Slope foundation trench tamping and leveling equipment for slipway of slipway and leveling method of slope foundation trench tamping and leveling equipment

Abstract

The invention discloses a slipway launching slideway slope foundation trench tamping and leveling device and a leveling method thereof.The tamping and leveling device comprises a bearing ship body, a tamping machine, a positioning system and a monitoring sensor group, in the construction process, a slideway construction area is divided into grids, the tamping and leveling device is moved in sequence to conduct tamping and leveling operation, and the bearing ship body and the tamping machine are connected in sequence; the position and angle of the tamping plate are accurately mastered according to coordinate information obtained by the positioning system in real time, the tamping and leveling quality is guaranteed, compared with a traditional measurement construction method, manual operation is improved to mechanization and intellectualization, detection data of the positioning system and the monitoring sensor set can be obtained in real time through an operation display terminal of a control room, and the construction efficiency is improved. Tedious work such as construction measurement paying-off and measurement pile installation is reduced, the most intuitive reference can be directly provided for a driver in the tamping and leveling stages, construction assistance of engineering personnel is not needed, meanwhile, the manual quality detection procedure after tamping and leveling is replaced, and personnel consumption is greatly reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of slipway construction, and more specifically, to a device for compacting and leveling a slope foundation groove of a slipway. Background Art

[0002] The ship launching and launching facilities of a shipyard refer to the buildings used to launch a built ship or to take a ship that needs repair out of the water for repair. They are the main production components of a shipyard. At present, the ship launching and launching facilities at home and abroad can be roughly classified into three types according to their working principles: slideway, dock and ship lift, among which slideway is mainly divided into longitudinal slideway and transverse slideway.

[0003] The project is located in the Mawei Shipyard, southwest of Culu Island, Lianjiang County, Fuzhou City, Fujian Province. The shoreline of the project is located in the Wuzhu Waterway. The main construction contents include: a 30,000-ton ro-ro berth, a 5,000-ton horizontal launch ramp, dredging of the harbor and supporting revetment construction, etc.

[0004] The construction of the slipway's transverse launching slide is the key and difficult part of this project. The overall slope ratio of the transverse slide is 1:7. The structure is a natural foundation of strongly weathered rock. A 0.5m thick 10~100kg stone cushion layer is set, and then the prefabricated cross beam is installed and the track is installed on the beam. The maximum construction water depth is 16m. Therefore, the accuracy of the underwater slope foundation pit compaction and leveling and the slope control are the key and difficult parts of this project. Summary of the invention

[0005] An object of the present invention is to solve at least the above problems and to provide at least the advantages which will be described hereinafter.

[0006] Another object of the present invention is to provide a device for compacting and leveling the slope foundation trench of a slipway under water and a method thereof, so as to solve the technical problem that it is difficult to control the leveling quality of the compaction and leveling construction of the underwater slope foundation trench in the prior art.

[0007] In order to achieve these purposes and other advantages according to the present invention, on the one hand, the present invention provides a device for compacting and leveling the slope foundation groove of a slipway under the slipway, comprising: load-bearing hull; A compactor is arranged on a carrying hull, and comprises a slewing base, a driving cab and an operating arm arranged on the slewing base. The operating arm is hinged outward in sequence with a large arm, a small arm and a leveling bucket, and is respectively provided with a power mechanism for driving the large arm, the small arm and the leveling bucket to rotate around a hinge axis. An operation display terminal is arranged in the driving cab, and the operation display terminal is communicatively connected with each power mechanism to control the movement of the power mechanism. The plane where the leveling area is located is divided into grids in the longitudinal and transverse directions. The bottom of the leveling bucket has a tamping plate, which is used to tamp the base bed in each grid area in sequence. The positioning system includes a GPS receiver and a dual-axis inclinometer respectively connected to the operation display terminal for communication. The first GPS receiver is arranged on the slewing base and transmits the information to the operation display terminal for display, so as to locate the position of the compactor. The second GPS receiver is arranged on the boom, so as to identify the spatial posture of the boom and transmit the information to the operation display terminal for display. The dual-axis inclinometers are respectively installed on the slewing base, the boom, the forearm and the leveling bucket, so as to obtain the inclination state of the corresponding structure and transmit the information to the operation display terminal for display.

[0008] Preferably, it also includes a monitoring sensor group that is communicatively connected to the operation display terminal, the monitoring sensor group includes a flow rate meter, a water level meter and a laser ranging group, the flow rate meter is installed on the carrying hull, and is used to measure the direction and velocity of the water flow, the water level meter is set in the construction water area, and is used to measure the water level change in the water area where the carrying hull is located, the laser ranging group includes a plurality of laser ranging sensors, which are divided into a fixed-point group and a dynamic group, the laser ranging sensors of the fixed-point group are arranged in proportion to the vertex positions of the divided grids, and the ranging grids are set in proportion according to the divided grids, the laser ranging sensors of the fixed-point group are used to respectively measure the distances at the corresponding vertex angles of the ranging grids, and the laser ranging sensors of the dynamic group are set between the areas enclosed by the fixed-point group, and are used to scan the lines in the ranging grids horizontally or vertically.

