Method for improving flatness of sand quilt laid by geotextile laying ship in complex environment

Abstract

The invention relates to the technical field of underwater engineering construction, and discloses a method for improving the flatness of a sand quilt laid by a geotextile laying ship in a complex environment, which comprises the following steps: S1, manufacturing a sand bag: manufacturing a multi-cabin sand bag, determining the specification and the structure, ensuring to adapt to the terrain and uniformly filling; s2, topographic survey: acquiring three-dimensional topographic data, generating a model, marking a feature region and predicting a filling trend; s3, sand bag laying: positioning the geotextile laying ship, lowering the sand bags to fit the terrain, and reducing water flow interference; s4, dynamic filling: preferentially filling a low-lying area, controlling the thickness of mortar, and dynamically adjusting flow distribution; and S5, flatness correction: detecting the surface morphology, supplementing and filling the recess, and correcting the accumulation area to the design height. The objective function is optimized through height gradient quadratic sum minimization, real-time monitoring and dynamic regulation are combined, accurate filling of the concave area is achieved, local accumulation is avoided, the flatness error is remarkably reduced, and the high-standard construction requirement is met.

Description

Technical Field

[0001] The invention relates to the technical field of underwater engineering construction, in particular to a method for improving the flatness of sand blankets laid by laying vessels in complex environments. Background Art

[0002] The sandbag laying technology of laying vessels is an important construction method in the construction of marine engineering and water conservancy projects. It is widely used in the construction of infrastructure such as breakwaters, embankments, and drainage layers in deepwater areas or complex underwater environments. The existing technology usually uses laying vessels to lay sandbags in the construction area, and injects mortar into the sandbags through the cuffs to complete the filling operation. In order to improve the flatness of the sandbag laying, the existing solutions mostly adopt a compartment design and a fixed flow filling method, combined with the positioning system of the laying vessel, so that the sandbags can better fit the underwater terrain during the laying process. However, due to the complex terrain conditions in the construction area (such as low-lying areas or slope changes) and the interference of external environments such as water flow, wind and waves, the existing technology still has certain deficiencies in the control of sandbag flatness and adaptability to complex environments, and cannot fully meet the needs of high-precision construction.

[0003] According to the publication number CN108035358B, it mentions a method for improving the flatness of sand blankets laid by laying vessels in deep water areas with strong winds and waves. The method uses a sandbag structure designed in the longitudinal compartment and a cuff injection method, combined with the multi-point anchoring and reel laying technology of the laying vessel. During the laying process, the sandbags are laid and filled at the same time, and mortar flow control is used to ensure uniform thickness of the sandbags. Although the above technical solution solves the problem of flatness of sandbag laying in some deep water areas, it still has the following shortcomings: First, this solution only achieves uniform thickness through fixed mortar flow control, lacks the ability of real-time dynamic adjustment, cannot effectively adapt to complex terrain (such as low-lying areas or irregular slopes), and is prone to uneven mortar distribution or accumulation. Secondly, this solution has high requirements for the positioning of the laying ship and the stability of the laying, but lacks adaptive adjustment methods for the external environment (such as high flow rate, strong winds and waves), which makes the bag laying prone to deviation or distortion, reducing the overall construction quality. In addition, this technical solution does not detect and correct the surface flatness of the sandbags after construction, lacks subsequent correction measures, and cannot meet the requirements of high-standard engineering for sandbag laying accuracy. Summary of the invention

[0004] In view of the shortcomings of the prior art, the present invention provides a method for improving the flatness of sand blankets laid by laying ships in complex environments, which solves the problems in the prior art of difficult to control flatness, uneven filling and lack of correction measures after construction when laying sand bags in complex environments.

[0005] To achieve the above objectives, the present invention is implemented through the following technical solutions: A method for improving the flatness of sand blanket laid by a laying ship in a complex environment, comprising the following steps: S1. Sandbag production and structural design: Multi-compartment sandbags are produced. The compartments are separated by flexible membranes. Each compartment is independently connected to a cuff, which is used to control the flow of mortar. The specifications, dimensions, compartment layout and number of cuffs of the sandbags are determined according to the design requirements of the construction area to ensure that the sandbags can adapt to the terrain of the construction area and achieve uniform filling; S2. Topographic survey and modeling of the construction area: Use laser scanners or sonar equipment to conduct underwater topographic surveys of the construction area to obtain three-dimensional topographic data of the construction area, and input the survey data into the construction simulation system to mark low-lying areas, slope changes and special construction areas, generate a three-dimensional construction model, and build a mortar flow model in combination with sandbag design parameters to predict the filling trend and bag shape changes during the construction process; S3. Sandbag laying and positioning of laying vessel: Move the laying vessel to the construction area, position it through high-precision GPS and multi-point anchoring system, and then slowly lower the sandbags using the reel device, control the lowering speed and position of the sandbags, so that the sandbags gradually fit the terrain of the construction area. Finally, during the bag laying process, use the flow stabilizing device to reduce the impact of water flow and wind and waves on the sandbags, and avoid the bag from deflecting, twisting or wrinkling; S4. Dynamic layered filling: According to the terrain features marked in the construction model, mortar is injected into low-lying areas first. The cuff is connected through a sand delivery pipe to control the filling order of the mortar in the bag. The thickness of each mortar injection is controlled at 20cm to 30cm. After completing one layer of construction, the mobile vehicle continues the sand bag construction of the next section. Finally, during the filling process, the cuff flow sensor collects flow data in real time, combined with the bag surface morphology data measured by the underwater laser scanner, and the cuff flow distribution is dynamically adjusted to ensure that each interlayer of mortar is evenly distributed; S5. Flatness correction after construction: After the construction is completed, use an underwater laser scanner to perform three-dimensional measurement of the sandbag surface morphology to generate a sandbag surface height distribution map, and then activate the cuffs for supplementary filling in the local concave areas. Finally, the local accumulation areas are corrected through manual adjustment or mechanical flattening until the bag surface height meets the design requirements.

