image recognition system is a system that uses multiple cameras to capture images from different angles and uses image processing and analysis technology to identify and analyze objects. The 3D reconstruction technology is a method of reconstructing the 3D morphology of an object by processing images or data from multiple perspectives.

[0179] In an embodiment of the present invention, a multi-view image recognition system is used to obtain an image of at least one angle of a plurality of stones to be dumped. Then, a three-dimensional reconstruction technique is used to extract key features in the image, such as edges, corners, textures, etc. Based on the image and the extracted key features, the three-dimensional coordinates of the stone in the image are calculated, thereby constructing a three-dimensional model of the stone. From the three-dimensional model, three-dimensional morphological parameters of the stone, such as volume, particle size, etc., can be extracted.

[0180] In the embodiment of the present invention, by performing multi-view image recognition and three-dimensional reconstruction on multiple stones, the particle size, gradation, volume and other parameters of the multiple stones are obtained, and the stone throwing calculation formula is used to quickly determine the landing point range and accumulation form of the multiple stones under the action of water flow, so as to improve the stone throwing accuracy by adjusting the outlet position of the first conduit and the height of the stone throwing point, and realize the formation of a uniform and flat target stone throwing accumulation body.

[0181] Further, in any of the above embodiments, step 103 includes:

[0182] Sub-step S101, obtaining flow performance parameters of the gel slurry in air;

[0183] Sub-step S102, based on the flow performance parameters, obtaining the flow performance parameters of the gel slurry in water.

[0184] In the embodiment of the present invention, the flow performance parameters of the gel slurry can be measured in air. Then, based on the flow performance parameters, an experiment can be conducted to obtain the parameters of the water flow performance of the gel slurry in water. The water flow performance includes the yield strength of the gel slurry in water.

[0185] Reference Figure 2 , showing a schematic diagram of the construction of an anti-scour structure provided by an embodiment of the present invention. The anti-scour structure is constructed around a structure 8. The steps of constructing the anti-scour structure are: first, an image of at least one angle of the riprap material 1 to be dumped is obtained by a multi-angle camera 3. Then, the data analyzer 4 uses a three-dimensional reconstruction technology to perform three-dimensional modeling on the riprap material 1 to be dumped, and then obtains the three-dimensional morphological parameters of the riprap material 1. Then, the riprap material 1 can be thrown into the water through the riprap conduit 6. Based on the three-dimensional morphological parameters of the riprap material 1 and the water flow velocity in the water, the outlet position of the riprap conduit 6 and / or the height of the riprap point of the riprap conduit 6 can be adjusted so that the riprap material 1 forms a target riprap accumulation body on the mud surface 9 at the bottom of the water.

[0186] After the target riprap accumulation body is formed on the bottom of the water, the cementitious slurry 2 can be poured onto the surface of the target riprap accumulation body through the pouring conduit 7. Based on the water flow rate, the outlet position of the pouring conduit 7, the height of the pouring point, and at least one of the single pouring amount, pouring speed, and water flow performance of the cementitious slurry 2 can be adjusted, so that the cementitious slurry is poured onto the surface of the target riprap accumulation body through the pouring conduit 7, so that the riprap particles in the pouring area of ​​the target riprap accumulation body are transformed into target cementitious riprap clusters, and the target riprap accumulation body is transformed into a target cementitious riprap body.

[0187] Next, at least one position on the surface of the target riprap pile is used as the position to be measured. The acoustic detector 5 is used to obtain the first elevation of the target riprap pile at the position to be measured, and the second elevation at the position to be measured is obtained during the diffusion process of the cementitious slurry. For any position to be measured, it is determined whether the first elevation and the second elevation of the position to be measured are the same. If the first elevation and the second elevation of the position to be measured are not the same, the position to be measured is used as the diffusion position of the cementitious slurry 2; based on the diffusion position of the cementitious slurry 2, the diffusion radius of the cementitious slurry 2 is determined. If the diffusion radius does not meet the preset diffusion requirements, the water flow properties of the cementitious slurry 2 and / or the single pouring amount of the cementitious slurry 2 can be adjusted until the diffusion radius of the cementitious slurry 2 meets the preset diffusion requirements.