[0009] Preferably, the forearm and the leveling bucket are detachably connected, and the hinge point between the forearm and the leveling bucket is also used for detachably connecting the bucket.

[0010] On the other hand, the present invention also provides a method for compacting and leveling a slope foundation trench of a slipway launching water slide, comprising the following steps: S1. After the foundation pit is inspected and accepted, stone throwing shall be carried out immediately; S2. Determine the slope of the slideway foundation trench, divide the grid area in the longitudinal and transverse directions according to the range of the foundation trench slope that needs to be compacted and leveled, and overlap the adjacent grid areas by 30 cm in the longitudinal and transverse directions, and install a compactor on the load-bearing hull; S3. Establish a three-dimensional coordinate system, with the horizontal direction parallel to the extension direction of the slideway as the longitudinal direction and the x-axis direction, the horizontal direction perpendicular to the extension direction of the slideway as the lateral direction and the y-axis direction, and the vertical direction as the z-axis direction. Each time the ship is stationed, the spatial position coordinates D (x, y, z) of the compactor are measured by the first GPS receiver, and the rotation angle θ of the operating arm in the horizontal plane is measured by the second GPS receiver. The distance between the rotation center of the operating arm on the rotating base and the second GPS receiver is L, and the height difference between the second GPS receiver and the rotation center is h. The length of the upper arm is L1, the length of the lower arm is L2, the inclination angle of the upper arm relative to the horizontal plane measured by the corresponding biaxial inclinometer is θ1, the inclination angle of the lower arm relative to the horizontal plane measured by the corresponding biaxial inclinometer is θ2, the inclination angle of the leveling bucket relative to the horizontal plane measured by the corresponding biaxial inclinometer is θ3, the line between the hinge point of the lower arm and the leveling bucket and the center point of the tamping plate is L3, and the inclination angle of the line relative to the mid-vertical line of the tamping plate measured by the corresponding biaxial inclinometer is θ4, and θ1, θ2, θ3, and θ4 are acute angles respectively; S4, using the parameter monitoring data of step S3 to calculate the center point coordinates (x2, y2, z2) of the compactor and display them on the operation display terminal, wherein: x2=x+(L+L1cosθ1+L2cosθ2+L3sin(θ3+θ4))cosθ y2=y+(L+L1cosθ1+L2cosθ2+L3sin(θ3+θ4))sinθ z2=z-(L1sinθ1+L2sinθ2+L3cos(θ3+θ4))-h A continuous moving line is set from the top corner, and the ship is stationed in each grid area in turn, and a compactor is used to compact and level the corresponding grid area. According to the coordinates of the center point of the compactor (x2, y2, z2), the position and angle of the compactor and the compactor plate are controlled or adjusted in real time through the power mechanism; S5, checking the compaction and leveling quality of the current grid area, if the flatness difference exceeds the set range, adjusting the position angle of the tamping plate, and correcting the compaction and leveling; S6. Randomly sample points to verify the quality accuracy of compaction and leveling in the construction area. Complete the compaction and leveling construction after passing the test.

[0011] Preferably, in step S4, the leveling compensation data is calculated using the monitoring data of the monitoring sensor group, the relationship between the periodic water flow velocity and time is measured by a flow rate meter to obtain the periodic change value of the plane displacement, the relationship between the periodic water level fluctuation and time is measured by the water level meter to obtain the periodic change value of the vertical displacement, the periodic intersection is selected, and the reciprocating adjustment plan for the spatial position of the rammer is determined within a unit period to compensate for the influence of the water flow on the position of the rammer plate.

[0012] Preferably, in step S5, the monitoring data of the monitoring sensor group is used to detect the flatness state in the selected ranging area, a plurality of dynamic groups are arranged at intervals along the horizontal or vertical direction, wherein at least one dynamic group of laser ranging sensors is arranged between a pair of adjacent fixed-point groups, a ranging fluctuation threshold is set on the operation display terminal, firstly, the laser ranging data of the fixed-point group is used as the reference data of the point at the vertex, and then the ranging grid is reciprocatedly scanned along the horizontal and / or vertical direction by the dynamic group to obtain the distance value in the scanning direction, a curve is drawn to obtain a line graph, which is intuitively displayed on the operation display terminal, the position exceeding the ranging fluctuation threshold is located, and the tamping plate of the tamping machine is guided to move to the located position for correction and leveling.

