Underwater foundation bed leveling system

Abstract

The invention relates to the field of immersed tube underwater construction, in particular to an underwater foundation bed leveling system which comprises a transversely-moving material distribution cart arranged on a chassis frame, and a longitudinally-moving material distribution trolley arranged on the material distribution cart. The material distributing rod is fixed on the material distributing trolley; the first absolute value encoder is arranged on the cloth cart and used for collecting first position data of the cloth cart; the second absolute value encoder is arranged on the distribution trolley and used for collecting second position data of the distribution trolley; the main control system comprises a receiving module and a control module, the receiving module is in communication connection with the first absolute value encoder and the second absolute value encoder, and the receiving module is used for receiving the first position data and the second position data and sending the data to the control module; and the control module is in communication connection with the receiving module, the material distribution cart and the material distribution trolley, and the control module controls movement of the material distribution cart and the material distribution trolley according to the first position data and the second position data, so that the material distribution rod automatically performs foundation bed stone laying underwater.

Description

Technical Field

[0001] The invention relates to the technical field of underwater immersed tube construction, and in particular to an underwater bed leveling system. Background Art

[0002] Immersed tube construction is a common method for constructing tunnels or other structures underwater. During the construction of immersed tubes, the leveling of the underwater bed is a key step to ensure that the immersed tube can be stably and accurately placed in the predetermined position. The main purpose of underwater bed leveling is to provide a uniform and flat support surface for the immersed tube to ensure the stability and safety of the immersed tube. The leveling effect directly affects the installation accuracy, service life and overall project safety of the immersed tube. Therefore, underwater gravel bed leveling is an important technology in immersed tube construction.

[0003] At present, the main leveling equipment is divided into submersible underwater leveling machines, platform leveling boats (machines), floating leveling boats, etc. Platform leveling boats (machines) are usually large in size, with high manufacturing, transportation and maintenance costs, and the outriggers have strict requirements on the bottom foundation conditions during construction. In case of complex geology or uneven bottom surface, the stability of the outriggers is difficult to guarantee, which can easily affect the accuracy and efficiency of the leveling operation; floating leveling boats are severely restricted by the hydrological environment. The ups and downs of waves and frequent fluctuations in water levels will cause the hull to shake, making the positioning of the equipment and the control of the leveling accuracy during the construction process extremely challenging, increasing the difficulty and risk of construction, and it is difficult to meet the needs of high-precision construction.

[0004] The submersible underwater leveling machines currently used, such as the Chinese invention patent with publication number CN114991158A, disclose an underwater base bed leveling method, which firstly lays a leveling frame underwater, then transports the crushed stones to the leveling frame through a feeding funnel, and then dispatches divers to scrape the stones in the leveling frame with a scraper. The process is complicated, inefficient, and requires personnel to work underwater, which poses a high safety risk. Summary of the invention

[0005] The purpose of the present invention is to provide an underwater bed leveling system in view of the technical problems that the existing submersible underwater leveling machines in the background technology have complex procedures, low efficiency, require personnel to work underwater, and have high safety risks.

[0006] The present invention provides an underwater bed leveling system, comprising:

[0007] A chassis frame, wherein a cloth trolley for laterally moving is disposed on the chassis frame, and a cloth trolley for longitudinally moving is disposed on the cloth trolley;

[0008] A placing rod, which is fixed on the placing trolley;

[0009] A first absolute value encoder, which is disposed on the material distribution trolley and is used to collect first position data of the material distribution trolley;

[0010] a second absolute value encoder, which is disposed on the material distributing trolley and is used to collect second position data of the material distributing trolley;

[0011] A main control system, the main control system comprising a receiving module and a control module, the receiving module being respectively connected to the first absolute value encoder and the second absolute value encoder for communication, the receiving module being used to receive the first position data and the second position data and send them to the control module;

[0012] The control module is respectively connected to the receiving module, the large material distribution cart and the small material distribution cart for communication, and the control module controls the movement of the large material distribution cart and the small material distribution cart according to the first position data and the second position data.