[0006] Preferably, in the step S1, the gridded partition design is separated by a flexible membrane; The flexible membrane is connected to the cuff, and the flow rate of the cuff is dynamically controlled to achieve uniform distribution of the mortar inside the sandbag during the layer-by-layer filling process.

[0007] Preferably, the step S2 further comprises the following steps: (1) Use laser scanning equipment and sonar measurement equipment to obtain the underwater three-dimensional terrain model of the construction area; (2) Based on the three-dimensional terrain model and combined with the sandbag design parameters, a mathematical model of mortar flow and a mathematical model of bag deformation were established to predict the state and morphological changes of the sandbags during the filling process.

[0008] Preferably, the step S3 further comprises the following steps: (1) Use high-precision GPS combined with the anchoring device of the laying ship for precise positioning; (2) Control the lowering rate of the sandbags through the reel equipment of the laying ship so that the bag body fits the terrain model; (3) Use flow stabilization devices to reduce the impact of water flow and wind and waves on the positioning of the bag body, ensuring that the bag body does not deviate or twist during deployment.

[0009] Preferably, in the step S3, the laying vessel adapts to the complex environment through a flow stabilizing device and a ballast water adjustment system to ensure the stability and accuracy of bag placement and filling.

[0010] Preferably, the step S4 further comprises the following steps: (1) Prioritize filling in low-lying areas planned according to the three-dimensional terrain model, and control the thickness of each layer of mortar to 20 cm to 30 cm; (2) During the filling process, the cuff flow sensor collects flow data in real time and adjusts the filling strategy based on the bag surface morphology monitoring data; (3) The optimization control formula is:

[0011] in, For the Cuffs at a time of traffic, is the learning rate, To optimize the gradient of the objective function with respect to the cuff flow rate.

[0012] Preferably, the optimization objective function takes the sum of squares of the height gradients of the bag surface as the target, and is described as:

[0013] in, is the height distribution of the sandbag surface, is the height gradient of the bag surface.

[0014] Preferably, in step S4, real-time monitoring includes: (1) Collect flow data through the cuff flow sensor and calculate the pressure distribution inside the bag with the pressure sensor; (2) Use an underwater laser scanner to monitor the surface morphology of the bag in real time, and feed the measurement data back to the optimization control system for dynamic adjustment of the filling strategy.

[0015] Preferably, in the step S4, the real-time collected data is combined with a dynamic control mechanism to form a closed-loop control process of monitoring, calculation and feedback to ensure the uniformity of mortar distribution during the construction process and the flatness of the final shape of the bag.

[0016] Preferably, the step S5 further comprises the following steps: Use underwater laser scanners to measure the surface morphology of sandbags and generate surface height distribution maps; Reactivate the cuffs for additional filling in localized depressed areas; The local accumulation area can be corrected by manual adjustment or bag flattening.

[0017] The present invention provides a method for improving the flatness of sand blankets laid by laying vessels in complex environments. It has the following beneficial effects: 1. The present invention improves the ability to control the flatness of the sandbag surface by introducing an optimization objective function that minimizes the sum of squares of height gradients, combined with a real-time monitoring and dynamic control system. In combination with real-time collection of sandbag morphology data and dynamic adjustment, it can not only accurately fill the concave area, but also avoid local accumulation, making the flatness standard error of the construction result smaller and meeting high-standard construction requirements.

[0018] 2. The present invention can maintain the stability and accuracy of construction in complex construction environments such as strong winds and waves and high flow rates through the paving ship's flow stabilization, ballast water system and real-time environmental monitoring technology. The center of gravity position of the paving ship, the angle of the flow stabilization device and the sandbag laying speed are dynamically adjusted to ensure the stability and accuracy of the bag laying and filling process, thereby improving the adaptability and reliability of the present invention under complex construction conditions.

[0019] 3. The present invention combines underwater laser scanners with sonar equipment to perform high-precision detection on the surface of the sandbags after construction, and introduces a correction mechanism of supplementary filling and local flattening to form a closed-loop control process. During the correction process, the height deviation is evaluated and adjusted in real time by optimizing the objective function to ensure that the height distribution of the sandbag surface after correction meets the design requirements, improve the accuracy of the sandbag surface flatness, and reduce material waste and the time cost of repeated construction. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a flow chart of the steps of the present invention. DETAILED DESCRIPTION

[0021] The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0022] Please refer to the attached Figure 1 The embodiment of the present invention provides a method for improving the flatness of sand blanket laid by a laying ship in a complex environment, comprising: S1. Sandbag production and structural design: Multi-compartment sandbags are produced. The compartments are separated by flexible membranes. Each compartment is independently connected to a cuff, which is used to control the flow of mortar. The specifications, dimensions, compartment layout and number of cuffs of the sandbags are determined according to the design requirements of the construction area to ensure that the sandbags can adapt to the terrain of the construction area and achieve uniform filling; S2. Topographic survey and modeling of the construction area: Use laser scanners or sonar equipment to conduct underwater topographic surveys of the construction area to obtain three-dimensional topographic data of the construction area, and input the survey data into the construction simulation system to mark low-lying areas, slope changes and special construction areas, generate a three-dimensional construction model, and build a mortar flow model in combination with sandbag design parameters to predict the filling trend and bag shape changes during the construction process; S3. Sandbag laying and positioning of laying vessel: Move the laying vessel to the construction area, position it through high-precision GPS and multi-point anchoring system, and then slowly lower the sandbags using the reel device, control the lowering speed and position of the sandbags, so that the sandbags gradually fit the terrain of the construction area. Finally, during the bag laying process, use the flow stabilizing device to reduce the impact of water flow and wind and waves on the sandbags, and avoid the bag from deflecting, twisting or wrinkling; S4. Dynamic layered filling: According to the terrain features marked in the construction model, mortar is injected into low-lying areas first. The cuff is connected through a sand delivery pipe to control the filling order of the mortar in the bag. The thickness of each mortar injection is controlled at 20cm to 30cm. After completing one layer of construction, the mobile vehicle continues the sand bag construction of the next section. Finally, during the filling process, the cuff flow sensor collects flow data in real time, combined with the bag surface morphology data measured by the underwater laser scanner, and the cuff flow distribution is dynamically adjusted to ensure that each interlayer of mortar is evenly distributed; S5. Flatness correction after construction: After the construction is completed, use an underwater laser scanner to perform three-dimensional measurement of the sandbag surface morphology to generate a sandbag surface height distribution map, and then activate the cuffs for supplementary filling in the local concave areas. Finally, the local accumulation areas are corrected by manual adjustment or mechanical flattening until the bag surface height meets the design requirements; In step S1, the gridded interlayer design is separated by a flexible membrane; The flexible diaphragm is connected to the cuff, and the uniform distribution of mortar inside the sandbag during the layer-by-layer filling process is achieved by dynamically controlling the cuff flow.

