Underwater foundation bed throwing, tamping, leveling and monitoring integrated device and method

Abstract

The invention discloses an underwater foundation bed throwing, tamping, leveling and monitoring integrated device and method, and relates to the technical field of underwater foundation bed throwing, tamping, leveling and monitoring integration.The underwater foundation bed throwing, tamping, leveling and monitoring integrated device comprises a data acquisition equipment array module, an underwater foundation bed data processing module, a throwing, tamping and leveling parameter evaluation module and a throwing, tamping, leveling, monitoring and alarming module, the data acquisition equipment array module is used for acquiring riprap data and multi-dimensional data of an underwater foundation bed through deployed various types of data acquisition equipment, and the data acquisition equipment comprises a multi-beam depth finder, a laser displacement sensor, a submersible drilling machine, a weighing sensor and a measuring cylinder. According to the device, the multi-beam sounding technology and the sensor technology are combined with the modern information technology, riprap data and multi-dimensional data of the underwater foundation bed are accurately captured, and the problem that monitoring data are not comprehensive in the throwing, tamping and leveling process of the underwater foundation bed in a fishing port area is solved.

Description

Technical Field

[0001] The invention relates to the technical field of underwater foundation bed tamping, leveling and monitoring integration, and in particular to an underwater foundation bed tamping, leveling and monitoring integration device and method. Background Art

[0002] In the field of marine engineering construction, the ramming, leveling and monitoring of underwater foundations are extremely important. The natural conditions in the sea area are complex. Affected by the tropical marine monsoon climate, it is often attacked by typhoons. At the same time, there are many fishing boats in the port and the construction area is narrow. These factors make the construction of underwater foundations extremely difficult. Under traditional construction methods, it is difficult to position the riprap, it is difficult to accurately control the ramming construction, it is difficult to ensure the leveling accuracy, and the various processes are not connected smoothly, which is prone to problems such as siltation and displacement, seriously affecting the quality and progress of the project. The lack of effective integrated devices and methods makes it difficult to monitor the status of the foundation in real time during the construction process, and it is impossible to Adjust the construction parameters in time. Therefore, an underwater base bed raking, tamping, leveling and monitoring integrated device and method are urgently needed to improve construction efficiency and quality and ensure project safety. By integrating advanced positioning systems, automatic control systems and high-precision monitoring equipment, accurate coordination of raking, tamping and leveling operations can be achieved. GPS positioning technology is used to ensure accurate positioning of the raking ship, and an automatic rammer control device is used to ensure uniform and stable tamping energy. High-precision underwater topographic measurement equipment is used to monitor the flatness and slope changes of the base bed in real time. An underwater base bed raking, tamping, leveling and monitoring integrated device and method came into being. Although the existing integrated devices and methods for underwater base bed tamping, leveling and monitoring have made great progress, there are still some problems that need to be optimized. During the underwater base bed tamping and leveling process in the fishing port area, there is a problem of incomplete monitoring data. The conventional integrated devices for underwater base bed tamping, leveling and monitoring cannot combine multiple monitoring parameters to achieve multi-parameter monitoring of the overall state of the base bed, which affects the effect of the underwater base bed tamping and leveling. Summary of the invention

[0003] The purpose of the present invention is to provide an integrated device and method for underwater bed tamping, leveling and monitoring to solve the problems raised in the above-mentioned background technology.

[0004] In order to solve the above technical problems, the technical solution adopted by the present invention is: in the first aspect, an underwater bed tamping and leveling and monitoring integrated device comprises a data acquisition device array module, an underwater bed data processing module, a tamping and leveling parameter evaluation module and a tamping and leveling monitoring and alarm module, wherein each module is connected in communication; The data acquisition device array module collects riprap data and multi-dimensional data of the underwater bed through various types of deployed data acquisition devices, wherein the data acquisition devices include multi-beam depth sounders, laser displacement sensors, submersible drilling rigs, weighing sensors and measuring cylinders, providing data support for subsequent calculation of monitoring parameters; The underwater bed data processing module is divided into a parameter calculation unit, a state evaluation unit and a state monitoring model unit, wherein the parameter calculation unit is used to pre-process the collected data to reduce the monitoring error, and then calculate the flatness of the underwater bed, the settlement of the underwater bed and the density of the riprap, and use the flatness of the underwater bed, the settlement of the underwater bed and the density of the riprap as monitoring parameters to monitor the state of the underwater bed; the state evaluation unit is used to divide the overall state of the underwater bed according to the flatness of the underwater bed, the settlement of the underwater bed and the density of the riprap; the state monitoring model unit uses a random forest algorithm to construct an underwater bed state monitoring model; The ramming and leveling parameter evaluation module, combined with the underwater bed status monitoring model, analyzes the riprap data and the multi-dimensional data of the underwater bed, evaluates the underwater bed status, and transmits the evaluation results to the ramming and leveling monitoring and alarm module to realize the monitoring of the underwater bed, thus providing a guarantee for subsequent early warning. The tamping and leveling monitoring and alarm module receives the evaluation result and takes corresponding measures to deal with it.