[0188] It should be noted that, for the sake of simplicity, the method embodiments are described as a series of action combinations, but those skilled in the art should be aware that the embodiments of the present invention are not limited by the order of the actions described, because according to the embodiments of the present invention, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions involved are not necessarily required by the embodiments of the present invention.

[0189] Reference Figure 3 , shows a structural block diagram of an underwater precision riprap and self-flowing cemented riprap construction device provided in an embodiment of the present invention, which may specifically include the following modules:

[0190] The parameter acquisition module 301 is used to acquire the three-dimensional shape parameters of a plurality of preset stones;

[0191] The first adjustment module 302 is used to adjust the preset outlet position of the first conduit and / or the height of the riprap point of the first conduit based on the three-dimensional morphological parameters and the water flow velocity in the water, so that the multiple stones are thrown into the water through the first conduit to form a target riprap accumulation body on the bottom of the water;

[0192] The performance acquisition module 303 is used to obtain the water flow properties of the preset gel slurry;

[0193] The second adjustment module 304 is used to adjust the outlet position of the preset second conduit, the height of the pouring point, and at least one of the single pouring amount, pouring speed and water flow performance of the cementitious slurry based on the water flow rate, so that the cementitious slurry is poured onto the surface of the target riprap accumulation body through the second conduit, so that the riprap particles in the pouring area of ​​the target riprap accumulation body are transformed into target cementitious riprap clusters.

[0194] In an optional embodiment of the present invention, the three-dimensional morphological parameters at least include the particle size of the stone; and the first adjustment module includes:

[0195] A position acquisition submodule, for acquiring, for any stone, a first target landing point position of the stone in the water based on the target riprap pile;

[0196] A density acquisition submodule, used to acquire the density of the stone;

[0197] The height acquisition submodule is used to obtain the target outlet position of the first conduit and the target riprap point height of the first conduit based on the particle size, the water flow velocity, the density and the first target landing point position using a preset riprap calculation formula.

[0198] In an optional embodiment of the present invention, the height acquisition submodule includes:

[0199] A height acquisition unit, configured to acquire the horizontal distance between the target riprap point position of the first conduit and the first target landing point position, and the height of the target riprap point of the first conduit by using the riprap calculation formula;

[0200] A position determination unit, configured to determine a target riprap point position of the first conduit based on a horizontal distance between the target riprap point position of the first conduit and the first target landing point position and the first target landing point position;

[0201] The outlet position determining unit is used to determine the target outlet position of the first conduit based on the target riprap point position of the first conduit.

[0202] In an optional embodiment of the present invention, the riprap calculation formula is:

[0203]

[0204] Wherein, l is the horizontal distance between the target riprap point position of the first conduit and the first target landing point position, k is the first coefficient, and F r is the dimensionless number of the ratio of the gravity of the water flow to the inertial force in the water, a is the second coefficient, ρ r is the density, ρ is the density of water in the water, b is the third coefficient, d r is the particle size, h is the target riprap point height, and c is the fourth coefficient.

[0205] In an optional embodiment of the present invention, the gelled slurry is used to spread on the surface of the target riprap pile; the second adjustment module includes:

[0206] The adjustment submodule is used to adjust the outlet position of the second conduit, the height of the pouring point, and at least one of the single pouring amount, pouring speed and flow performance of the cementitious slurry in water based on the water flow rate, so that the landing point of the cementitious slurry on the surface of the target riprap accumulation body is a preset second target landing point position, and the diffusion radius of the cementitious slurry meets the preset diffusion requirement.

[0207] In an optional embodiment of the present invention, the adjustment submodule includes:

[0208] A radius acquisition unit, used to acquire the predicted diffusion radius of the gel slurry using a preset diffusion radius calculation formula;

[0209] The first adjustment unit is used to adjust the single pouring amount and / or the yield strength in water of the cementitious slurry based on the predicted diffusion radius, so that the diffusion radius of the cementitious slurry meets the preset diffusion requirement.