[0023] Specifically, the design and production of the sandbag structure is an important basic step of the present invention to improve the flatness of the sand blanket laid by the laying ship in a complex environment. The main goal of this step is to ensure that the sandbag has good structural strength, filling performance and the ability to fit complex terrain during the construction process by optimizing the sandbag structure and manufacturing process, thereby providing a reliable guarantee for subsequent construction operations. Specifically, the key to the design of the sandbag lies in the reasonable layout of the multi-compartment compartment, the selection of the flexible diaphragm and the arrangement of the cuffs. These design features directly determine the uniformity of the mortar distribution inside the sandbag and the overall construction flatness. It should be noted that the structure of the sandbag not only needs to meet the special terrain requirements of the construction area, but also needs to be able to withstand external forces in a complex underwater environment, such as water flow disturbances and internal pressure changes during mortar filling. This step ensures the stability and adaptability of the sandbag in the subsequent construction process by scientifically designing the interlayer structure of the sandbag and combining it with an optimized manufacturing process.

[0024] In this embodiment, the sandbag is designed as a multi-layer gridded interlayer structure, the interlayers of which are separated by flexible membranes, and each interlayer is independently connected to the cuff. It should be noted that the design of the flexible membrane can not only separate the flow of mortar in different interlayers, but also provide a certain buffer when the sandbag is subjected to external force to prevent the bag from deforming.

[0025] As an option, according to the topographical characteristics of the construction area (such as the distribution of low-lying areas and slope changes), the width of the sandbag layer can be designed to be 35 meters, and the length of each layer can be determined in sections according to the total length of the sandbag, usually 5-10 meters. For example, if the low-lying areas in the construction area are concentrated, the width of the layer can be smaller to increase the accuracy of filling control.

[0026] In one possible implementation, the flexible membrane is made of high-strength polyester fiber material, which has good pressure resistance and flexibility. The thickness of the flexible membrane is usually 2mm to 5mm, which can be adjusted according to the water depth of the construction area and the mortar filling pressure. It is understandable that increasing the thickness of the flexible membrane will increase the overall pressure resistance of the sandbag, but at the same time may reduce the flexibility of the bag body, so it is necessary to balance the selection according to the construction requirements.

[0027] The arrangement of the cuffs is directly related to the filling efficiency and the uniformity of the mortar distribution. In this embodiment, at least two cuffs are provided for each interlayer and are distributed along the symmetrical central axis of the interlayer. The diameter of the cuff is usually 10 cm to 15 cm to ensure that the mortar can be smoothly filled to the end of the interlayer. As a possible option, the number of cuffs can be increased according to the flow characteristics of the mortar. For example, for mortar with a lower flow rate, the number of cuffs can be appropriately increased to reduce the filling time.

[0028] In the process of making sandbags, the selection of bag materials and the installation of flexible membranes are key links. In this embodiment, the bag body is made of composite non-woven fabric material, which not only has excellent tensile strength and anti-seepage performance, but also can maintain high stability in underwater environments.

[0029] Specifically, the thickness of the composite non-woven fabric is usually 3mm to 7mm, and its surface is coated with a waterproof layer, which can effectively prevent the moisture in the mortar from leaking to the outside. It should be noted that the tensile strength of the bag material must meet the design requirements, usually above 3000N / m, to ensure the stability of the sandbag during filling and construction.

[0030] During the installation of the flexible membrane, the membrane is fixed inside the bag body by a double-sided suture process. For example, the spacing of the suture lines is 10 mm to 15 mm, and the suture material is corrosion-resistant nylon line. In order to improve the sealing effect, a waterproof adhesive layer needs to be applied to the suture after the suture is completed. It is understandable that the quality of the suture process directly affects the sealing performance of the bag body, so it needs to be checked one by one during the actual production process.

[0031] In addition, a pull ring device is set at the end of the sandbag to connect the reel equipment of the laying ship during the laying process. The pull ring is usually designed with high-strength nylon material and fixed to the end of the bag body through reinforced stitching. Its load-bearing capacity must reach more than 5000N to ensure the stability of the bag body during the laying process.

[0032] In some embodiments, in order to adapt to the terrain characteristics of different construction areas, the design parameters of the sandbags can be dynamically adjusted. For example, for construction areas with large slopes, longitudinal reinforcing ribs can be added to the flexible diaphragm to improve the sandbag's ability to resist deformation. The reinforcing ribs can be made of polymer composite materials with a width of 5 cm to 10 cm and a spacing of 50 cm.

[0033] It should be noted that the design of sandbags also needs to comprehensively consider the water flow speed and wind and wave strength in the construction area. In one possible implementation, an anti-scour coating can be added to the surface of the sandbag to improve the stability of the bag in a complex water flow environment. The anti-scour coating is usually made of polyurethane coating with a coating thickness of 1mm to 2mm.

[0034] The sandbag design of the present invention is based on the theories of fluid dynamics and structural mechanics. Specifically, during the mortar filling process, the flexible diaphragm reduces the accumulation effect of the mortar in the bag by separating the flow path inside the bag, thereby achieving uniform distribution of the mortar.

[0035] As a theoretical analysis method, the effect of the flexible diaphragm on mortar distribution can be described by the following formula:

[0036] in, For the The pressure distribution of each compartment, is the total flow rate of the cuff, For the The cross-sectional area of ​​the compartment, is the resistance coefficient of the flexible diaphragm to the mortar flow.