[0013] The assembled underwater leveling system described in the present application has a chassis frame with a laterally movable material distribution cart, a longitudinally movable material distribution trolley on the chassis frame, and a placing rod fixed on the placing trolley. The placing rod is driven to move in the chassis frame through the coordinated cooperation of the placing cart and the placing trolley, so that the placing rod can lay stones on the chassis frame to level the underwater base bed. The system is easy to operate and does not require personnel to work underwater, thus avoiding underwater safety hazards. Furthermore, the main control system includes a receiving module and a control module. The receiving module is used for first position data and second position data and sends them to the control module. The control module controls the movement of the material distribution cart and the placing trolley according to the first position data and the second position data, respectively, thereby controlling the operation path of the placing rod during the construction process, so that the placing rod can move according to a preset route, thereby allowing the placing rod to automatically lay base bed stones underwater, greatly improving construction efficiency and avoiding the risks of traditional underwater operations requiring personnel.

[0014] Preferably, it also includes:

[0015] a first measuring instrument, arranged at the top of the placing boom, for collecting first height data of the placing boom;

[0016] An elevation compensation device, arranged on the placing boom, for adjusting the height of the bottom end of the placing boom;

[0017] The receiving module is in communication connection with the first measuring instrument, and the receiving module is used to receive the first height data and send it to the control module;

[0018] The control module is in communication connection with the elevation compensation device, and the control module controls the elevation compensation device to adjust the height of the bottom end of the placing boom according to the first height data.

[0019] The control module controls the elevation compensation device to adjust the height of the bottom end of the placing boom according to the first height data, that is, adjusts the height of the discharging end of the placing boom, thereby controlling the height of the stone layer during the construction process to achieve leveling of base beds at different heights. The assembled underwater leveling system of the present application, through the coordinated cooperation of the first measuring instrument, the first absolute value encoder, the second absolute value encoder, the elevation compensation device and the main control system, can realize the automated leveling operation of underwater base beds at different heights, thereby greatly improving the construction efficiency.

[0020] Preferably, it also includes a weight-type material level meter, which is arranged above the placing boom and is used to collect the stone height data inside the placing boom;

[0021] The weight-type material level meter is in communication connection with the receiving module, and the receiving module is used to receive the stone height data and send it to the control module;

[0022] The control module determines whether to issue an alarm and control the material distribution trolley and the material distribution trolley to stop according to the stone height data.

[0023] Preferably, it also includes measuring towers arranged at four right angles of the chassis frame and lifting legs arranged at the bottom of the chassis frame;

[0024] A second measuring instrument is provided on the top of the measuring tower, and the second measuring instrument is used to collect third position data and second height data of the measuring tower;

[0025] The second measuring instrument is in communication connection with the receiving module, and the receiving module is used to receive the third position data and the second height data and send them to the control module;

[0026] The lifting legs are in communication with the control module, and the control module determines whether the chassis frame reaches a designated position according to the third position data, and controls the lifting legs to be lifted or lowered according to the second height data.

[0027] Preferably, the chassis frame comprises a chassis crossbeam and a chassis longitudinal beam connected to each other, a transverse track is provided on the chassis crossbeam along the length direction, and the material distribution trolley is provided with a first running wheel, and the first running wheel is installed on the transverse track;

[0028] The large material distribution vehicle is provided with a longitudinal track along the length direction, and the small material distribution vehicle is provided with a second running wheel, and the second running wheel is installed on the longitudinal track.

[0029] Preferably, airtight drainage chambers are provided in both the chassis cross beam and the chassis longitudinal beam.

[0030] Preferably, the middle portion of the traverse track has an arched section.