[0005] A further improvement of the technical solution of the present invention is that: the data acquisition device array module includes an underwater bed unit and a riprap data unit; Among them, the underwater base bed unit uses a multi-beam depth sounder to measure the water depth data of the underground base bed; uses a laser displacement sensor to detect the vertical displacement data of the underwater base bed; the riprap data unit uses a submersible drilling rig to collect riprap samples in the underwater base bed, and collects the dry weight and volume of the riprap samples through a weighing sensor and a measuring cylinder respectively.

[0006] A further improvement of the technical solution of the present invention is that: in the underwater bed unit, the process of collecting the water depth data and vertical displacement data of the underwater bed includes: The multi-beam echo sounder transmits beams underwater, receives signals reflected from the underwater bed, and obtains the underwater bed depth data based on the beam movement speed and movement time; Using a laser displacement sensor, the laser displacer emits a laser beam, which is irradiated onto the target point of the underwater base bed to form a light spot. The light spot reflects the laser light, and the laser sensor receives the reflected laser light and records the initial vertical displacement data of the underwater base bed. When the underwater base bed undergoes vertical displacement, the light spot moves. Based on the principle of triangulation, the actual vertical displacement data of the underwater base bed is obtained in real time.

[0007] A further improvement of the technical solution of the present invention is that the collection process of the dry weight and volume of the riprap data unit includes: Drilling holes in the riprap area to collect samples using a submersible drill. The drill bit of the submersible drill penetrates into the riprap layer to cut and remove the riprap, and the removed riprap is used as a riprap sample. Dry the collected riprap samples to a constant weight to obtain the dry weight of the riprap samples; Fill a measuring cylinder with water, tie the dried riprap sample with a thin line, and put it into the measuring cylinder filled with water. Collect the volume of water overflowing from the measuring cylinder to obtain the volume of the riprap sample.

[0008] A further improvement of the technical solution of the present invention is that the parameter calculation unit pre-processes the collected data and calculates the process of the underwater base bed flatness, underwater base bed settlement and riprap density, including: A1. Preprocess the collected riprap data and multi-dimensional data of underwater bed, including data cleaning and normalization operations; A2. Divide the underwater bed surface into m grid cells, set each grid to have n underwater bed depth data points, and calculate the average water depth in the grid cell as follows: in, is the average water depth in the grid cell, is the underwater bed depth data within the grid cell, is the number of underwater bed depth data points, and the average water depth in m grid cells of the underwater bed is obtained. , , ..., ; According to the average water depth in m grid cells of the underwater bed, the process of calculating the flatness of the underwater bed in combination with the formula includes: in, is the flatness of the underwater bed. is the average water depth difference between grid cells, and is the average water depth in the grid cell of the underwater bed, is the number of grid cells; A3. The process of calculating the underwater bed settlement using the underwater bed vertical displacement data includes: in, is the underwater bed settlement, is the initial vertical displacement data of the underwater bed, It is the actual vertical displacement data of the underwater bed; A4. Using the riprap data, the process of calculating the riprap density is as follows: in, is the specific gravity of riprap particles, is the density of riprap particles, is the density of water, is the density of riprap, G is the dry weight of the riprap sample, and V is the volume of the riprap sample.

[0009] A further improvement of the technical solution of the present invention is that the process of the state evaluation unit dividing the overall state of the underwater bed according to the flatness of the underwater bed, the settlement of the underwater bed and the density of the riprap includes: The overall status of the underwater bed is divided into good status, warning status and dangerous status; Among them, when the flatness of the underwater subgrade is set to be less than 0.3, the settlement of the underwater subgrade is less than 5 mm, and the density of the riprap reaches 90%, when the actual underwater subgrade parameters meet the above set conditions, the underwater subgrade is in good condition; When the flatness of the underwater bed is set between 0.3 and 0.7, the settlement of the underwater bed is between 5 mm and 15 mm, and the density of the riprap is greater than 80%, the underwater bed is in a warning state; When the flatness of the underwater base bed is set to be greater than 0.7, the settlement of the underwater base bed exceeds 15 mm, and the density of the riprap is less than 80%, the underwater base bed is in a dangerous state when the actual underwater base bed parameters meet any of the above set conditions.

[0010] A further improvement of the technical solution of the present invention is that the process of constructing an underwater bed condition monitoring model by using a random forest algorithm in the condition monitoring model unit includes: B1. The underwater bed flatness, underwater bed settlement, riprap density and the corresponding underwater bed overall state are taken as data sets, and divided into training set and validation set in a ratio of 7:3, and the parameters of the random forest model are determined; B2. Use the training set data to train the random forest model. The random forest model learns the relationship between the flatness of the underwater bed, the settlement of the underwater bed, the density of riprap and the overall state of the underwater bed. When the actual underwater bed parameters meet the requirements that the flatness of the underwater bed is less than 0.3, the settlement of the underwater bed is less than 5mm, and the density of riprap reaches 90%, the random forest model outputs that the underwater bed is in good condition. B3. When the actual underwater bed parameters meet the requirements that the flatness of the underwater bed is between 0.3 and 0.7, the settlement of the underwater bed is between 5 mm and 15 mm, and the density of riprap is greater than 80%, the random forest model outputs that the underwater bed is in a warning state; B4. When the actual underwater bed parameters meet any of the following conditions: the underwater bed flatness is greater than 0.7, the underwater bed settlement exceeds 15 mm, and the riprap density is less than 80%, the random forest model outputs that the underwater bed is in a dangerous state; B5. Use the validation set to validate the trained random forest model, evaluate the performance indicators of the random forest model on the training set, adjust the parameters of the random forest model based on the validation results, and optimize the random forest model configuration; B6. Deploy the random forest model to the underwater bed tamping and leveling and monitoring integrated device to obtain the underwater bed status monitoring model.