[0013] Preferably, half tamping is adopted in the longitudinal and transverse directions, with one vibration at each point and each layer compacted at least twice.

[0014] Preferably, in step S6, sampling is performed uniformly on the axis of the slideway, at least five sampling points are selected, and a level ruler is set at the sampling points. The positioning system is first used to place the tamping plate of the compactor in a free state at the sampling point, and the corresponding position information of the bottom of the tamping plate is calculated on the operation display terminal according to the data of the positioning system, and the height and inclination of the slope at the bottom of the tamping plate are converted. At the same time, the surveyor uses a level instrument to observe the level ruler for re-measurement, and records the data of each sampling point respectively, and compares them with the theoretical design value.

[0015] The present invention has at least the following beneficial effects: (1) The tamping and leveling equipment and the leveling method of the ramp foundation trench of the slipway under the slipway of the present invention include a carrying hull, a tamping machine, and a positioning system. The slideway construction area is divided into grids, and the tamping and leveling equipment is moved in sequence to perform tamping and leveling construction. The position and angle of the tamping plate are accurately grasped according to the coordinate information obtained in real time by the positioning system to ensure the quality of tamping and leveling. Compared with the traditional measurement and construction method, the slope tamping construction method formed by the present invention upgrades manual operation to mechanization and intelligence. The positioning and detection data can be obtained in real time on the operation display terminal in the control room, reducing the tedious work of construction measurement and layout, installation of measurement piles, etc. In the tamping and leveling stage, the most intuitive reference can be directly provided to the driver, without the need for construction assistance by engineering personnel. At the same time, it replaces the manual quality inspection process after tamping and leveling, greatly saving personnel consumption.

[0016] (2) The present invention has developed a real-time detection and calculation method for the quality of slope compaction and leveling during the construction period. By setting up a positioning system and a monitoring sensor group, the automatic storage, identification and processing of slope inspection sampling point data during the construction process are realized. At the same time, the results are fed back to the construction personnel and the operation display terminal in the cab, which is convenient for the construction personnel to automatically or manually control the operating arm in real time to perform correction operations, thus overcoming the problem of the long overall cycle of the traditional construction method of first compacting and leveling and then inspecting.

[0017] Other advantages, objectives and features of the present invention will be embodied in part through the following description, and in part will be understood by those skilled in the art through study and practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a structural schematic diagram of the compacting machine of the present invention when performing compacting and leveling construction of a slideway; Figure 2 It is a structural schematic diagram of the equipment for compacting and leveling the slope foundation trench of the slipway under the slipway of the present invention.

[0019] The accompanying drawings in the specification are as follows: 1. slideway, 2. load-bearing hull, 3. compactor, 4. slewing base, 5. upper arm, 6. lower arm, 7. leveling bucket, 8. driving cab, 9. first GPS receiver, 10. second GPS receiver, 11. monitoring sensor group. DETAILED DESCRIPTION

[0020] The present invention is further described in detail below in conjunction with the accompanying drawings so that those skilled in the art can implement the invention with reference to the description.

[0021] It should be noted that the experimental methods described in the following embodiments are conventional methods unless otherwise specified, and the reagents and materials are commercially available unless otherwise specified; in the description of the present invention, the terms "lateral", "longitudinal", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0022] like Figure 1-2 As shown, the present invention provides a device for compacting and leveling the slope foundation groove of a slipway under water, comprising: Carrying hull 2; A compactor 3 is arranged on the carrier hull 2, and comprises a slewing base 4, a cab 8 and an operating arm arranged on the slewing base 4, wherein the operating arm is hinged outward in sequence with a large arm 5, a small arm 6 and a leveling bucket 7, and is respectively provided with a power mechanism for driving the large arm 5, the small arm 6 and the leveling bucket 7 to rotate around a hinge axis, an operation display terminal is arranged in the cab 8, the operation display terminal is communicatively connected with each power mechanism and is used to control the movement of the power mechanism, the plane where the leveling area is located is divided into grids in the longitudinal and transverse directions, and a tamping plate is provided at the bottom of the leveling bucket 7 for tamping the base bed in each grid area in sequence; The positioning system includes a GPS receiver and a dual-axis inclinometer respectively connected to the operation display terminal for communication. A first GPS receiver 9 is arranged on the slewing base 4 and transmits the information to the operation display terminal for display, which is used to locate the position of the compactor 3. A second GPS receiver 10 is arranged on the boom 5, which is used to identify the spatial posture of the boom 5 and transmit it to the operation display terminal for display. Dual-axis inclinometers are respectively installed on the slewing base 4, the boom 5, the forearm 6, and the leveling bucket 7, which are used to obtain the inclination state of the corresponding structure and transmit it to the operation display terminal for display.