[0210] In an optional embodiment of the present invention, the diffusion radius calculation formula is:

[0211]

[0212] Where R is the predicted diffusion radius, n r is the surface morphology influence coefficient of the target riprap accumulation body, ρ c is the density of the cementitious slurry, g is the acceleration due to gravity, v is the single pouring amount of the cementitious slurry, τ0 is the yield strength of the cementitious slurry in water, m is the fifth coefficient, and d is the sixth coefficient.

[0213] In an optional embodiment of the present invention, the adjustment submodule includes:

[0214] as a unit, for taking at least one position on the surface of the target riprap accumulation body as a position to be measured;

[0215] A first elevation acquisition unit, used for acquiring the first elevation of the position to be measured after the stone is thrown;

[0216] A second elevation acquisition unit is used to acquire the second elevation of the position to be measured during the diffusion process of the gel slurry after pouring;

[0217] A diffusion radius acquisition unit is used to acquire the diffusion radius of the gel slurry based on the first elevation and the second elevation of the position to be measured.

[0218] In an optional embodiment of the present invention, the diffusion radius acquisition unit includes:

[0219] A judging subunit, used for judging, for any of the positions to be measured, whether the first elevation and the second elevation of the position to be measured are the same;

[0220] The diffusion position is used as a subunit, and if the first elevation and the second elevation of the position to be measured are different, the position to be measured indicates that the gel slurry exists at the position; if the first elevation and the second elevation of the position to be measured are the same, the position to be measured indicates that the gel slurry does not exist at the position, and the boundary where the elevation difference is zero is the diffusion area of ​​the gel slurry;

[0221] The diffusion radius determination subunit is used to determine the diffusion radius of the gel slurry based on the diffusion area of ​​the gel slurry.

[0222] In an optional embodiment of the present invention, the adjustment submodule includes:

[0223] The second adjustment unit is used to adjust the in-water flowability of the cementitious slurry and / or the single pouring amount of the cementitious slurry if the diffusion radius does not meet the preset diffusion requirement, until the diffusion radius of the cementitious slurry meets the preset diffusion requirement.

[0224] In an optional embodiment of the present invention, the first elevation acquisition unit includes:

[0225] The first elevation acquisition subunit is used to acquire the first elevation of the target riprap accumulation body at the position to be measured by using sonar scanning technology and / or multi-beam scanning technology.

[0226] In an optional embodiment of the present invention, the parameter acquisition module includes:

[0227] An image acquisition submodule, used to acquire images of at least one angle of the plurality of stones;

[0228] A modeling submodule, used for modeling the stone based on the image to obtain a three-dimensional model of the stone;

[0229] The parameter acquisition submodule is used to acquire the three-dimensional morphological parameters of the stone based on the three-dimensional model.

[0230] In an optional embodiment of the present invention, the performance acquisition module includes:

[0231] A first performance acquisition submodule is used to acquire flow performance parameters of the gel slurry in air;

[0232] The second performance acquisition submodule is used to acquire the in-water flow performance parameters of the gel slurry based on the flow performance parameters.

[0233] As for the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0234] In addition, an embodiment of the present invention further provides an electronic device, such as Figure 4 As shown, it includes a processor 401, a communication interface 402, a memory 403 and a communication bus 404, wherein the processor 401, the communication interface 402, and the memory 403 communicate with each other through the communication bus 404.

[0235] Memory 403, used for storing computer programs;

[0236] The processor 401 is used to execute the program stored in the memory 403 to implement the following steps:

[0237] Obtaining three-dimensional shape parameters of a plurality of preset stones;

[0238] Based on the three-dimensional morphological parameters and the water flow velocity in the water, adjusting the preset outlet position of the first conduit and / or the height of the riprap point of the first conduit, so that the plurality of stones are thrown into the water through the first conduit to form a target riprap accumulation body on the bottom of the water;

[0239] Obtaining the water flow properties of a preset gel slurry;

[0240] Based on the water flow rate, the outlet position of the preset second conduit, the height of the pouring point, and at least one of the single pouring amount, pouring speed and water flow properties of the cementitious slurry are adjusted so that the cementitious slurry is poured onto the surface of the target riprap accumulation body through the second conduit, so that the riprap particles in the pouring area of ​​the target riprap accumulation body are transformed into target cementitious riprap clusters.