[0031] Preferably, the material distribution trolley further comprises a first hydraulic power mechanism and a trolley frame, and the first traveling wheel is connected to the front and rear ends of the trolley frame;

[0032] The first hydraulic power mechanism comprises a first gear and a first hydraulic motor mounted on the vehicle frame, the first gear is located above the first traveling wheel, and the first hydraulic motor is used to drive the first gear;

[0033] The chassis frame further comprises a first rack, which is mounted on the top of the transverse track and arranged along the length direction of the transverse track;

[0034] The first gear is meshed with the first rack.

[0035] Preferably, the material distributing trolley comprises a second hydraulic power mechanism and a trolley frame, and the second running wheels are connected to the front and rear ends of the trolley frame;

[0036] The second hydraulic power mechanism comprises a second gear and a second hydraulic motor mounted on the trolley frame, the second gear is located above the second traveling wheel, and the second hydraulic motor is used to drive the second gear;

[0037] The material distribution cart further includes a second rack, which is mounted on the top of the longitudinal track and arranged along the length direction of the longitudinal track;

[0038] The second gear is meshed with the second rack.

[0039] Preferably, it further comprises a crane vessel, on which a hydraulic pump is provided, and the hydraulic pump is connected to the first hydraulic motor and the second hydraulic motor.

[0040] Compared with the prior art, the present invention has the following beneficial effects:

[0041] The assembled underwater leveling system described in the present application has a chassis frame with a laterally movable material distribution cart, a longitudinally movable material distribution trolley on the chassis frame, and a placing rod fixed on the placing trolley. The placing rod is driven to move in the chassis frame through the coordinated cooperation of the placing cart and the placing trolley, so that the placing rod can lay stones on the chassis frame to level the underwater base bed. The system is easy to operate and does not require personnel to work underwater, thus avoiding underwater safety hazards. Furthermore, the main control system includes a receiving module and a control module. The receiving module is used for first position data and second position data and sends them to the control module. The control module controls the movement of the material distribution cart and the placing trolley according to the first position data and the second position data, respectively, thereby controlling the operation path of the placing rod during the construction process, so that the placing rod can move according to a preset route, thereby allowing the placing rod to automatically lay base bed stones underwater, greatly improving construction efficiency and avoiding the risks of traditional underwater operations requiring personnel. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 This is a schematic diagram of the underwater leveling system of this application Figure 1 .

[0043] Figure 2 yes Figure 1 Side view of.

[0044] Figure 3 yes Figure 1 Top view of the .

[0045] Figure 4 This is a schematic diagram of the underwater leveling system of this application Figure 2 (Including crane vessel).

[0046] Figure 5 yes Figure 2 A partial enlarged view of point A.

[0047] Figure 6 This is a top view of the fabric cart.

[0048] Figure 7 It is a side view of the fabric cart.

[0049] Figure 8 It is a top view of the fabric trolley.

[0050] Fig. 9 It is a schematic diagram of the coordination between the small fabric trolley and the large fabric trolley.

[0051] Fig.10 It is a schematic diagram of the airtight drainage chamber of the chassis frame.

[0052] Fig.11 It is a schematic diagram of the placing boom.

[0053] Fig.12 yes Fig.11 A partial enlarged view of point B.

[0054] Fig.13 It is a schematic diagram of the main control system of this application.

[0055] Markings in the figure:

[0056] 1-chassis frame, 11-chassis cross beam, 12-chassis longitudinal beam, 13-first rack, 14-first baffle, 2-fabricating trolley, 21-first running wheel, 22-longitudinal groove, 23-first gear, 24-second rack, 25-first hydraulic motor, 26-first rotating rod, 27-trolley frame, 28-second baffle, 3-fabricating trolley, 31-second running wheel, 32-second gear, 33-second hydraulic motor, 34-second rotating rod, 35-trolley frame, 4-fabricating rod, 41-funnel, 42-assembly rod, 4 3-discharging rod, 44-first chuck, 45-second chuck, 5-elevation compensation device, 51-casing, 52-telescopic rod, 6-measuring tower, 7-lifting legs, 8-transverse track, 9-longitudinal track, 10-first measuring instrument, 20-first absolute encoder, 30-second absolute encoder, 40-second measuring instrument, 50-weight hammer level meter, 100-main control system, 101-receiving module, 102-control module, 200-crane ship, 201-air compressor, 202-hydraulic pump, 300-air-tight drainage bin. DETAILED DESCRIPTION