[0023] The carrying hull 2 ​​is used to carry the compactor 3 to the construction area where underwater compaction and leveling are required. A track for facilitating the movement of the compactor 3 can be set on the carrying hull 2. A total of four sets of dual-axis inclinometers are set on the compactor 3. The four sets correspond to the rotating base 4, the upper arm 5, the lower arm 6, and the leveling bucket 7 (compactor plate) of the compactor 3 in sequence. The four sets of dual-axis inclinometers need to be set separately, and are mainly used for the rotation angle of each movable part of the operating arm during the construction of the compactor 3, so as to play a role of real-time posture monitoring.

[0024] The operation display terminal is installed in the cab 8. After dividing the construction grid area, the coordinates of each leveling position control point are obtained. According to the real-time position of the compactor 3, the deviation is given, which is convenient for the operator to observe the dynamics of the excavator in real time. The spatial coordinates, elevation and slope ratio during the compaction and leveling construction of the underwater foundation trench can be fed back in time, so that the operator can adjust the position in time.

[0025] The positioning directional antenna is installed on the rear bracket of the compactor 3, and is mainly used to connect the dual-axis inclinometer and the operation display terminal. Its main function is to transmit data, and transmit the data generated by the dual-axis inclinometer to the operation display terminal in a timely manner, so as to facilitate data processing and decomposition.

[0026] The hydraulic vibration compactor 3 adopts VC40D, weighs 1.18t, and has a rectangular plate structure with a length and width ranging from 0.8m to 1.3m, respectively, and an exciting force of 380KN. In order to ensure that it can realize underwater construction, it is treated with waterproof performance, and modified according to the size of the hydraulic rod of the long-arm excavator arm 6 to ensure that the excavator bucket and the leveling bucket 7 of the hydraulic compactor 3 can be interchanged at any time to adapt to various working conditions of underwater foundation trench riprap, compaction and leveling. During the compaction process, always pay attention to the influence of water flow direction, speed and tidal changes on the positive position of the compactor, and adjust the position of the compactor in time.

[0027] Two GPS receivers are installed on the compacting machine 3, one is used to measure the position, and the other is used to jointly measure the rotation angle in the plane. Four dual-axis inclinometers measure the relative inclination angles of the corresponding parts respectively, so that the position of the bottom center of the tamping plate relative to the GPS receiver can be obtained. The grid is divided according to the construction area, and compaction and leveling construction is carried out in sequence. The position and angle of the tamping plate are accurately grasped according to the coordinate information obtained in real time to ensure the quality of compaction and leveling. Compared with the traditional measurement and construction method, the slope tamping construction method formed by the present invention upgrades manual operation to mechanization and intelligence. It only needs to add an intelligent computing module to the operation display terminal in the control room to solve the tedious tasks of construction measurement and layout, installation of measurement piles, etc. In the compaction and leveling stage, it can directly provide the driver with the most intuitive reference, without the need for engineering personnel to assist in construction, and at the same time replaces the manual quality inspection process after compaction and leveling, which greatly saves personnel consumption.

[0028] In another technical solution, Figure 1-2As shown, it also includes a monitoring sensor group 11 that is communicatively connected to the operation display terminal. The monitoring sensor group includes a flow rate meter, a water level meter and a laser ranging group. The flow rate meter is installed on the carrying hull 2 ​​to measure the direction and flow rate of the water flow. The water level meter is set in the construction water area to measure the water level change in the water area where the carrying hull 2 ​​is located. The laser ranging group includes a plurality of laser ranging sensors, which are divided into a fixed-point group and a dynamic group. The laser ranging sensors of the fixed-point group are arranged in proportion to the vertex positions of the divided grids. The ranging grids are set in proportion according to the divided grids. The laser ranging sensors of the fixed-point group are used to measure the distances at the corresponding vertex angles of the ranging grids respectively. The laser ranging sensors of the dynamic group are set between the areas enclosed by the fixed-point group to scan the lines in the ranging grids horizontally or vertically.

[0029] The monitoring sensor group is installed on the side of the carrying hull facing the compaction and leveling construction. By setting up the monitoring sensor group, the water flow state and the leveling and slope state of the leveling surface can be intuitively detected during the construction process. The corresponding power mechanism and leveling strategy can be adjusted in time according to the detection results. The ranging grid is equivalent to a certain area selected by default, and the leveling line shape detection is carried out within a smaller range of the ranging grid. The fixed-point group serves as a comparison benchmark for the dynamic group. The dynamic group can be set between two horizontal or vertical fixed-point groups to form a complete line shape and the fixed-point groups at both ends are used as comparison benchmarks to fit and subtract the ranging error caused by the water flow environment. Multiple rows or columns of dynamic groups can also be set in the area enclosed by the fixed-point groups to improve the linear monitoring capability on the ranging grid.