[0241] In an optional embodiment of the present invention, the three-dimensional morphological parameters include at least the particle size of the stones; the step of adjusting the outlet position of the first conduit and / or the height of the riprap point of the first conduit based on the three-dimensional morphological parameters and the water flow velocity in the water so that the multiple stones form a target riprap accumulation body at the bottom of the water comprises:

[0242] For any stone, based on the target riprap accumulation body, obtaining a first target landing point position of the stone in the water;

[0243] Obtaining the density of the stone;

[0244] Based on the particle size, the water flow velocity, the density and the first target landing point position, a preset riprap calculation formula is used to obtain the target outlet position of the first conduit and the target riprap point height of the first conduit.

[0245] In an optional embodiment of the present invention, the step of obtaining the target outlet position of the first conduit and the target riprap point height of the first conduit by using a preset riprap calculation formula based on the particle size, the water flow velocity, the density and the first target landing point comprises:

[0246] Using the riprap calculation formula, the horizontal distance between the target riprap point position of the first conduit and the first target landing point position, and the height of the target riprap point of the first conduit are obtained;

[0247] Determining the target riprap point position of the first conduit based on the horizontal distance between the target riprap point position of the first conduit and the first target landing point position and the first target landing point position;

[0248] A target exit position of the first conduit is determined based on the target riprap point position of the first conduit.

[0249] In an optional embodiment of the present invention, the riprap calculation formula is:

[0250]

[0251] Wherein, l is the horizontal distance between the target riprap point position of the first conduit and the first target landing point position, k is the first coefficient, and F r is the dimensionless number of the ratio of the gravity of the water flow to the inertial force in the water, a is the second coefficient, ρ r is the density, ρ is the density of water in the water, b is the third coefficient, d r is the particle size, h is the target riprap point height, and c is the fourth coefficient.

[0252] In an optional embodiment of the present invention, the cementitious slurry is used to spread on the surface of the target riprap accumulation body; the step of adjusting the outlet position of the preset second conduit, the height of the pouring point, and at least one of the single pouring amount, pouring speed and water flow performance of the cementitious slurry based on the water flow rate, so that the cementitious slurry is poured onto the surface of the target riprap accumulation body through the second conduit, so that the riprap particles in the pouring area of ​​the target riprap accumulation body are transformed into target cementitious riprap clusters includes:

[0253] Based on the water flow rate, the outlet position of the second conduit, the height of the pouring point, and at least one of the single pouring amount, pouring speed and flow properties of the cementitious slurry in water are adjusted so that the landing point of the cementitious slurry on the surface of the target riprap accumulation body is a preset second target landing point position, and the diffusion radius of the cementitious slurry meets the preset diffusion requirements.

[0254] In an optional embodiment of the present invention, the step of adjusting the outlet position of the second conduit, the height of the pouring point, and at least one of the single pouring amount, pouring speed, and water flow performance of the gelled slurry based on the water flow velocity, so that the landing point of the gelled slurry on the surface of the target riprap accumulation body is a preset second target landing point position, and the diffusion radius of the gelled slurry meets the preset diffusion requirement includes:

[0255] Using a preset diffusion radius calculation formula, the predicted diffusion radius of the gel slurry is obtained;

[0256] Based on the predicted diffusion radius, the single pouring amount of the cementitious slurry and / or the yield strength in water are adjusted so that the diffusion radius of the cementitious slurry meets the preset diffusion requirement.

[0257] In an optional embodiment of the present invention, the diffusion radius calculation formula is:

[0258]

[0259] Where R is the predicted diffusion radius, n r is the surface morphology influence coefficient of the target riprap accumulation body, ρ c is the density of the cementitious slurry, g is the acceleration due to gravity, v is the single pouring amount of the cementitious slurry, τ0 is the yield strength of the cementitious slurry in water, m is the fifth coefficient, and d is the sixth coefficient.