[0057] The present invention is further described in detail below in conjunction with specific embodiments. However, this should not be understood as the scope of the above subject matter of the present invention being limited to the following embodiments, and all technologies realized based on the content of the present invention belong to the scope of the present invention.

[0058] Unless otherwise specified, in the description of the specific embodiments of the present invention, the terms indicating the orientation or position relationship such as "up", "down", "left", "right", "center", "inside", "outside", etc. are all expressions based on the orientation or position relationship shown in the drawings, or are the orientation or position relationship when the invented product / equipment / device is usually used. These terms of orientation or position relationship are only for the convenience of describing the scheme of the present invention or simplifying the description in the specific embodiments, so as to facilitate the technicians to quickly understand the scheme, and do not indicate or imply that a specific device / component / element must have a specific orientation, or be constructed and operated in a specific position relationship, and therefore cannot be understood as a limitation on the present invention.

[0059] In addition, if the terms "horizontal", "vertical", "overhanging", "parallel" and the like appear, it does not mean that the corresponding devices / components / elements are required to be absolutely horizontal or vertical or overhanging or parallel, but may be slightly tilted or have deviations. For example, "horizontal" only means that its direction is more horizontal than "vertical", and does not mean that the structure must be completely horizontal, but may be slightly tilted. Alternatively, it can be simplified to mean that the corresponding devices / components / elements are set in directions such as "horizontal", "vertical", "overhanging", "parallel", etc., and can have an error / deviation of ±10% relative to the corresponding direction setting, more preferably an error / deviation within ±8%, more preferably an error / deviation within ±6%, more preferably an error / deviation within ±5%, and more preferably an error / deviation within ±4%. As long as the corresponding device / component / element is within the error / deviation range, it can still achieve its role in the scheme of the present invention.

[0060] In addition, the expressions “first”, “second”, “third”, etc., which appear in the terms, are merely used to distinguish the description of the same or similar components and should not be understood as emphasizing or implying the relative importance of specific components.

[0061] In addition, in the description of the embodiments of the present invention, "several", "plurality" and "a number" represent at least 2. It can be any number such as 2, 3, 4, 5, 6, 7, 8, 9, and even more than 9.

[0062] In addition, in the description of the technical solution of the present invention, unless otherwise clearly specified / defined / restricted, the terms "set", "install", "connect", "connected", "provided with", "laid", and "arranged" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection, and can be welding, riveting, bolting, threading, and other commonly used connection means in the field. This connection can be a mechanical connection, an electrical connection, or a communication connection; it can be a direct connection, or an indirect connection through an intermediate medium, and it can be the internal connection of two elements.

[0063] Example 1

[0064] like Figure 1-Figure 13 As shown, an underwater bed leveling system described in this embodiment includes:

[0065] A chassis frame 1, on which a cloth cart 2 for transverse movement is arranged, and on which a cloth cart 3 for longitudinal movement is arranged;

[0066] A material placing rod 4 is fixed on the material placing trolley 3;

[0067] A first absolute value encoder 20 is provided on the cloth cart 2 and is used to collect first position data of the cloth cart 2;

[0068] A second absolute value encoder 30 is provided on the material distribution trolley 3 and is used to collect second position data of the material distribution trolley 3;

[0069] The main control system 100 includes a receiving module 101 and a control module 102. The receiving module 101 is respectively connected to the first absolute value encoder 20 and the second absolute value encoder 30 for communication. The receiving module 101 is used to receive the first position data and the second position data and send them to the control module 102.