[0011] A further improvement of the technical solution of the present invention is that the ramming and leveling parameter evaluation module, in combination with the underwater bed state monitoring model, analyzes the riprap data and the multi-dimensional data of the underwater bed, evaluates the underwater bed state, and transmits the evaluation result to the ramming and leveling monitoring and alarm module. The process includes: C1. Combined with the underwater bed condition monitoring model, the riprap data and the multi-dimensional data of the underwater bed are analyzed. When the actual underwater bed parameters meet the requirements that the underwater bed flatness is less than 0.3, the underwater bed settlement is less than 5mm, and the riprap density reaches 90%, the underwater bed is in good condition. C2. When the actual underwater bed parameters meet the requirements that the flatness of the underwater bed is between 0.3 and 0.7, the settlement of the underwater bed is between 5 mm and 15 mm, and the density of riprap is greater than 80%, the underwater bed is in a warning state; C3. When the actual underwater bed parameters meet any of the following conditions: the underwater bed flatness is greater than 0.7, the underwater bed settlement exceeds 15 mm, and the riprap density is less than 80%, the underwater bed is in a dangerous state; C4. Wirelessly transmit the underwater bed status assessment results to the tamping and leveling monitoring and alarm module.

[0012] A further improvement of the technical solution of the present invention is that the process of the tamping and leveling monitoring and alarm module receiving the evaluation result and taking corresponding measures to deal with it includes: S1, receiving the underwater bed state assessment result of the tamping and leveling parameter assessment module; S2. When the underwater bed is in good condition, the flatness, settlement and density of the underwater bed are continuously monitored, and the integrated device for tamping, leveling and monitoring of the underwater bed is used in the subsequent operation according to the established plan; S3. When the underwater foundation is in the early warning state, the monitoring frequency of the underwater foundation flatness, underwater foundation settlement and riprap density is increased, and an alarm signal of the underwater foundation being in the early warning state is issued to notify the technical personnel. For areas with abnormal underwater foundation flatness, underwater concrete is used for repair; for areas with abnormal underwater foundation settlement, grouting reinforcement methods are used to improve the bearing capacity of the foundation according to the foundation soil conditions; for areas with abnormal riprap density, riprap and compaction work are carried out; S4. When the underwater base bed is in a dangerous state, the flatness, settlement and density of the underwater base bed are monitored in real time. The damage of the underwater base bed is observed by underwater video equipment, and an alarm signal indicating that the underwater base bed is in a dangerous state is issued to notify the technical personnel to immediately stop the use of the integrated device for tamping, leveling and monitoring the underwater base bed, evacuate the on-site personnel, formulate an emergency rescue plan, and carry out large-scale leveling work in areas with abnormal flatness of the underwater base bed; use temporary support piles in areas with abnormal settlement of the underwater base bed to prevent further settlement of the underwater base bed; carry out comprehensive riprap supplementation and reinforcement work in areas with abnormal riprap density; In the second aspect, the method for integrating underwater bed tamping, leveling and monitoring is used to realize the above-mentioned device for integrating underwater bed tamping, leveling and monitoring, and is composed of the following steps: Step 1: Use a multi-beam depth sounder to measure the water depth data of the underground foundation; use a laser displacement sensor to detect the vertical displacement data of the underwater foundation; use a submersible drilling rig to collect riprap samples from the underwater foundation, and use a weighing sensor and a measuring cylinder to collect the dry weight and volume of the riprap samples; Step 2: pre-process the collected data and calculate the flatness of the underwater base bed, the settlement of the underwater base bed and the density of the riprap; Step 3: Classify the overall state of the underwater bed according to the flatness of the underwater bed, the settlement of the underwater bed and the density of the riprap; Step 4: Use the random forest algorithm to build an underwater bed condition monitoring model; Step 5: Combine the underwater bed status monitoring model, analyze the riprap data and the multi-dimensional data of the underwater bed, evaluate the underwater bed status, and transmit the evaluation results to the ramming and leveling monitoring and alarm module; Step six, receiving the underwater base bed status assessment result of the ramming and leveling parameter assessment module; when the underwater base bed is in good condition, continuously monitoring the underwater base bed flatness, underwater base bed settlement and riprap density, and using the subsequent underwater base bed ramming and leveling and monitoring integrated device according to the original plan; when the underwater base bed is in a warning state, increasing the monitoring frequency of the underwater base bed flatness, underwater base bed settlement and riprap density, and issuing an alarm signal that the underwater base bed is in a warning state; when the underwater base bed is in a dangerous state, real-time monitoring of the underwater base bed flatness, underwater base bed settlement and riprap density is carried out, using underwater video equipment to observe the damage of the underwater base bed, and issuing an alarm signal that the underwater base bed is in a dangerous state.