[0260] In an optional embodiment of the present invention, the step of adjusting the outlet position of the second conduit, the height of the pouring point, and at least one of the single pouring amount, pouring speed, and water flow performance of the gelled slurry based on the water flow velocity, so that the landing point of the gelled slurry on the surface of the target riprap accumulation body is a preset second target landing point position, and the diffusion radius of the gelled slurry meets the preset diffusion requirement includes:

[0261] Taking at least one position on the surface of the target riprap accumulation body as a position to be measured;

[0262] After throwing the stone, obtaining the first elevation of the position to be measured;

[0263] After pouring, during the diffusion process of the gel slurry, obtaining a second elevation at the position to be measured;

[0264] Based on the first elevation and the second elevation of the position to be measured, a diffusion radius of the gel slurry is obtained.

[0265] In an optional embodiment of the present invention, the step of obtaining the diffusion radius of the gel slurry based on the first elevation and the second elevation of the position to be measured includes:

[0266] For any of the positions to be measured, determining whether the first elevation and the second elevation of the position to be measured are the same;

[0267] If the first elevation and the second elevation of the position to be measured are different, the position to be measured indicates that the gel slurry exists at the position; if the first elevation and the second elevation of the position to be measured are the same, the position to be measured indicates that the gel slurry does not exist at the position, and the boundary where the elevation difference is zero is the diffusion area of ​​the gel slurry;

[0268] Based on the diffusion area of ​​the gel slurry, a diffusion radius of the gel slurry is determined.

[0269] In an optional embodiment of the present invention, after the step of obtaining the diffusion radius of the gel slurry based on the first elevation and the second elevation of the position to be measured, the method includes:

[0270] If the diffusion radius does not meet the preset diffusion requirement, the flowability of the cementitious slurry in water and / or the single pouring amount of the cementitious slurry are adjusted until the diffusion radius of the cementitious slurry meets the preset diffusion requirement.

[0271] In an optional embodiment of the present invention, the step of obtaining the first elevation of the target riprap accumulation body at the position to be measured includes:

[0272] The first elevation of the target riprap accumulation body at the position to be measured is obtained by using sonar scanning technology and / or multi-beam scanning technology.

[0273] In an optional embodiment of the present invention, the step of obtaining the three-dimensional morphological parameters of the preset plurality of stones comprises:

[0274] Acquire images of at least one angle of the plurality of stones;

[0275] Modeling the stone based on the image to obtain a three-dimensional model of the stone;

[0276] Based on the three-dimensional model, the three-dimensional morphological parameters of the stone are obtained.

[0277] In an optional embodiment of the present invention, the step of obtaining the water flow properties of the preset gel slurry comprises:

[0278] Obtaining flow performance parameters of the gel slurry in air;

[0279] Based on the flowability parameters, the flowability parameters in water of the gel slurry are obtained.

[0280] The communication bus mentioned in the above terminal can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. The communication bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, only one thick line is used in the figure, but it does not mean that there is only one bus or one type of bus.

[0281] The communication interface is used for communication between the above terminal and other devices.

[0282] The memory may include a random access memory (RAM) or a non-volatile memory, such as at least one disk memory. Optionally, the memory may also be at least one storage device located away from the aforementioned processor.

[0283] The above-mentioned processor can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0284] like Figure 5 As shown, in another embodiment provided by the present invention, a computer-readable storage medium 501 is also provided, in which instructions are stored. When the computer-readable storage medium 501 is run on a computer, the computer executes the underwater precision riprap and self-flowing cemented riprap construction method described in the above embodiment.

[0285] In another embodiment provided by the present invention, a computer program product including instructions is also provided. When the computer is run on the computer, the computer is enabled to execute the underwater precision riprap and self-flowing cemented riprap construction method described in the above embodiment.

[0286] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented by software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function described in the embodiment of the present invention is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions can be transmitted from a website site, computer, server or data center to another website site, computer, server or data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that includes one or more available media integrated. The available medium can be a magnetic medium (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a semiconductor medium (e.g., a solid-state hard disk Solid State Disk (SSD)), etc.

[0287] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0288] Each embodiment in this specification is described in a related manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the system embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0289] The above description is only a preferred embodiment of the present invention and is not intended to limit the protection scope of the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.