[0070] The control module 102 is respectively connected to the receiving module 101, the large material distribution cart 2 and the small material distribution cart 3 for communication. The control module 102 controls the movement of the large material distribution cart 2 and the small material distribution cart 3 according to the first position data and the second position data.

[0071] like Figure 1-Figure 3 Through the coordination of the material placing trolley 2 and the material placing trolley 3, the material placing rod 4 is driven to move in the chassis frame 1, so that the material placing rod 4 lays stones on the chassis frame 1 to level the underwater base bed. The operation is convenient, no personnel are required to work underwater, and underwater safety hazards are avoided. Further, as Fig.13 As shown, the main control system 100 includes a receiving module 101 and a control module 102. The receiving module 101 is used to receive the first position data and the second position data and send them to the control module 102. The control module 102 controls the movement of the large material placing vehicle 2 and the small material placing vehicle 3 according to the first position data and the second position data, respectively, so as to control the operation path of the placing boom 4 during the construction process, so that the placing boom 4 can move according to the preset route, so that the placing boom 4 can automatically lay the bed stone underwater, which greatly improves the construction efficiency and avoids the risk of traditional work requiring personnel to work underwater.

[0072] In one or more embodiments, it also includes:

[0073] A first measuring instrument 10, arranged at the top of the placing boom 4, for collecting first height data of the placing boom 4;

[0074] The height compensation device 5 is arranged on the placing boom 4 and is used to adjust the height of the discharging end of the placing boom 4;

[0075] The receiving module 101 is in communication connection with the first measuring instrument 10 , and the receiving module 101 is used to receive the first height data and send it to the control module 102 ;

[0076] The control module 102 is in communication connection with the height compensation device 5 , and the control module 102 controls the height compensation device 5 to adjust the height of the bottom end of the placing boom 4 according to the first height data.

[0077] The control module 102 controls the elevation compensation device 5 to adjust the height of the bottom end of the placing boom 4 according to the first height data, that is, adjusts the height of the discharging end of the placing boom 4, thereby controlling the height of the stone layer during the construction process to achieve leveling of base beds at different heights. The assembled underwater leveling system of this embodiment, through the coordinated cooperation of the first measuring instrument 10, the first absolute value encoder 20, the second absolute value encoder 30, the elevation compensation device 5 and the main control system 100, can realize the automated leveling operation of underwater base beds at different heights, thereby greatly improving the construction efficiency.

[0078] In an optional embodiment, if Fig.12 As shown, the elevation compensation device 5 includes a sleeve 51 and a telescopic rod 52;

[0079] The sleeve 51 is sleeved on the discharging end of the distributing rod 4 , the telescopic rod 52 is fixed on the distributing rod 4 , and the telescopic rod 52 is used to drive the sleeve 51 to move along the length direction of the distributing rod 4 .

[0080] The telescopic rod 52 drives the sleeve 51 to move up and down along the length direction of the distribution rod 4, so as to adjust the height of the discharge port of the distribution rod 4, and then adjust the height of the stone layer by adjusting the height of the discharge port to adapt to the paving of stone layers with different design elevations, so as to achieve leveling of base beds with different design heights. It is easy to operate and efficient.

[0081] In an optional embodiment, the telescopic rod 52 is a hydraulic cylinder, the base of the hydraulic cylinder is connected to the fabric rod 4, the piston rod of the hydraulic cylinder is connected to the sleeve 51, and the sleeve 51 is driven to move by the extension and contraction of the piston rod.

[0082] In one or several embodiments, the first measuring instrument 10 is a real-time dynamic differential positioning measuring instrument, referred to as an RTK measuring instrument. The RTK measuring instrument uses GPS (or other GNSS systems, such as GLONASS, Beidou, Galileo) signals combined with real-time dynamic differential technology (RTK) to achieve centimeter-level high-precision positioning, and can obtain three-dimensional coordinates in real time, including plane position (longitude, latitude) and elevation (elevation). The model can be selected from Leica-GS16.