[0013] Due to the adoption of the above technical scheme, the technical progress achieved by the present invention compared with the prior art is: an integrated device and method for underwater base bed tamping, leveling and monitoring. The multi-beam bathymetric technology and sensor technology in the device of the present invention are closely combined with modern information technology to accurately capture the riprap data and multi-dimensional data of the underwater base bed, specifically the dry weight and volume of the riprap samples and the water depth data and vertical displacement data of the underground base bed. The flatness of the underwater base bed, the settlement of the underwater base bed and the density of riprap are obtained through calculation, and a comprehensive monitoring of the underwater base bed tamping, leveling process and the status of the underwater base bed is achieved. Through the random forest algorithm, an underwater base bed status monitoring model is constructed to obtain the underwater base bed flatness, underwater base bed settlement and riprap density. The relationship model between the amount of reduction and the density of riprap and the overall state of the underwater base bed solves the problem of incomplete monitoring data during the underwater base bed tamping and leveling process in the fishing port area. The conventional underwater base bed tamping and leveling and monitoring integrated device cannot combine multiple monitoring parameters to achieve multi-parameter monitoring of the overall state of the base bed, affecting the effect of underwater base bed tamping and leveling. It ensures that the method in the present invention can refine the dynamic monitoring standard of the underwater base bed tamping and leveling and monitoring integrated device within a more precise range, so that the monitored data becomes a more accurate indicator under the same conditions. The development and application of this method have significantly enhanced the degree of intelligence in the process of underwater base bed tamping and leveling and monitoring integration. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present invention. For ordinary technicians in this field, other drawings can also be obtained based on these drawings.

[0015] Figure 1 It is a block diagram of the underwater bed tamping, leveling and monitoring integrated device of the present invention; Figure 2 The present invention is a flow chart of the method for integrating tamping, leveling and monitoring of underwater base bed. DETAILED DESCRIPTION

[0016] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are 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.

[0017] Embodiment 1, as Figure 1As shown, the present invention provides a measurement and adjustment system for an impedance-type pressure regulating well, including a data acquisition device array module, an underwater bed data processing module, a ramming and leveling parameter evaluation module, and a ramming and leveling monitoring and alarm module, wherein each module is connected in communication; The data acquisition equipment array module collects riprap data and multi-dimensional data of the underwater bed through the deployment of various types of data acquisition equipment. The data acquisition equipment includes multi-beam depth sounder, laser displacement sensor, submersible drilling rig, weighing sensor and measuring cylinder, which provide data support for the subsequent calculation of monitoring parameters; The underwater bed data processing module is divided into a parameter calculation unit, a state evaluation unit and a state monitoring model unit, wherein the parameter calculation unit is used to pre-process the collected data to reduce the monitoring error, and then calculate the flatness of the underwater bed, the settlement of the underwater bed and the density of the riprap, and use the flatness of the underwater bed, the settlement of the underwater bed and the density of the riprap as monitoring parameters to monitor the state of the underwater bed; the state evaluation unit is used to divide the overall state of the underwater bed according to the flatness of the underwater bed, the settlement of the underwater bed and the density of the riprap; the state monitoring model unit uses the random forest algorithm to construct an underwater bed state monitoring model; The ramming and leveling parameter evaluation module, combined with the underwater bed status monitoring model, analyzes the riprap data and the multi-dimensional data of the underwater bed, evaluates the underwater bed status, and transmits the evaluation results to the ramming and leveling monitoring and alarm module to monitor the underwater bed and provide a guarantee for subsequent early warning. The tamping and leveling monitoring and alarm module receives the evaluation results and takes corresponding measures.

[0018] The data acquisition equipment array module includes an underwater bed unit and a riprap data unit; Among them, the underwater base bed unit uses a multi-beam depth sounder to measure the water depth data of the underground base bed; uses a laser displacement sensor to detect the vertical displacement data of the underwater base bed; the riprap data unit uses a submersible drilling rig to collect riprap samples in the underwater base bed, and collects the dry weight and volume of the riprap samples through a weighing sensor and a measuring cylinder respectively.

[0019] In the underwater bed unit, the acquisition process of the underwater bed depth data and vertical displacement data includes: The multi-beam echo sounder transmits beams underwater, receives signals reflected from the underwater bed, and obtains the underwater bed depth data based on the beam movement speed and movement time; Using a laser displacement sensor, the laser displacer emits a laser beam, which is irradiated onto the target point of the underwater base bed to form a light spot. The light spot reflects the laser light, and the laser sensor receives the reflected laser light and records the initial vertical displacement data of the underwater base bed. When the underwater base bed undergoes vertical displacement, the light spot moves. Based on the principle of triangulation, the actual vertical displacement data of the underwater base bed is obtained in real time.