Claims

1. A method for constructing a cemented riprap body by underwater precision riprap and self-flowing casting, characterized in that: include: Obtaining three-dimensional shape parameters of a plurality of preset stones; Based on the three-dimensional morphological parameters and the water flow velocity in the water, adjusting the preset outlet position of the first conduit and / or the height of the riprap point of the first conduit, so that the plurality of stones are thrown into the water through the first conduit to form a target riprap accumulation body on the bottom of the water; Obtaining the water flow properties of a preset gel slurry; Based on the water flow rate, the outlet position of the preset second conduit, the height of the pouring point, and at least one of the single pouring amount, pouring speed and water flow properties of the cementitious slurry are adjusted so that the cementitious slurry is poured onto the surface of the target riprap accumulation body through the second conduit, so that the riprap particles in the pouring area of ​​the target riprap accumulation body are transformed into target cementitious riprap clusters.

2. The method according to claim 1, characterized in that The three-dimensional morphological parameters at least include the particle size of the stones; the step of adjusting the outlet position of the first conduit and / or the height of the riprap point of the first conduit based on the three-dimensional morphological parameters and the water flow velocity in the water so that the multiple stones form a target riprap accumulation body at the bottom of the water comprises: For any stone, based on the target riprap accumulation body, obtaining a first target landing point position of the stone in the water; Obtaining the density of the stone; Based on the particle size, the water flow velocity, the density and the first target landing point position, a preset riprap calculation formula is used to obtain the target outlet position of the first conduit and the target riprap point height of the first conduit.

3. The method according to claim 2, characterized in that The step of obtaining the target outlet position of the first conduit and the target riprap point height of the first conduit by using a preset riprap calculation formula based on the particle size, the water flow velocity, the density and the first target landing point position comprises: Using the riprap calculation formula, the horizontal distance between the target riprap point position of the first conduit and the first target landing point position, and the height of the target riprap point of the first conduit are obtained; Determining the target riprap point position of the first conduit based on the horizontal distance between the target riprap point position of the first conduit and the first target landing point position and the first target landing point position; A target exit position of the first conduit is determined based on the target riprap point position of the first conduit.

4. The method according to claim 3, characterized in that The riprap calculation formula is: Wherein, l is the horizontal distance between the target riprap point position of the first conduit and the first target landing point position, k is the first coefficient, and F r is the dimensionless number of the ratio of the gravity of the water flow to the inertial force in the water, a is the second coefficient, ρ r is the density, ρ is the density of water in the water, b is the third coefficient, d r is the particle size, h is the target riprap point height, and c is the fourth coefficient.

5. The method according to claim 1, characterized in that The cementitious slurry is used to spread on the surface of the target riprap accumulation body; the step of adjusting the outlet position of the preset second conduit, the height of the pouring point, and at least one of the single pouring amount, pouring speed and water flow performance of the cementitious slurry based on the water flow rate, so that the cementitious slurry is poured onto the surface of the target riprap accumulation body through the second conduit, so that the riprap particles in the pouring area of ​​the target riprap accumulation body are transformed into target cementitious riprap clusters includes: Based on the water flow rate, the outlet position of the second conduit, the height of the pouring point, and at least one of the single pouring amount, pouring speed and flow properties of the cementitious slurry in water are adjusted so that the landing point of the cementitious slurry on the surface of the target riprap accumulation body is a preset second target landing point position, and the diffusion radius of the cementitious slurry meets the preset diffusion requirements.

6. The method according to claim 5, characterized in that The step of adjusting the outlet position of the second conduit, the height of the pouring point, and at least one of the single pouring amount, pouring speed, and water flow performance of the gelled slurry based on the water flow velocity, so that the landing point of the gelled slurry on the surface of the target riprap accumulation body is a preset second target landing point position, and the diffusion radius of the gelled slurry meets the preset diffusion requirement comprises: Using a preset diffusion radius calculation formula, the predicted diffusion radius of the gel slurry is obtained; Based on the predicted diffusion radius, the single pouring amount of the cementitious slurry and / or the yield strength in water are adjusted so that the diffusion radius of the cementitious slurry meets the preset diffusion requirement.