[0030] In another technical solution, Figure 1-2 As shown, the forearm 6 and the leveling bucket 7 are detachably connected, and the hinge point between the forearm 6 and the leveling bucket 7 is also used for detachably connecting the bucket.

[0031] The leveling bucket 7 and the end of the bucket connected to the forearm 6 are set to the same shape and size structure, so the bucket of the excavator can be replaced during tamping, thereby improving the equipment application efficiency and enabling the compactor 3 itself to adapt to various working conditions of underwater foundation trench riprap, tamping and leveling.

[0032] The present invention also provides a method for compacting and leveling the slope foundation groove of a slipway 1, such as Figure 1-2 As shown, the following steps are included: S1. After the foundation pit is inspected and accepted, the foundation pit shall be riprapped immediately. There shall be no siltation sediment on the top surface of the foundation bed and the contact surface between the upper and lower layers of the riprap foundation bed. The width of the riprap foundation bed shall not be less than the designed width.

[0033] S2. Determine the slope of the foundation trench of the slideway 1. Divide the grid areas in the longitudinal and transverse directions according to the range of the foundation trench slope that needs to be compacted and leveled. The adjacent grid areas overlap each other by 30 cm in the longitudinal and transverse directions. Install the compactor 3 on the carrying hull 2 ​​and drive the compactor 3 to the flat barge to start the formal compaction construction.

[0034] S3. Establish a three-dimensional coordinate system, with the horizontal direction parallel to the extension direction of the slideway 1 as the longitudinal direction and the x-axis direction, the horizontal direction perpendicular to the extension direction of the slideway 1 as the transverse direction and the y-axis direction, and the vertical direction as the z-axis direction. Each time the ship is stationed, the spatial position coordinates D (x, y, z) of the compactor 3 are measured by the first GPS receiver 9, and the rotation angle θ of the operating arm in the horizontal plane is measured by the second GPS receiver. The distance between the rotation center of the operating arm on the rotating base 4 and the second GPS receiver 10 is L, the height difference between the second GPS receiver and the rotation center is h, and the length of the large arm 5 is L. 1 , the length of the small arm 6 is L 2 The inclination angle of the arm 5 relative to the horizontal plane is measured by the corresponding dual-axis inclinometer as θ 1 The inclination angle of the small arm 6 relative to the horizontal plane is measured by the corresponding dual-axis inclinometer as θ 2 The inclination angle of the leveling bucket 7 relative to the horizontal plane is measured by the corresponding dual-axis inclinometer as θ 3 The line between the hinge point of the small arm 6 and the leveling bucket 7 and the center point of the tamping plate is L 3 , and the corresponding dual-axis inclinometer measures the inclination angle of the connecting line relative to the perpendicular midline of the ramming plate to be θ 4 ,θ 1 ,θ 2 ,θ 3 ,θ 4 They are acute angles respectively.

[0035] S4, using the parameter monitoring data of step S3 to calculate the center point coordinates (x 2 ,y 2 ,z 2 ) and displayed on the operation display terminal, wherein, x 2 =x+(L+L 1 cosθ 1 +L 2 cosθ 2 +L 3 sin(θ 3 +θ 4 ))cosθ y 2 =y+(L+L 1 cosθ 1 +L2 cosθ 2 +L 3 sin(θ 3 +θ 4 ))sinθ z 2 =z-(L 1 sinθ 1 +L 2 sinθ 2 +L 3 cos(θ 3 +θ 4 ))-h A continuous moving line is set up from the top corner, and the ship is stationed in each grid area in turn. The tamping machine 3 is used to tamp and level the corresponding grid area. According to the coordinates of the center point of the tamping machine 3 (x 2 ,y 2 ,z 2 ) and control or adjust the position and angle of the rammer 3 and the rammer plate in real time through the power mechanism.

[0036] S5. Check the compaction and leveling quality of the current grid area. If the flatness difference exceeds the set range, adjust the position angle of the tamping plate to correct the compaction and leveling.

[0037] S6. Randomly sample points to verify the quality accuracy of compaction and leveling in the construction area. Complete the compaction and leveling construction after passing the test.

[0038] By setting a GPS receiver on the rammer 3, the size parameters of the rammer 3 itself, that is, the lengths between the hinge points of the slewing base 4, the upper arm 5, the lower arm 6, and the rammer bucket, are mastered, and the moving inclination angle of each hinged section is mastered during the operation of the rammer 3, so as to obtain the position coordinates of the rammer plate at the end of the operating arm of the rammer 3, so as to match the slope and height position that need to be leveled at the target position of the slide 1. In the ramming and leveling construction, the above parameters are used to guide the rammer plate to form the required inclination angle to correspond to the slope of the slide 1, as well as the downward pressing position and amplitude, so that the slope of the slide 1 forms the required inclined surface state. On the other hand, after leveling to a certain stage, the rammer plate is freely pressed on the inclined surface of the slide 1, and the center coordinates of the bottom of the rammer plate are detected at this time, and the spatial position information of the corresponding inclined surface of the slide 1 can be reversely deduced.