[0020] The process of collecting the dry weight and volume of the riprap data unit includes: Drilling holes in the riprap area to collect samples using a submersible drill. The drill bit of the submersible drill penetrates into the riprap layer to cut and remove the riprap, and the removed riprap is used as a riprap sample. Dry the collected riprap samples to a constant weight to obtain the dry weight of the riprap samples; Fill a measuring cylinder with water, tie the dried riprap sample with a thin line, and put it into the measuring cylinder filled with water. Collect the volume of water overflowing from the measuring cylinder to obtain the volume of the riprap sample.

[0021] The parameter calculation unit pre-processes the collected data and calculates the underwater base flatness, underwater base settlement and riprap density. The process includes: A1. Preprocess the collected riprap data and multi-dimensional data of underwater bed, including data cleaning and normalization operations; A2. Divide the underwater bed surface into m grid cells, set each grid to have n underwater bed depth data points, and calculate the average water depth in the grid cell as follows: in, is the average water depth in the grid cell, is the underwater bed depth data within the grid cell, is the number of underwater bed depth data points, and the average water depth in m grid cells of the underwater bed is obtained. , , ..., ; According to the average water depth in m grid cells of the underwater bed, the process of calculating the flatness of the underwater bed in combination with the formula includes: in, is the flatness of the underwater bed. is the average water depth difference between grid cells, and is the average water depth in the grid cell of the underwater bed, is the number of grid cells; A3. The process of calculating the underwater bed settlement using the underwater bed vertical displacement data includes: in, is the underwater bed settlement, is the initial vertical displacement data of the underwater bed, It is the actual vertical displacement data of the underwater bed; A4. Using the riprap data, the process of calculating the riprap density is as follows: in, is the specific gravity of riprap particles, is the density of riprap particles, is the density of water, is the density of riprap, G is the dry weight of the riprap sample, and V is the volume of the riprap sample.

[0022] The state assessment unit divides the overall state of the underwater bed according to the flatness, settlement and density of the underwater bed and includes: The overall status of the underwater bed is divided into good status, warning status and dangerous status; Among them, when the flatness of the underwater subgrade is set to be less than 0.3, the settlement of the underwater subgrade is less than 5 mm, and the density of the riprap reaches 90%, when the actual underwater subgrade parameters meet the above set conditions, the underwater subgrade is in good condition; When the flatness of the underwater bed is set between 0.3 and 0.7, the settlement of the underwater bed is between 5 mm and 15 mm, and the density of the riprap is greater than 80%, the underwater bed is in a warning state; When the flatness of the underwater base bed is set to be greater than 0.7, the settlement of the underwater base bed exceeds 15 mm, and the density of the riprap is less than 80%, the underwater base bed is in a dangerous state when the actual underwater base bed parameters meet any of the above set conditions.

[0023] The condition monitoring model unit uses the random forest algorithm to build an underwater bed condition monitoring model, which includes: B1. The underwater bed flatness, underwater bed settlement, riprap density and the corresponding underwater bed overall state are taken as data sets, and divided into training set and validation set in a ratio of 7:3, and the parameters of the random forest model are determined; B2. Use the training set data to train the random forest model. The random forest model learns the relationship between the flatness of the underwater bed, the settlement of the underwater bed, the density of riprap and the overall state of the underwater bed. When the actual underwater bed parameters meet the requirements that the flatness of the underwater bed is less than 0.3, the settlement of the underwater bed is less than 5mm, and the density of riprap reaches 90%, the random forest model outputs that the underwater bed is in good condition. B3. When the actual underwater bed parameters meet the requirements that the flatness of the underwater bed is between 0.3 and 0.7, the settlement of the underwater bed is between 5 mm and 15 mm, and the density of riprap is greater than 80%, the random forest model outputs that the underwater bed is in a warning state; B4. When the actual underwater bed parameters meet any of the following conditions: the underwater bed flatness is greater than 0.7, the underwater bed settlement exceeds 15 mm, and the riprap density is less than 80%, the random forest model outputs that the underwater bed is in a dangerous state; B5. Use the validation set to validate the trained random forest model, evaluate the performance indicators of the random forest model on the training set, adjust the parameters of the random forest model based on the validation results, and optimize the random forest model configuration; B6. Deploy the random forest model to the underwater bed tamping and leveling and monitoring integrated device to obtain the underwater bed status monitoring model.

[0024] The ramming and leveling parameter evaluation module, combined with the underwater bed condition monitoring model, analyzes the riprap data and the multi-dimensional data of the underwater bed, evaluates the underwater bed condition, and transmits the evaluation results to the ramming and leveling monitoring and alarm module. The process includes: C1. Combined with the underwater bed condition monitoring model, the riprap data and the multi-dimensional data of the underwater bed are analyzed. When the actual underwater bed parameters meet the requirements that the underwater bed flatness is less than 0.3, the underwater bed settlement is less than 5mm, and the riprap density reaches 90%, the underwater bed is in good condition. C2. When the actual underwater bed parameters meet the requirements that the flatness of the underwater bed is between 0.3 and 0.7, the settlement of the underwater bed is between 5 mm and 15 mm, and the density of riprap is greater than 80%, the underwater bed is in a warning state; C3. When the actual underwater bed parameters meet any of the following conditions: the underwater bed flatness is greater than 0.7, the underwater bed settlement exceeds 15 mm, and the riprap density is less than 80%, the underwater bed is in a dangerous state; C4. Wirelessly transmit the underwater bed status assessment results to the tamping and leveling monitoring and alarm module.