[0083] In an optional implementation manner, the communication interface type of the first absolute encoder 20 is CAN / RS485, and its model can be AVM58N-011K1AR;

[0084] In an optional implementation manner, the communication interface type of the second absolute encoder 30 is CAN / RS485, and its model number may be AVM58N-011K1AR.

[0085] In an optional implementation manner, the communication connection method in this embodiment may be a wireless connection, including Wi-Fi, Bluetooth and other connection methods.

[0086] In an optional implementation manner, the communication connection method in this embodiment may be a wireless connection, including Wi-Fi, Bluetooth and other connection methods.

[0087] In an optional implementation manner, the receiving module 101 in this embodiment mainly includes a communication interface, a signal conditioning circuit, a data analysis unit, a microcontroller and a memory, and is responsible for data reception and preprocessing, etc.

[0088] In an optional implementation manner, the control module 102 in this embodiment mainly includes a main control processor, a communication interface, a control algorithm unit, a drive circuit and a memory, and is responsible for data input, storage, processing, control instruction generation and execution, etc.

[0089] In an optional implementation manner, in this embodiment, the length direction of the chassis frame 1 is the horizontal direction, and the width direction of the chassis frame 1 is the longitudinal direction.

[0090] Specifically, after the chassis frame 1 is placed on the bottom of the water, the first displacement preset value of the material distribution cart 2 is input into the control module 102. During the movement of the material distribution cart 2, the first absolute value encoder 20 collects the moving distance information of the material distribution cart 2 in real time. The first absolute value encoder 20 converts the moving distance information of the material distribution cart 2 into first position data. The receiving module 101 receives the first position data and sends it to the control module 102. The control module 102 compares the first position data with the first displacement preset value. If the first position data is less than the first displacement preset value, the control module 102 controls the material distribution cart 2 to continue moving. If the first position data is equal to the first displacement preset value, the control module 102 controls the material distribution cart 2 to stop moving.

[0091] The second displacement preset value of the cloth-distributing trolley 3 is input into the control module 102. During the movement of the cloth-distributing trolley 3, the second absolute value encoder 30 collects the moving distance information of the cloth-distributing trolley 3 in real time. The second absolute value encoder 30 converts the moving distance information of the cloth-distributing trolley 3 into second position data. The receiving module 101 receives the second position data and sends it to the control module 102. The control module 102 compares the second position data with the second displacement preset value. If the second position data is less than the second displacement preset value, the control module 102 controls the cloth-distributing trolley 3 to continue to move. If the second position data is equal to the second displacement preset value, the control module 102 controls the cloth-distributing trolley 3 to stop moving.

[0092] Furthermore, before the operation is performed, the main control system 100 controls the cloth-making cart 2 to move to one side of the chassis frame 1, and the cloth-making cart 3 moves to one end of the cloth-making cart 2, and then the first displacement preset value of the cloth-making cart 2 and the second displacement preset value of the cloth-making cart 3 are input into the control module 102, and the control module 102 first controls the cloth-making cart 2 to move horizontally on the chassis frame 1, and at this time the cloth-making cart 3 remains in its original position, and when the moving distance of the cloth-making cart 2 reaches the first displacement preset value, the control module 102 controls the cloth-making cart 2 to stop moving, and then the control module 102 controls the cloth-making cart 3 to move longitudinally on the cloth-making cart 2, and when the moving distance of the cloth-making cart 3 reaches the second displacement preset value, the control module 102 controls the cloth-making cart 3 to stop moving, and then the control module 102 controls the cloth-making cart 2 to move in the opposite direction, until the moving distance reaches the first displacement preset value, and then the control module 102 controls the cloth-making cart 3 to move, and this operation is repeated until the leveling operation in the chassis frame 1 is completed;