[0037] It is understandable that by optimizing the layout of the interlayer and the material properties of the flexible diaphragm, the pressure gradient inside the bag can be effectively reduced, avoiding deformation of the bag due to excessive local pressure.

[0038] Through the above design and manufacturing process, the sandbag structure of the present invention can meet the requirements for flatness control in a complex construction environment, providing reliable guarantee for subsequent construction steps. Those skilled in the art can easily implement the design and manufacturing of this embodiment based on the above disclosure.

[0039] The S2 step further comprises the following steps: (1) Use laser scanning equipment and sonar measurement equipment to obtain the underwater three-dimensional terrain model of the construction area; (2) Based on the three-dimensional terrain model and combined with the sandbag design parameters, a mathematical model of mortar flow and a mathematical model of sandbag deformation were established to predict the state and morphological changes of sandbags during the filling process.

[0040] Specifically, topographic survey and model construction of the construction area is one of the key links of the present invention to achieve the flatness of sandbag laying in complex environments. This step aims to provide accurate construction guidance data for subsequent sandbag placement and dynamic filling construction through high-precision topographic survey and scientific modeling. Specifically, the topographic survey mainly relies on laser scanners and sonar equipment to collect three-dimensional topographic data of the construction area, and the model construction is based on the survey data of the construction area, combining the principles of fluid dynamics and structural mechanics to establish a mortar flow model and a bag morphology prediction model. This step lays the foundation for the optimized control and precise implementation of the construction process.

[0041] It should be noted that the topographic data of the construction area not only needs to reflect the basic characteristics of the underwater topography, such as slope changes and the location of low-lying areas, but also needs to be combined with environmental parameters (such as water flow speed and wind and wave intensity) to conduct a comprehensive analysis of the filling construction. Therefore, the present invention collects the topographic and environmental data of the construction area in real time, dynamically adjusts the model construction content, and ensures the accuracy and adaptability of the model.

[0042] In the embodiment, the topographic survey of the construction area adopts a combination of laser scanning equipment and sonar detection equipment to obtain high-precision three-dimensional terrain data.

[0043] As an option, when the water depth in the construction area is shallow, it is preferred to use an underwater laser scanner to scan the terrain. Underwater laser scanners have high precision and can usually achieve a measurement accuracy of less than 5mm, which can directly generate a three-dimensional topographic map of the construction area.

[0044] Specifically, in complex environments (such as strong winds and waves or deep waters), sonar equipment can be used as an auxiliary means to ensure the accuracy of measurement data. Sonar equipment uses ultrasonic waves to detect the underwater morphology, which can obtain a large range of underwater terrain data and integrate it with laser scanning data to generate a more comprehensive three-dimensional model.

[0045] In a possible implementation, the measurement equipment needs to be calibrated before construction to ensure measurement accuracy. For example, calibration includes accuracy correction of equipment sensors, adjustment of scanning angles, and correction of underwater optical interference. In addition, during the survey process, the reliability of the data can be further improved by repeated scanning.

[0046] It should be noted that the topographic survey of the construction area also needs to analyze the dynamic changes of the underwater terrain in combination with tidal changes. For example, in areas with significant tides, the changes of the underwater terrain at different water levels can be measured through multi-period scanning, thereby more accurately reflecting the true characteristics of the construction area.

[0047] Based on topographic survey data, combined with sandbag design parameters and fluid dynamics principles, the present invention constructs a mortar flow model and a bag morphology prediction model to simulate the morphological changes and force distribution of sandbags during filling construction.

[0048] In the process of constructing the mortar flow model, the flow behavior of the mortar in the bag is described based on the Navier-Stokes equation. Specifically, the flow of the mortar can be expressed as:

[0049] in, is the mortar flow velocity vector, is the mortar density, For pressure, is the kinematic viscosity, For external force.

[0050] In model construction, by combining the three-dimensional terrain data of the construction area with the above equations, the flow trend of the mortar under different cuff flow rates and the pressure distribution inside the bag can be simulated. It should be noted that the boundary conditions of the model are determined by the layout of the bag compartment and the resistance coefficient of the flexible diaphragm.

[0051] As an extension, in the construction of the bag shape prediction model, the principle of structural mechanics is used to analyze the forces on the sandbag under different filling conditions. The shape change of the bag can be described by the following potential energy minimization formula:

[0052] in, is the strain tensor, and is the Lame constant of the material, For external force, For displacement.

[0053] In a specific implementation, the morphological changes of the bag can be numerically calculated using the finite element method and combined with the mortar flow model to predict the final shape of the bag during the filling process.

[0054] In some embodiments, in order to adapt to the dynamic changes in the construction area, the input data for model construction can be adjusted according to real-time measurement results. For example, in areas with high water flow velocity, hydrodynamic parameters can be introduced to correct the mortar flow model to more accurately simulate the actual situation during filling construction.

[0055] It should be noted that dynamic adjustment is not only applicable to the data preparation stage before construction, but can also be carried out in real time during the construction process. For example, when the morphological changes of local low-lying areas are monitored, the distribution strategy of the cuff flow can be optimized by modifying the model parameters, thereby further improving the flatness of the filling construction.

[0056] Through high-precision terrain survey and scientific modeling, this embodiment can accurately predict the shape changes of sandbags and the distribution state of mortar in the construction area, providing accurate data support for subsequent placement and filling operations. Those skilled in the art can reproduce the technical solution of this embodiment based on the above disclosure and actual construction conditions to ensure that the construction results meet the design requirements.

[0057] The S3 step further includes the following steps: (1) Use high-precision GPS combined with the anchoring device of the laying ship for precise positioning; (2) Control the lowering rate of the sandbags through the reel equipment of the laying ship so that the bag body fits the terrain model; (3) Use a flow stabilizing device to reduce the impact of water flow and wind and waves on the positioning of the bag, ensuring that the bag does not deviate or twist during deployment; In step S3, the laying vessel adapts to the complex environment through the flow stabilization device and the ballast water adjustment system to ensure the stability and accuracy of bag placement and filling.