7. The method according to claim 6, characterized in that The diffusion radius calculation formula is: Where R is the predicted diffusion radius, n r is the surface morphology influence coefficient of the target riprap accumulation body, ρ c is the density of the cementitious slurry, g is the acceleration due to gravity, v is the single pouring amount of the cementitious slurry, τ0 is the yield strength of the cementitious slurry in water, m is the fifth coefficient, and d is the sixth coefficient.

8. The method according to claim 5, characterized in that The step of adjusting the outlet position of the second conduit, the height of the pouring point, and at least one of the single pouring amount, pouring speed, and water flow performance of the gelled slurry based on the water flow velocity, so that the landing point of the gelled slurry on the surface of the target riprap accumulation body is a preset second target landing point position, and the diffusion radius of the gelled slurry meets the preset diffusion requirement comprises: Taking at least one position on the surface of the target riprap accumulation body as a position to be measured; After throwing the stone, obtaining the first elevation of the position to be measured; After pouring, during the diffusion process of the gel slurry, obtaining a second elevation at the position to be measured; Based on the first elevation and the second elevation of the position to be measured, a diffusion radius of the gel slurry is obtained.

9. The method according to claim 8, characterized in that The step of obtaining the diffusion radius of the gel slurry based on the first elevation and the second elevation of the position to be measured comprises: For any of the positions to be measured, determining whether the first elevation and the second elevation of the position to be measured are the same; If the first elevation and the second elevation of the position to be measured are different, the position to be measured indicates that the gel slurry exists at the position; if the first elevation and the second elevation of the position to be measured are the same, the position to be measured indicates that the gel slurry does not exist at the position, and the boundary where the elevation difference is zero is the diffusion area of ​​the gel slurry; Based on the diffusion area of ​​the gel slurry, a diffusion radius of the gel slurry is determined.

10. The method according to claim 8, characterized in that After the step of obtaining the diffusion radius of the gel slurry based on the first elevation and the second elevation of the position to be measured, the method includes: If the diffusion radius does not meet the preset diffusion requirement, the flowability of the cementitious slurry in water and / or the single pouring amount of the cementitious slurry are adjusted until the diffusion radius of the cementitious slurry meets the preset diffusion requirement.

11. The method according to claim 8, characterized in that The step of obtaining the first elevation of the target riprap accumulation body at the position to be measured comprises: The first elevation of the target riprap accumulation body at the position to be measured is obtained by using sonar scanning technology and / or multi-beam scanning technology.

12. The method according to claim 1, characterized in that The step of obtaining the three-dimensional morphological parameters of the preset plurality of stones comprises: Acquire images of at least one angle of the plurality of stones; Modeling the stone based on the image to obtain a three-dimensional model of the stone; Based on the three-dimensional model, the three-dimensional morphological parameters of the stone are obtained.

13. The method according to claim 1, characterized in that The step of obtaining the water flowability of the preset gel slurry comprises: Obtaining flow performance parameters of the gel slurry in air; Based on the flowability parameters, the flowability parameters in water of the gel slurry are obtained.

14. A construction device for underwater precise riprap and self-flowing cemented riprap, characterized in that: include: A parameter acquisition module, used to acquire three-dimensional morphological parameters of a plurality of preset stones; A first adjustment module is used to adjust a preset outlet position of a first conduit and / or a height of a riprap point of the first conduit based on the three-dimensional morphological parameters and the water flow velocity in the water, so that the plurality of stones are thrown into the water through the first conduit to form a target riprap accumulation body at the bottom of the water; A performance acquisition module, used for acquiring the water flow properties of a preset gel slurry; The second adjustment module is used to adjust the outlet position of the preset second conduit, the height of the pouring point, and at least one of the single pouring amount, pouring speed and water flow performance of the cementitious slurry based on the water flow rate, so that the cementitious slurry is poured onto the surface of the target riprap accumulation body through the second conduit, so that the riprap particles in the pouring area of ​​the target riprap accumulation body are transformed into target cementitious riprap clusters.

15. An electronic device, characterized in that: It includes a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory communicate with each other through the communication bus; The memory is used to store computer programs; The processor is used to implement the method according to any one of claims 1 to 13 when executing the program stored in the memory.

16. One or more computer-readable media having instructions stored thereon, which when executed by one or more processors cause the processors to perform the method of any one of claims 1-13.

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