[0039] In another technical solution, Figure 1-2As shown, in step S4, the monitoring data of the monitoring sensor group is used to calculate the leveling compensation data, the relationship between the periodic water flow velocity and time is measured by the flow meter, and the periodic change value of the plane displacement is obtained. The relationship between the periodic water level fluctuation and time is measured by the water level meter, and the periodic change value of the vertical displacement is obtained. The period intersection is selected, and the reciprocating adjustment plan for the spatial position of the rammer 3 is determined within the unit period to compensate for the influence of the water flow on the position of the rammer plate.

[0040] Under the influence of water flow fluctuations, the operating accuracy of the rammer plate of the rammer 3 will be affected to a certain extent. By obtaining the water flow environment impact parameters through the flow velocity measuring instrument and water level measuring instrument, periodic statistical observations are conducted, and the compensatory operating amplitude of the rammer 3 within the corresponding time is set to reduce or basically eliminate the impact of water flow fluctuations, which is beneficial to improving the operating quality of the rammer 3.

[0041] In another technical solution, Figure 1-2 As shown, in step S5, the monitoring data of the monitoring sensor group 11 is used to detect the leveling state in the selected ranging area, and multiple groups of dynamic groups are arranged at intervals along the horizontal or vertical direction, wherein at least one group of the laser ranging sensors of the dynamic group is arranged between a pair of adjacent fixed-point groups, and a ranging fluctuation threshold is set on the operation display terminal. First, the laser ranging data of the fixed-point group is used as the reference data of the point at the vertex, and then the ranging grid is scanned reciprocatingly along the horizontal and / or vertical direction by the dynamic group to obtain the distance value in the scanning direction, and a curve is drawn to obtain a line graph, which is intuitively displayed on the operation display terminal, and the position exceeding the ranging fluctuation threshold is located, and the tamping plate of the tamping machine 3 is guided to move to the located position for correction and leveling.

[0042] The monitoring sensor group is used to monitor the plane convexity and concaveness of the ranging grid selected in the current compaction grid area. The dynamic group can be provided with a fixed bracket, and a swing bracket is hingedly rotated on the fixed bracket. The laser ranging sensor of the dynamic group is installed at the front end of the swing bracket, and a waterproof driving motor is provided on the fixed bracket to drive the swing bracket to swing horizontally or vertically at a uniform speed. The swing range is set according to the size of the ranging grid, so that the scanning ranging range of the laser ranging sensor of the dynamic group is equal to the distance between the two fixed-point groups. The ranging data is fitted and superimposed with the influence of the hull fluctuation, or the laser ranging sensor data of the fixed-point groups at both ends are subtracted to obtain the distance change on the scanning path. The data is displayed on the operation display terminal, and a line graph can also be made for more intuitive display. The distance fluctuation threshold is set in advance on the operation display terminal, and the position that exceeds the fluctuation threshold is marked for early warning. After the scanning is completed, the compactor is driven to correct and level the three marked points.

[0043] In another technical solution, half tamping is adopted in the longitudinal and transverse directions, with one vibration at each point and each layer compacted at least twice to prevent local uplift and missed tamping of the base bed.

[0044] In another technical solution, in step S6, sampling is performed evenly on the axis of the slideway 1, at least five sampling points are selected, and a level ruler is set at the sampling points. The positioning system is first used to place the tamping plate of the compactor 3 at the sampling point in a free state. The corresponding position information of the bottom of the tamping plate is calculated on the operation display terminal according to the data of the positioning system, and the height and inclination of the slope at the bottom of the tamping plate are converted. At the same time, the surveyor uses a level instrument to observe the level ruler for re-measurement, and records the data of each sampling point respectively, and compares them with the theoretical design value.

[0045] In order to verify the quality accuracy of compaction and leveling, using the present invention, we selected the compaction section between the 1-3 frames of the 6th span of the onshore section of the launch slide 1 for testing. The following Table 1 shows the accuracy deviation of the compaction section between the 1-3 frames of the 6th span. It can be seen from Table 1 that the accuracy errors of the three elevation values ​​all meet the construction requirements.

[0046] Table 1 Comparison of accuracy test data Through the precision verification test, it is proved that the tamping and leveling equipment and the leveling method of the ramp foundation groove of the slipway 1 of the present invention can accurately describe the spatial coordinates of the tamping plate. Through the slope tamping test, the practicality and accuracy of the positioning system and the guiding function of the monitoring sensor group can be demonstrated. According to the tamping method, fixed point leveling is adopted to provide an auxiliary display function for the control point. The leveling area is divided into grids, and each division overlaps each other by 30 cm in the vertical and horizontal directions. The grid size division is reasonable, the automatic sampling function of the inspection batch meets the established requirements, the sampling frequency matches the excavator tamping data, the data sampling is sufficient, and the synchronous feedback is timely.