[0058] Specifically, the placement of sandbags and positioning of the laying vessel are crucial steps in the method of the present invention, and their main purpose is to make the sandbags fit closely to the complex terrain of the construction area through precise bag placement and vessel positioning, thereby providing a stable operating platform for subsequent mortar filling. Specifically, this step includes multi-point positioning of the laying vessel, slow placement of sandbags, and dynamic adjustment of external water flow and wind and wave interference. It should be noted that during the laying process, the present invention ensures the accuracy and stability of the bag being lowered to the target area through the coordinated work of the reel device, the flow stabilization device and the high-precision positioning system.

[0059] It is understandable that the placement of sandbags and the positioning of the laying ship directly affect the filling quality of sandbags and the overall flatness of the construction. Therefore, this step focuses on the control of the position of the bag during the placement process and the adaptability to complex environments. At the same time, a dynamic adjustment mechanism is introduced to ensure accurate construction under different external conditions.

[0060] In this embodiment, the laying vessel is positioned by a multi-point anchoring system, and a reel device is used to control the laying rate of the sandbags to ensure that the sandbags can be gradually and evenly arranged on the bottom of the target construction area.

[0061] As a possible implementation method, the laying vessel is equipped with a high-precision GPS positioning system and combined with a multi-point anchoring device to achieve dynamic coverage of the construction area. Specifically, the laying vessel in the construction area is fixed by a four-point anchoring method (each anchor point is located at the front, back, left and right of the hull). The GPS positioning system monitors the spatial position of the hull in real time and dynamically adjusts the anchor point based on the monitoring data to correct the hull drift caused by water flow or wind and waves.

[0062] It should be noted that in order to further improve the positioning accuracy, the laying vessel can also be combined with the electronic nautical chart system to compare the sandbag placement position with the three-dimensional terrain model of the construction area, and correct the movement trajectory of the ship in real time, thereby ensuring that each sandbag placed can accurately cover the target area.

[0063] During the sandbag laying process, the bag body is slowly lowered by the reel device to avoid deformation or deviation of the bag body caused by rapid release. In this embodiment, the tension control system of the reel device can dynamically adjust the lowering speed according to the weight of the sandbag and the water flow speed, which is usually controlled at 2m to 5m per minute.

[0064] Specifically, during the lowering of the bag, the flow stabilization device is used to reduce the impact of the external environment (such as water flow and wind and waves) on the bag. The core of the flow stabilization device is the flow stabilization wing installed on both sides of the laying ship, which adjusts the direction of the water flow by changing the angle and area, thereby forming a stable underwater environment.

[0065] As an option, in order to ensure that the bag body fits the bottom terrain when it is laid, a guide device can be set at both ends of the bag body. The device is usually a conical gravity block, which can play a role in limiting and compacting the bag body during the lowering process. It should be noted that the weight and size of the guide device need to be designed according to the specifications of the bag body and the construction water depth. For example, in a construction area with a water depth of 20 meters, the weight of the guide device can be designed to be 500kg to 800kg to ensure that the bag body can fit the bottom of the water stably.

[0066] During the construction process, complex external environments (such as strong winds and waves or high flow rates) may cause the placement of the laying vessel and the bag to shift. In this embodiment, adaptive adjustment to complex environments is achieved by: Specifically, in a windy and choppy environment, the ballast water system of the laying ship is used to adjust the center of gravity of the ship to reduce the tilt of the ship. The ballast water system can dynamically inject or drain water according to real-time monitoring data, and the amount of water injected is usually adjusted by 50L to 100L each time to ensure the lateral stability of the ship.

[0067] In an environment with high water flow, the impact of water flow on the bag can be reduced by increasing the area of ​​the stabilizer. The adjustment range of the stabilizer is usually 10° to 30°. The angle change is controlled by the motor to keep the bag in the target area during the lowering process.

[0068] It should be noted that when the water flow speed in the construction area exceeds 2 meters per second, a double stabilizing wing combination can be used to further improve underwater stability. For example, in the case of turbulence in the construction area, the stabilizing wings on both sides of the laying ship can be adjusted to angles of 15° and 20° respectively, thereby forming a stronger water flow stabilization effect.

[0069] During the whole process of bag placement, the spatial position and shape change of the bag is obtained in real time through the monitoring system, and the placement accuracy is dynamically adjusted in combination with the GPS positioning data of the laying ship. In this embodiment, the monitoring system includes an underwater laser scanner and sonar equipment to measure the position and shape of the bag.

[0070] Specifically, underwater laser scanners can monitor the surface morphology of the bag in real time with an accuracy of less than 5 mm. Sonar equipment is used to monitor the overall position and lowering speed of the bag, and the measurement range is usually within a three-dimensional space of 50m radius.

[0071] As an option, during the deployment process, if the bag is detected to deviate from the target area, the multi-point anchoring system of the laying vessel can adjust the position of the hull. For example, when the bag deviates from the target position by more than 10 cm, the GPS positioning system will issue a correction instruction, and the anchoring system will restore the hull to the target position by turning the anchor.

[0072] The theoretical basis of the positioning of the laying ship and the placement of sandbags mainly involves the analysis of mechanical balance and fluid stability. It should be noted that the positioning process of the laying ship is affected by wind, waves, currents and the tension of the anchoring system, and its mechanical balance state can be described by the following formula:

[0073] in, It is the sum of the forces acting on the hull; the component forces include anchor tension, the impact of water flow on the hull and wind and wave pressure.

[0074] In addition, the regulating effect of the flow stabilizer during bag deployment can be described by the Bernoulli equation in fluid dynamics:

[0075] in, The pressure in the area where the flow stabilization device works, Water density, is the water flow velocity, is the relative depth of the stabilizer wing.

[0076] By adjusting the angle and area of ​​the flow stabilizing wing, the interference of water flow speed on the placement of the bag can be effectively reduced, ensuring that the bag is accurately positioned.

[0077] Through the above method, the present invention realizes high-precision and high-adaptability construction control in the process of sandbag placement and laying ship positioning, providing a reliable basis for subsequent mortar filling. Those skilled in the art can easily reproduce the technical solution of this embodiment based on the above disclosure and actual construction conditions.