[0025] The process of receiving the evaluation results and taking corresponding measures to monitor and alarm the tamping and leveling module includes: S1, receiving the underwater bed state assessment result of the tamping and leveling parameter assessment module; S2. When the underwater bed is in good condition, the flatness, settlement and density of the underwater bed are continuously monitored, and the integrated device for tamping, leveling and monitoring of the underwater bed is used in the subsequent operation according to the established plan; S3. When the underwater foundation is in the early warning state, the monitoring frequency of the underwater foundation flatness, underwater foundation settlement and riprap density is increased, and an alarm signal of the underwater foundation being in the early warning state is issued to notify the technical personnel. For areas with abnormal underwater foundation flatness, underwater concrete is used for repair; for areas with abnormal underwater foundation settlement, grouting reinforcement methods are used to improve the bearing capacity of the foundation according to the foundation soil conditions; for areas with abnormal riprap density, riprap and compaction work are carried out; S4. When the underwater base bed is in a dangerous state, the flatness, settlement and density of the underwater base bed are monitored in real time. The damage of the underwater base bed is observed by underwater video equipment, and an alarm signal indicating that the underwater base bed is in a dangerous state is issued to notify the technical personnel to immediately stop the use of the integrated device for tamping, leveling and monitoring the underwater base bed, evacuate the on-site personnel, formulate an emergency rescue plan, and carry out large-scale leveling work in areas with abnormal flatness of the underwater base bed; use temporary support piles in areas with abnormal settlement of the underwater base bed to prevent further settlement of the underwater base bed; carry out comprehensive riprap supplementation and reinforcement work in areas with abnormal riprap density; Embodiment 2, as Figure 2 As shown, based on Example 1, the present invention provides a technical solution: an integrated method for underwater bed tamping, leveling and monitoring, which is used to implement the above-mentioned integrated device for underwater bed tamping, leveling and monitoring, and is composed of the following steps: Step 1: Use a multi-beam depth sounder to measure the water depth data of the underground foundation; use a laser displacement sensor to detect the vertical displacement data of the underwater foundation; use a submersible drilling rig to collect riprap samples from the underwater foundation, and use a weighing sensor and a measuring cylinder to collect the dry weight and volume of the riprap samples; Step 2: pre-process the collected data and calculate the flatness of the underwater base bed, the settlement of the underwater base bed and the density of the riprap; Step 3: Classify the overall state of the underwater bed according to the flatness of the underwater bed, the settlement of the underwater bed and the density of the riprap; Step 4: Use the random forest algorithm to build an underwater bed condition monitoring model; Step 5: Combine the underwater bed status monitoring model, analyze the riprap data and the multi-dimensional data of the underwater bed, evaluate the underwater bed status, and transmit the evaluation results to the ramming and leveling monitoring and alarm module; Step six, receiving the underwater base bed status assessment result of the ramming and leveling parameter assessment module; when the underwater base bed is in good condition, continuously monitoring the underwater base bed flatness, underwater base bed settlement and riprap density, and using the subsequent underwater base bed ramming and leveling and monitoring integrated device according to the original plan; when the underwater base bed is in a warning state, increasing the monitoring frequency of the underwater base bed flatness, underwater base bed settlement and riprap density, and issuing an alarm signal that the underwater base bed is in a warning state; when the underwater base bed is in a dangerous state, real-time monitoring of the underwater base bed flatness, underwater base bed settlement and riprap density is carried out, using underwater video equipment to observe the damage of the underwater base bed, and issuing an alarm signal that the underwater base bed is in a dangerous state.

[0026] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. An integrated underwater bed tamping and leveling and monitoring device, including a data acquisition device array module, an underwater bed data processing module, a tamping and leveling parameter evaluation module, and a tamping and leveling monitoring and alarm module, wherein: Each module is connected in communication, characterized by: The data acquisition device array module collects riprap data and multi-dimensional data of the underwater bed through various types of deployed data acquisition devices, wherein the data acquisition devices include multi-beam depth sounders, laser displacement sensors, submersible drilling rigs, weighing sensors and measuring cylinders; The underwater bed data processing module is divided into a parameter calculation unit, a state evaluation unit and a state monitoring model unit, wherein the parameter calculation unit is used to pre-process the collected data and calculate the flatness of the underwater bed, the settlement of the underwater bed and the density of the riprap; the state evaluation unit is used to divide the overall state of the underwater bed according to the flatness of the underwater bed, the settlement of the underwater bed and the density of the riprap; the state monitoring model unit uses a random forest algorithm to construct an underwater bed state monitoring model; The ramming and leveling parameter evaluation module, in combination with the underwater bed status monitoring model, analyzes the riprap data and the multi-dimensional data of the underwater bed, evaluates the underwater bed status, and transmits the evaluation results to the ramming and leveling monitoring and alarm module; The tamping and leveling monitoring and alarm module receives the evaluation result and takes corresponding measures to deal with it.