[0047] The equipment and method for compacting and leveling the slope foundation groove of the slipway 1 of the present invention have the following advantages: Compared with the traditional measurement and construction method, the slope tamping construction method formed by the present invention elevates manual operation to mechanization and intelligence. Through this method, only a positioning system and a monitoring sensor group need to be added to the tamping machine 3 to solve the tedious work of construction measurement and setting out, installing measurement piles, etc. In the tamping and leveling stage, the driver can be directly given the most intuitive reference without the need for engineering personnel to assist in construction. At the same time, it replaces the manual quality inspection process after tamping and leveling, greatly saving personnel consumption. A real-time detection and calculation method for the quality of slope tamping and leveling during the construction period has been developed, which realizes the automatic identification, processing, and storage of the sampling point data of the slope inspection batch during the construction process, and at the same time feeds back the results to the construction personnel and the operation display terminal in the cab 8, and automatically or manually controls the operating arm in real time to perform correction operations, overcoming the problem of the long traditional post-work inspection cycle.

[0048] Although the embodiments of the present invention have been disclosed as above, they are not limited to the applications listed in the specification and the implementation modes, and they can be fully applied to various fields suitable for the present invention. For those familiar with the art, additional modifications can be easily implemented. Therefore, without departing from the general concept defined by the claims and the scope of equivalents, the present invention is not limited to the specific details and the illustrations shown and described herein.

Claims

1. A device for compacting and leveling the slope foundation groove of a slipway, characterized in that: include: load-bearing hull; A compactor is arranged on a carrying hull, and comprises a slewing base, a driving cab and an operating arm arranged on the slewing base. The operating arm is hinged outward in sequence with a large arm, a small arm and a leveling bucket, and is respectively provided with a power mechanism for driving the large arm, the small arm and the leveling bucket to rotate around a hinge axis. An operation display terminal is arranged in the driving cab, and the operation display terminal is communicatively connected with each power mechanism to control the movement of the power mechanism. The plane where the leveling area is located is divided into grids in the longitudinal and transverse directions. The bottom of the leveling bucket has a tamping plate, which is used to tamp the base bed in each grid area in sequence. The positioning system includes a GPS receiver and a dual-axis inclinometer respectively connected to the operation display terminal for communication. The first GPS receiver is arranged on the slewing base and transmits the information to the operation display terminal for display, so as to locate the position of the compactor. The second GPS receiver is arranged on the boom, so as to identify the spatial posture of the boom and transmit the information to the operation display terminal for display. The dual-axis inclinometers are respectively installed on the slewing base, the boom, the forearm and the leveling bucket, so as to obtain the inclination state of the corresponding structure and transmit the information to the operation display terminal for display.

2. The equipment for compacting and leveling the slope foundation trench of a slipway under the slipway as claimed in claim 1, characterized in that: It also includes a monitoring sensor group that is communicatively connected to the operation display terminal, the monitoring sensor group includes a flow rate meter, a water level meter and a laser distance measurement group, the flow rate meter is installed on the carrying hull, and is used to measure the direction and flow rate of the water flow, the water level meter is set in the construction water area, and is used to measure the water level change in the water area where the carrying hull is located, the laser distance measurement group includes a plurality of laser distance measurement sensors, which are divided into a fixed-point group and a dynamic group, the laser distance measurement sensors of the fixed-point group are arranged in proportion to the vertex positions of the divided grids, and the distance measurement grids are set in proportion according to the divided grids, the laser distance measurement sensors of the fixed-point group are used to respectively measure the distances at the corresponding vertex angles of the distance measurement grids, and the laser distance measurement sensors of the dynamic group are set between the areas enclosed by the fixed-point group, and are used to scan the lines in the distance measurement grids horizontally or vertically.

3. The equipment for compacting and leveling the slope foundation trench of a slipway under the slipway as claimed in claim 1, characterized in that: The forearm is detachably connected to the leveling bucket, and the hinge point between the forearm and the leveling bucket is also used for detachably connecting the bucket.