[0078] The S4 step further comprises the following steps: (1) Prioritize filling in low-lying areas planned according to the three-dimensional terrain model, and control the thickness of each layer of mortar to 20 cm to 30 cm; (2) During the filling process, the cuff flow sensor collects flow data in real time and adjusts the filling strategy based on the bag surface morphology monitoring data; (3) The optimization control formula is:

[0079] in, For the Cuffs at a time of traffic, is the learning rate, To optimize the gradient of the objective function with respect to the cuff flow; The S4 step further comprises the following steps: (1) Prioritize filling in low-lying areas planned according to the three-dimensional terrain model, and control the thickness of each layer of mortar to 20 cm to 30 cm; (2) During the filling process, the cuff flow sensor collects flow data in real time and adjusts the filling strategy based on the bag surface morphology monitoring data; (3) The optimization control formula is:

[0080] in, For the Cuffs at a time of traffic, is the learning rate, To optimize the gradient of the objective function with respect to the cuff flow; In step S4, real-time monitoring includes: (1) Collect flow data through the cuff flow sensor and calculate the pressure distribution inside the bag with the pressure sensor; (2) Use an underwater laser scanner to monitor the surface morphology of the bag in real time and feed the measurement data back to the optimization control system to dynamically adjust the filling strategy; In step S4, the real-time collected data is combined with the dynamic control mechanism to form a closed-loop control process of monitoring, calculation and feedback to ensure the uniformity of mortar distribution during the construction process and the flatness of the final shape of the bag.

[0081] Specifically, dynamic layered filling construction is one of the core steps of the present invention, and its main goal is to achieve uniform mortar distribution inside the sandbag and overall construction flatness by injecting mortar layer by layer. Specifically, this step is based on the terrain model and real-time monitoring data, gives priority to filling low-lying areas, and combines the dynamic regulation of cuff flow and layered construction methods to gradually build a sandbag structure that meets the design thickness and flatness requirements. It should be noted that this step introduces an optimization objective function and a real-time adjustment strategy in the mortar filling process to effectively reduce the problem of mortar accumulation or uneven distribution during the filling process.

[0082] It is understandable that dynamic layered filling construction requires not only the injection thickness and flow rate of the mortar to remain consistent, but also real-time optimization in combination with dynamic changes in the external environment (such as water flow disturbance). This step forms a closed-loop control system through real-time monitoring, mathematical models, and feedback regulation to ensure that the filling process has good adaptability and construction quality.

[0083] In the embodiment, the mortar is injected in a layered filling manner, that is, the mortar is injected into the sandbag layer by layer, and the thickness of the mortar injected each time is controlled to be 20cm to 30cm. After completing one layer of construction, the vehicle is moved to the next construction area to carry out the next layer of construction. It should be noted that this layered construction method can effectively reduce the accumulation of mortar inside the bag body, thereby avoiding deformation or damage caused by excessive local force on the bag body.

[0084] As an option, in low-lying areas or areas with large slopes, the thickness of the mortar injected in a single injection can be appropriately reduced to improve the control accuracy of the filling process. For example, for areas with a slope greater than 10°, the thickness of the single injection can be controlled within 15 cm to prevent the mortar from gathering in the low-lying areas due to gravity.

[0085] Specifically, during the filling process, the cuffs of each compartment are opened one by one in a preset order, and the injection flow of the mortar is monitored in real time through the cuff flow sensor, and the opening size of each cuff is adjusted according to the real-time data to ensure that the mortar in each compartment is evenly distributed. It should be noted that the opening order of the cuffs is determined by the compartment layout of the sandbag and the terrain characteristics of the construction area. For example, in a low-lying area, the cuffs close to the low-lying area are opened first to achieve priority filling of the mortar.

[0086] In order to ensure the accuracy of the filling process, the present invention introduces a real-time monitoring and dynamic control mechanism in the filling construction. In this embodiment, the real-time monitoring system includes a cuff flow sensor, a pressure sensor and an underwater laser scanner, which are used to collect real-time data of mortar flow, internal pressure of the bag body and surface morphology of the sandbag.

[0087] Specifically, the cuff flow sensor is installed at the entrance of each cuff to measure the instantaneous flow of mortar through the cuff. The pressure sensor is distributed in each compartment of the bag body to monitor the local pressure changes during the mortar filling process. The underwater laser scanner obtains the height distribution data of the sandbag through a three-dimensional scan of the bag surface morphology and generates a real-time height distribution map of the construction area.

[0088] As a possible implementation method, real-time monitoring data is transmitted to the optimization control system via wireless signals. The optimization control system combines the terrain model and mortar flow model of the construction area to calculate the optimal flow distribution plan for each cuff, and realizes dynamic adjustment by adjusting the cuff opening.

[0089] It should be noted that the core of the optimization control system is the optimization objective function based on minimizing the height gradient, which is described as follows:

[0090] in, is the height distribution of the sandbag surface, is the height gradient of the bag surface. By minimizing the optimization objective function, the flatness of the sand bag surface can be achieved.

[0091] In this embodiment, in order to further improve the adaptability of the filling construction, the present invention introduces a dynamic adjustment strategy, that is, dynamically adjusting the cuff flow distribution and the filling sequence according to the real-time monitoring data during the construction process.

[0092] As an implementation method, the dynamic adjustment of the cuff flow is described by the following formula:

[0093] in, For the Cuffs at a time of traffic, is the adjustment coefficient (learning rate), which is used to control the adjustment amplitude. To optimize the gradient of the objective function with respect to the cuff flow rate.

[0094] It can be understood that, through the above dynamic adjustment formula, the optimization control system can adjust the cuff flow according to the real-time height distribution data, thereby achieving dynamic optimization of the filling construction.

[0095] In one possible implementation, when the height of a local area is detected to exceed the design requirements, the optimization control system will reduce the flow of the corresponding cuff, or temporarily close the cuff to reduce further accumulation of mortar. On the contrary, for a local concave area, the system will increase the flow of the corresponding cuff and give priority to mortar filling.