2. The underwater bed tamping and leveling and monitoring integrated device according to claim 1 is characterized in that: The data acquisition equipment array module includes an underwater bed unit and a riprap data unit; Among them, the underwater base bed unit uses a multi-beam depth sounder to measure the water depth data of the underground base bed; uses a laser displacement sensor to detect the vertical displacement data of the underwater base bed; the riprap data unit uses a submersible drilling rig to collect riprap samples in the underwater base bed, and collects the dry weight and volume of the riprap samples through a weighing sensor and a measuring cylinder respectively.

3. The underwater bed tamping and leveling and monitoring integrated device according to claim 2 is characterized in that: In the underwater bed unit, the process of collecting the underwater bed depth data and vertical displacement data includes: The multi-beam echo sounder transmits beams underwater, receives signals reflected from the underwater bed, and obtains the underwater bed depth data based on the beam movement speed and movement time; Using a laser displacement sensor, the laser displacer emits a laser beam, which is irradiated onto the target point of the underwater base bed to form a light spot. The light spot reflects the laser light, and the laser sensor receives the reflected laser light and records the initial vertical displacement data of the underwater base bed. When the underwater base bed undergoes vertical displacement, the light spot moves. Based on the principle of triangulation, the actual vertical displacement data of the underwater base bed is obtained in real time.

4. The underwater bed tamping and leveling and monitoring integrated device according to claim 3 is characterized by: The riprap data unit, the collection process of the dry weight and volume of the riprap sample includes: Drilling holes in the riprap area to collect samples using a submersible drill. The drill bit of the submersible drill penetrates into the riprap layer to cut and remove the riprap, and the removed riprap is used as a riprap sample. Dry the collected riprap samples to a constant weight to obtain the dry weight of the riprap samples; Fill a measuring cylinder with water, tie the dried riprap sample with a thin line, and put it into the measuring cylinder filled with water. Collect the volume of water overflowing from the measuring cylinder to obtain the volume of the riprap sample.

5. The underwater bed tamping and leveling and monitoring integrated device according to claim 4 is characterized in that: The parameter calculation unit pre-processes the collected data and calculates the underwater base bed flatness, underwater base bed settlement and riprap density, including: A1. Preprocess the collected riprap data and multi-dimensional data of underwater bed, including data cleaning and normalization operations; A2. Divide the underwater bed surface into m grid cells, set each grid to have n underwater bed depth data points, and calculate the average water depth in the grid cell as follows: in, is the average water depth in the grid cell, is the underwater bed depth data within the grid cell, is the number of underwater bed depth data points, and the average water depth in m grid cells of the underwater bed is obtained. , , ..., ; According to the average water depth in m grid cells of the underwater bed, the process of calculating the flatness of the underwater bed in combination with the formula includes: in, is the flatness of the underwater bed. is the average water depth difference between grid cells, and is the average water depth in the grid cell of the underwater bed, is the number of grid cells; A3. The process of calculating the underwater bed settlement using the underwater bed vertical displacement data includes: in, is the underwater bed settlement, is the initial vertical displacement data of the underwater bed, It is the actual vertical displacement data of the underwater bed; A4. Using the riprap data, the process of calculating the riprap density is as follows: in, is the specific gravity of riprap particles, is the density of riprap particles, is the density of water, is the density of riprap, G is the dry weight of the riprap sample, and V is the volume of the riprap sample.

6. The underwater bed tamping and leveling and monitoring integrated device according to claim 5 is characterized in that: The process of the state evaluation unit classifying the overall state of the underwater bed according to the flatness of the underwater bed, the settlement of the underwater bed and the density of the riprap includes: The overall status of the underwater bed is divided into good status, warning status and dangerous status; Among them, when the flatness of the underwater subgrade is set to be less than 0.3, the settlement of the underwater subgrade is less than 5 mm, and the density of the riprap reaches 90%, when the actual underwater subgrade parameters meet the above set conditions, the underwater subgrade is in good condition; When the flatness of the underwater bed is set between 0.3 and 0.7, the settlement of the underwater bed is between 5 mm and 15 mm, and the density of the riprap is greater than 80%, the underwater bed is in a warning state; When the flatness of the underwater base bed is set to be greater than 0.7, the settlement of the underwater base bed exceeds 15 mm, and the density of the riprap is less than 80%, the underwater base bed is in a dangerous state when the actual underwater base bed parameters meet any of the above set conditions.