4. The method for compacting and leveling the slope foundation trench of a slipway under the slipway as claimed in claim 2, characterized in that: The steps include: S1. After the foundation pit is inspected and accepted, stone throwing shall be carried out immediately; S2. Determine the slope of the slideway foundation trench, divide the grid area in the longitudinal and transverse directions according to the range of the foundation trench slope that needs to be compacted and leveled, and overlap the adjacent grid areas by 30 cm in the longitudinal and transverse directions, and install a compactor on the load-bearing hull; S3. Establish a three-dimensional coordinate system, with the horizontal direction parallel to the extension direction of the slideway as the longitudinal direction and the x-axis direction, the horizontal direction perpendicular to the extension direction of the slideway as the lateral direction and the y-axis direction, and the vertical direction as the z-axis direction. Each time the ship is stationed, the spatial position coordinates D (x, y, z) of the compactor are measured by the first GPS receiver, and the rotation angle θ of the operating arm in the horizontal plane is measured by the second GPS receiver. The distance between the rotation center of the operating arm on the rotating base and the second GPS receiver is L, and the height difference between the second GPS receiver and the rotation center is h. The length of the upper arm is L1, the length of the lower arm is L2, the inclination angle of the upper arm relative to the horizontal plane measured by the corresponding biaxial inclinometer is θ1, the inclination angle of the lower arm relative to the horizontal plane measured by the corresponding biaxial inclinometer is θ2, the inclination angle of the leveling bucket relative to the horizontal plane measured by the corresponding biaxial inclinometer is θ3, the line between the hinge point of the lower arm and the leveling bucket and the center point of the tamping plate is L3, and the inclination angle of the line relative to the mid-vertical line of the tamping plate measured by the corresponding biaxial inclinometer is θ4, and θ1, θ2, θ3, and θ4 are acute angles respectively; S4, using the parameter monitoring data of step S3 to calculate the center point coordinates (x2, y2, z2) of the compactor and display them on the operation display terminal, wherein: x2=x+(L+L1cosθ1+L2cosθ2+L3sin(θ3+θ4))cosθ y2=y+(L+L1cosθ1+L2cosθ2+L3sin(θ3+θ4))sinθ z2=z-(L1sinθ1+L2sinθ2+L3cos(θ3+θ4))-h A continuous moving line is set from the top corner, and the ship is stationed in each grid area in turn, and a compactor is used to compact and level the corresponding grid area. According to the coordinates of the center point of the compactor (x2, y2, z2), the position and angle of the compactor and the compactor plate are controlled or adjusted in real time through the power mechanism; S5, checking the compaction and leveling quality of the current grid area, if the flatness difference exceeds the set range, adjusting the position angle of the tamping plate, and correcting the compaction and leveling; S6. Randomly sample points to verify the quality accuracy of compaction and leveling in the construction area. Complete the compaction and leveling construction after passing the test.

5. The method for compacting and leveling the slope foundation trench of a slipway under the slipway as claimed in claim 4, characterized in that: In step S4, the leveling compensation data is calculated using the monitoring data of the monitoring sensor group, and the relationship between the periodic water flow velocity and time is measured by a flow velocity meter to obtain the periodic change value of the plane displacement. The relationship between the periodic water level fluctuation and time is measured by the water level meter to obtain the periodic change value of the vertical displacement. The period intersection is selected, and the reciprocating adjustment plan for the spatial position of the rammer is determined within a unit period to compensate for the influence of the water flow on the position of the rammer plate.

6. The method for compacting and leveling the slope foundation trench of a slipway under the slipway as claimed in claim 5, characterized in that: In step S5, the monitoring data of the monitoring sensor group is used to detect the leveling state in the selected ranging area. A plurality of dynamic groups are arranged at intervals along the horizontal or vertical direction, wherein at least one dynamic group of laser ranging sensors is arranged between a pair of adjacent fixed-point groups. A ranging fluctuation threshold is set on the operation display terminal. First, the laser ranging data of the fixed-point group is used as the reference data of the point at the vertex. Then, the ranging grid is reciprocatedly scanned along the horizontal and / or vertical direction by the dynamic group to obtain the distance value in the scanning direction. A curve is drawn to obtain a line graph, which is intuitively displayed on the operation display terminal. The position exceeding the ranging fluctuation threshold is located, and the tamping plate of the tamping machine is guided to move to the located position for correction and leveling.

7. The method for compacting and leveling the slope foundation trench of a slipway under the slipway as claimed in claim 4, characterized in that: Use half tamping in adjacent longitudinal and transverse directions, one vibration at each point, and each layer should be compacted at least twice.

8. The method for compacting and leveling the slope foundation trench of a slipway under the slipway as claimed in claim 4, characterized in that: In step S6, sampling is performed evenly on the axis of the slideway, at least five sampling points are selected, and a level ruler is set at the sampling points. The positioning system is first used to place the tamping plate of the compactor in a free state at the sampling point, and the corresponding position information of the bottom of the tamping plate is calculated on the operation display terminal according to the data of the positioning system, and the height and inclination of the slope at the bottom of the tamping plate are converted. At the same time, the surveyor uses a level instrument to observe the level ruler for re-measurement, and records the data of each sampling point respectively, and compares them with the theoretical design value.

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