[0096] During the construction process, the external environment (such as water flow speed and wind and wave strength) may affect the filling process. In this embodiment, by real-time monitoring of external environmental parameters (such as water flow speed and direction), combined with the flow and pressure data inside the sandbag, the optimization control system can dynamically adjust the filling strategy to adapt to the complex environment.

[0097] As an extension, in construction areas with high water flow rates, the filling process can be accelerated by increasing the cuff flow rate, thereby reducing the loss of mortar caused by external water flow disturbance. It should be noted that when the water flow rate exceeds 2 m / s, the flow stabilization device can be used to further reduce external interference to ensure the filling quality.

[0098] Through the layered filling method and real-time monitoring and control mechanism, the present invention can achieve the uniformity of mortar distribution inside the sandbag and the optimization of surface flatness in a complex construction environment. Those skilled in the art can reproduce the technical solution of this embodiment based on the above disclosure and in combination with actual construction requirements, and ensure that the construction effect meets the design requirements.

[0099] Step S5 further includes the following steps: Use underwater laser scanners to measure the surface morphology of sandbags and generate surface height distribution maps; Reactivate the cuffs for additional filling in localized depressed areas; The local accumulation area can be corrected by manual adjustment or bag flattening.

[0100] Specifically, the flatness detection and correction after construction is an important finishing step of the method of the present invention. Its main goal is to obtain the actual distribution of the surface morphology of the sandbag through high-precision detection equipment, and make supplementary adjustments to the local uneven areas in combination with the design requirements before construction to ensure that the flatness of the overall shape of the sandbag meets the design standards. Specifically, this step relies on the cooperation of underwater laser scanners, sonar equipment and sandbag morphology analysis models to achieve accurate measurement of the sandbag surface morphology and dynamic correction of concave and convex areas.

[0101] It should be noted that this step not only solves the problem of uneven sandbag surface caused by external environment or uneven mortar distribution during construction, but also improves the controllability of the construction process and the final construction quality through intelligent detection and adjustment process. The post-construction flatness correction step complements the previous layout and filling process, forming a complete construction control system.

[0102] In this embodiment, the flatness detection of the sandbag surface mainly relies on the underwater laser scanner and sonar equipment to perform morphological measurement, and the deviation of the height distribution of the sandbag surface is analyzed in combination with the three-dimensional terrain model.

[0103] As an implementation method, underwater laser scanners are used to scan the surface of sandbags in real time and collect three-dimensional morphological data of the sandbag surface, with an accuracy usually better than 5 mm. Sonar equipment uses ultrasonic waves to measure the underwater morphology and can obtain the height distribution of the bag surface over a large range. It should be noted that the measurement results of the laser scanner and sonar equipment are integrated through data fusion technology to generate a higher-precision three-dimensional sandbag surface model.

[0104] Specifically, the flatness is evaluated based on the standard deviation of the surface height, using the following formula:

[0105] in, is the standard deviation of the surface height, For the The height of the measuring point, is the average surface height, is the total number of measurement points.

[0106] It is understandable that when When the flatness is lower than the preset flatness threshold (e.g. 10 mm), the sandbag surface is considered to meet the design flatness requirements. Otherwise, the correction process is required.

[0107] As an option, if the construction area is large, the sandbag surface can be gradually inspected in a partitioned manner. For example, a local area of ​​20 square meters can be inspected each time, and a three-dimensional morphological distribution map of the entire construction area can be generated by scanning and integrating each area.

[0108] In a possible implementation, the detected concave-convex area can be supplemented and filled by reactivating the cuff or the shape can be adjusted manually or mechanically.

[0109] Specifically, for the sunken area, it is preferred to reactivate the cuff to supplement the mortar filling. In this embodiment, the volume of the supplementary mortar filling is calculated according to the height deviation of the sunken area, and the formula is as follows:

[0110] in, is the volume of mortar that needs to be replenished, is the design height, is the actual height of the sandbag surface, is the area range of the concave area.

[0111] It should be noted that when supplementing and filling, the cuffs close to the recessed area can be activated first, and the mortar flow rate can be controlled within 10L / min to 15L / min to prevent local accumulation due to excessive supplementation.

[0112] For the stacking area (i.e. the area whose height exceeds the design requirements), manual adjustment or mechanical flattening can be used for correction. In one possible implementation, the construction personnel use underwater operating equipment to locally compact the stacking area, or use a special underwater flattening machine to flatten the surface of the bag as a whole. For example, the working pressure of the flattening machine can be set to 500Pa~1000Pa to ensure the flatness of the bag after the shape is adjusted.

[0113] During the calibration process, the underwater laser scanner monitors the height change of the bag surface in real time, forming a dynamic closed-loop calibration process. In this embodiment, the real-time monitoring data is transmitted to the control system, and the adjustment effect of the concave-convex area is evaluated in real time in combination with the calibration model.

[0114] Specifically, the correction model takes minimizing the sum of squares of the height gradient of the bag surface after adjustment as the optimization objective.

[0115] It can be understood that by optimizing the real-time calculation of the objective function, the control system is able to dynamically adjust the flow rate of the supplementary filling or the working pressure of the flattening machinery, thereby improving the accuracy and efficiency of the correction process.

[0116] In some embodiments, in order to adapt to complex environments (such as strong water flow or wind and wave influence), the present invention introduces an environmental adaptability adjustment mechanism in the calibration process. For example, when the external water flow velocity is high, the interference to the calibration operation can be reduced by increasing the range of the flow stabilization device. In addition, for calibration operations in deeper waters, the working range of the underwater laser scanner can be increased and the data transmission rate can be optimized to ensure the effectiveness of real-time monitoring.

[0117] After the calibration is completed, the flatness test is performed again to verify whether the sandbag surface meets the design requirements. In this embodiment, if the flatness standard deviation of the final test result is less than 10 mm, it is considered that the construction result meets the design requirements; otherwise, the area with a large deviation needs to be recalibrated.

[0118] It can be understood that, through multiple iterative detection and correction operations, the present invention can effectively achieve high flatness of the sandbag surface in a complex environment, providing high-quality basic conditions for subsequent projects (such as dam construction or breakwater laying).