7. The underwater bed tamping and leveling and monitoring integrated device according to claim 6 is characterized by: The process of constructing the underwater bed condition monitoring model by the condition monitoring model unit using the random forest algorithm includes: B1. The underwater bed flatness, underwater bed settlement, riprap density and the corresponding underwater bed overall state are taken as data sets, and divided into training set and validation set in a ratio of 7:3, and the parameters of the random forest model are determined; B2. Use the training set data to train the random forest model. The random forest model learns the relationship between the flatness of the underwater bed, the settlement of the underwater bed, the density of riprap and the overall state of the underwater bed. When the actual underwater bed parameters meet the requirements that the flatness of the underwater bed is less than 0.3, the settlement of the underwater bed is less than 5mm, and the density of riprap reaches 90%, the random forest model outputs that the underwater bed is in good condition. B3. When the actual underwater bed parameters meet the requirements that the flatness of the underwater bed is between 0.3 and 0.7, the settlement of the underwater bed is between 5 mm and 15 mm, and the density of riprap is greater than 80%, the random forest model outputs that the underwater bed is in a warning state; B4. When the actual underwater bed parameters meet any of the following conditions: the underwater bed flatness is greater than 0.7, the underwater bed settlement exceeds 15 mm, and the riprap density is less than 80%, the random forest model outputs that the underwater bed is in a dangerous state; B5. Use the validation set to validate the trained random forest model, evaluate the performance indicators of the random forest model on the training set, adjust the parameters of the random forest model based on the validation results, and optimize the random forest model configuration; B6. Deploy the random forest model to the underwater bed tamping and leveling and monitoring integrated device to obtain the underwater bed status monitoring model.

8. The underwater bed tamping and leveling and monitoring integrated device according to claim 7 is characterized in that: The process of the ramming and leveling parameter evaluation module, combining with the underwater bed status monitoring model, analyzing the riprap data and the multi-dimensional data of the underwater bed, evaluating the underwater bed status, and transmitting the evaluation results to the ramming and leveling monitoring and alarm module includes: C1. Combined with the underwater bed condition monitoring model, the riprap data and the multi-dimensional data of the underwater bed are analyzed. When the actual underwater bed parameters meet the requirements that the underwater bed flatness is less than 0.3, the underwater bed settlement is less than 5mm, and the riprap density reaches 90%, the underwater bed is in good condition. C2. When the actual underwater bed parameters meet the requirements that the flatness of the underwater bed is between 0.3 and 0.7, the settlement of the underwater bed is between 5 mm and 15 mm, and the density of riprap is greater than 80%, the underwater bed is in a warning state; C3. When the actual underwater bed parameters meet any of the following conditions: the underwater bed flatness is greater than 0.7, the underwater bed settlement exceeds 15 mm, and the riprap density is less than 80%, the underwater bed is in a dangerous state; C4. Wirelessly transmit the underwater bed status assessment results to the tamping and leveling monitoring and alarm module.

9. The underwater bed tamping and leveling and monitoring integrated device according to claim 8 is characterized in that: The process of the tamping and leveling monitoring and alarm module receiving the evaluation result and taking corresponding measures to deal with it includes: S1, receiving the underwater bed state assessment result of the tamping and leveling parameter assessment module; S2. When the underwater bed is in good condition, the flatness, settlement and density of the underwater bed are continuously monitored, and the integrated device for tamping, leveling and monitoring of the underwater bed is used in the subsequent operation according to the established plan; S3. When the underwater foundation bed is in a warning state, the monitoring frequency of the flatness of the underwater foundation bed, the settlement of the underwater foundation bed and the density of the riprap is increased, and an alarm signal indicating that the underwater foundation bed is in a warning state is issued; S4. When the underwater base bed is in a dangerous state, the flatness of the underwater base bed, the settlement of the underwater base bed and the density of the riprap are monitored in real time, the damage of the underwater base bed is observed using underwater video equipment, and an alarm signal that the underwater base bed is in a dangerous state is issued.

10. An integrated method for underwater bed leveling and monitoring is implemented based on the integrated device for underwater bed leveling and monitoring as described in any one of claims 1 to 9, characterized in that: It consists of the following steps: Step 1: Use a multi-beam depth sounder to measure the water depth data of the underground foundation; use a laser displacement sensor to detect the vertical displacement data of the underwater foundation; use a submersible drilling rig to collect riprap samples from the underwater foundation, and use a weighing sensor and a measuring cylinder to collect the dry weight and volume of the riprap samples; Step 2: pre-process the collected data and calculate the flatness of the underwater base bed, the settlement of the underwater base bed and the density of the riprap; Step 3: Classify the overall state of the underwater bed according to the flatness of the underwater bed, the settlement of the underwater bed and the density of the riprap; Step 4: Use the random forest algorithm to build an underwater bed condition monitoring model; Step 5: Combine the underwater bed status monitoring model, analyze the riprap data and the multi-dimensional data of the underwater bed, evaluate the underwater bed status, and transmit the evaluation results to the ramming and leveling monitoring and alarm module; Step six, receiving the underwater base bed status assessment result of the ramming and leveling parameter assessment module; when the underwater base bed is in good condition, continuously monitoring the underwater base bed flatness, underwater base bed settlement and riprap density, and using the subsequent underwater base bed ramming and leveling and monitoring integrated device according to the original plan; when the underwater base bed is in a warning state, increasing the monitoring frequency of the underwater base bed flatness, underwater base bed settlement and riprap density, and issuing an alarm signal that the underwater base bed is in a warning state; when the underwater base bed is in a dangerous state, real-time monitoring of the underwater base bed flatness, underwater base bed settlement and riprap density is carried out, using underwater video equipment to observe the damage of the underwater base bed, and issuing an alarm signal that the underwater base bed is in a dangerous state.

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