[0119] This step forms a complete process from flatness detection to correction through high-precision detection equipment, mathematical models and intelligent control systems. Those skilled in the art can reproduce the technical solution of this embodiment based on the above disclosure and in combination with specific construction conditions to ensure that the flatness of the sandbag surface after construction meets the design requirements and improve the overall construction quality and efficiency.

[0120] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A method for improving the flatness of sand blanket laid by a laying ship in a complex environment, characterized in that: The following steps are involved: S1. Sandbag production and structural design: Multi-compartment sandbags are produced. The compartments are separated by flexible membranes. Each compartment is independently connected to a cuff, which is used to control the flow of mortar. The specifications, dimensions, compartment layout and number of cuffs of the sandbags are determined according to the design requirements of the construction area to ensure that the sandbags can adapt to the terrain of the construction area and achieve uniform filling; S2. Topographic survey and modeling of the construction area: Use laser scanners or sonar equipment to conduct underwater topographic surveys of the construction area to obtain three-dimensional topographic data of the construction area, and input the survey data into the construction simulation system to mark low-lying areas, slope changes and special construction areas, generate a three-dimensional construction model, and build a mortar flow model in combination with sandbag design parameters to predict the filling trend and bag shape changes during the construction process; S3. Sandbag laying and positioning of laying vessel: Move the laying vessel to the construction area, position it through high-precision GPS and multi-point anchoring system, and then slowly lower the sandbags using the reel device, control the lowering speed and position of the sandbags, so that the sandbags gradually fit the terrain of the construction area. Finally, during the bag laying process, use the flow stabilizing device to reduce the impact of water flow and wind and waves on the sandbags, and avoid the bag from deflecting, twisting or wrinkling; S4. Dynamic layered filling: According to the terrain features marked in the construction model, mortar is injected into low-lying areas first. The cuff is connected through a sand delivery pipe to control the filling order of the mortar in the bag. The thickness of each mortar injection is controlled at 20cm to 30cm. After completing one layer of construction, the mobile vehicle continues the sand bag construction of the next section. Finally, during the filling process, the cuff flow sensor collects flow data in real time, combined with the bag surface morphology data measured by the underwater laser scanner, and the cuff flow distribution is dynamically adjusted to ensure that each interlayer of mortar is evenly distributed; S5. Flatness correction after construction: After the construction is completed, use an underwater laser scanner to perform three-dimensional measurement of the sandbag surface morphology to generate a sandbag surface height distribution map, and then activate the cuffs for supplementary filling in the local concave areas. Finally, the local accumulation areas are corrected through manual adjustment or mechanical flattening until the bag surface height meets the design requirements.

2. A method for improving the flatness of sand blankets laid by laying vessels in complex environments according to claim 1, characterized in that: In the step S1, the gridded spacer design is separated by a flexible diaphragm; The flexible membrane is connected to the cuff, and the flow rate of the cuff is dynamically controlled to achieve uniform distribution of the mortar inside the sandbag during the layer-by-layer filling process.

3. The method for improving the flatness of sand blanket laid by laying ship in complex environment according to claim 1 is characterized in that: The S2 step further comprises the following steps: (1) Use laser scanning equipment and sonar measurement equipment to obtain the underwater three-dimensional terrain model of the construction area; (2) Based on the three-dimensional terrain model and combined with the sandbag design parameters, a mathematical model of mortar flow and a mathematical model of bag deformation were established to predict the state and morphological changes of the sandbags during the filling process.

4. The method for improving the flatness of sand blanket laid by laying ship in complex environment according to claim 1 is characterized in that: The S3 step further includes the following steps: (1) Use high-precision GPS combined with the anchoring device of the laying ship for precise positioning; (2) Control the lowering rate of the sandbags through the reel equipment of the laying ship so that the bag body fits the terrain model; (3) Use flow stabilization devices to reduce the impact of water flow and wind and waves on the positioning of the bag body, ensuring that the bag body does not deviate or twist during deployment.

5. The method for improving the flatness of sand blanket laid by laying ship in complex environment according to claim 1 is characterized in that: In the step S3, the laying vessel adapts to the complex environment through the flow stabilization device and the ballast water adjustment system to ensure the stability and accuracy of the bag placement and filling.

6. The method for improving the flatness of sand blanket laid by laying ship in complex environment according to claim 1 is characterized in that: The S4 step further comprises the following steps: (1) Prioritize filling in low-lying areas planned according to the three-dimensional terrain model, and control the thickness of each layer of mortar to 20 cm to 30 cm; (2) During the filling process, the cuff flow sensor collects flow data in real time and adjusts the filling strategy based on the bag surface morphology monitoring data; (3) The optimization control formula is: in, For the Cuffs at a time of traffic, is the learning rate, To optimize the gradient of the objective function with respect to the cuff flow rate.

7. A method for improving the flatness of sand blankets laid by laying vessels in complex environments according to claim 6, characterized in that: The optimization objective function takes the sum of squares of the height gradient of the bag surface as the target, which is described as: in, is the height distribution of the sandbag surface, is the height gradient of the bag surface.

8. The method for improving the flatness of sand blanket laid by laying ship in complex environment according to claim 1 is characterized in that: In the step S4, real-time monitoring includes: (1) Collect flow data through the cuff flow sensor and calculate the pressure distribution inside the bag with the pressure sensor; (2) Use an underwater laser scanner to monitor the surface morphology of the bag in real time, and feed the measurement data back to the optimization control system for dynamic adjustment of the filling strategy.

9. The method for improving the flatness of sand blanket laid by laying ship in complex environment according to claim 1, characterized in that: In the step S4, the real-time collected data is combined with the dynamic control mechanism to form a closed-loop control process of monitoring, calculation and feedback, so as to ensure the uniformity of mortar distribution during the construction process and the flatness of the final shape of the bag.

10. The method for improving the flatness of sand blanket laid by a laying ship in a complex environment according to claim 1, characterized in that: The step S5 further comprises the following steps: Use underwater laser scanners to measure the surface morphology of sandbags and generate surface height distribution maps; Reactivate the cuff for additional filling in localized depressed areas; The local accumulation area can be corrected by manual adjustment or bag flattening.

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