[0093] Among them, Figure 3 As shown, the base bed in the chassis frame 1 is divided into a plurality of ridges, and the length direction of the ridges is the same as the length direction of the chassis frame 1. Specifically, in this embodiment, the fabric rod 4 selects a rigid pipe with a diameter of 1.2m, such as a steel pipe, etc., the width of each ridge is positioned at 1.2m, the ridge spacing is 0.6m, and the ridge thickness is 0.3m. Therefore, after the fabric cart 2 moves horizontally from one side to the other side along the chassis frame 1, the laying of one ridge is completed, and then the fabric cart 3 moves 0.6m longitudinally on the fabric cart 2, and the fabric cart 2 moves horizontally along the chassis frame 1 again to complete the laying of the second ridge, and so on, until the leveling operation in the chassis frame 1 is completed;

[0094] After the chassis frame 1 is placed on the bottom of the water, the preset value of the top elevation of the placing boom 4 is input into the control module 102. The top elevation of the placing boom 4 minus the length of the placing boom 4 is the bottom elevation of the placing boom 4. Since the stones are laid through the placing boom 4, the stones flow out from the bottom of the placing boom 4. Therefore, the bottom elevation of the placing boom 4 is also the maximum elevation of the stone layer. In this embodiment, the bottom of the placing boom 4 is also the discharge end of the placing boom 4.

[0095] During the movement of the placing boom 4, the first measuring instrument 10 collects the top elevation information of the placing boom 4 in real time, and converts the top elevation information into first height data. The receiving module 101 receives the first height data and sends it to the control module 102. The control module 102 subtracts the first height data from the preset value of the top elevation of the placing boom 4. If the absolute value of the height difference between the two is within the design deviation, the elevation of the stone layer output through the display screen meets the preset requirement. If the absolute value of the difference between the two is not within the design deviation range, the receiving module 101 controls the elevation compensation device 5 to adjust the height of the bottom end of the placing boom 4 according to the height difference until the absolute value of the height difference between the two falls within the design deviation range.

[0096] In an optional implementation, the first measuring instrument 10 can also collect the displacement information of the placing boom 4 in real time, so as to obtain the displacement speed of the placing boom 4 .

[0097] In one or more embodiments, Figure 1 , Figure 2 As shown, it includes a weight-type material level meter 50, which is arranged above the distribution rod 4, and is used to collect the stone height data inside the distribution rod 4;

[0098] The weight-type material level meter 50 is in communication connection with the receiving module 101, and the receiving module 101 is used to receive the stone height data and send it to the control module 102;

[0099] The control module 102 determines whether to issue an alarm and control the material distribution trolley 2 and the material distribution trolley 3 to stop according to the stone height data.

[0100] By setting a weight-type material level meter 50 above the placing rod 4, the weight-type material level meter 50 collects the stone height data inside the placing rod 4 and sends it to the control module 102. The control module 102 determines whether to issue an alarm prompt and control the placing cart 2 and the placing cart 3 to stop according to the stone height data, so as to monitor the stone in the placing rod 4. For example, when the stone is lower than the preset threshold value of the stone height, the control module 102 issues an alarm and controls the placing cart 2 and the placing cart 3 to stop moving. After receiving the alarm data, the operator replenishes the stone and refills the stone into the placing rod 4. After filling, the main control system 100 is started again to continue the leveling operation.

[0101] In an optional embodiment, the weight type level meter 50 is of model TLX-120AP1 or TLX-200AP, wherein the box of the weight type level meter 50 is installed on the top of the distribution rod 4, and after filling with stones, the weight of the weight type level meter 50 is placed on the top of the stones in the distribution rod 4.

[0102] Specifically, before the operation is performed, the preset value of the stone height in the placing rod 4 is input into the control module 102, and then the stone is injected into the placing rod 4, and then the weight of the weight-type material level meter 50 is placed on the top of the stone in the placing rod 4. During the operation, the stone continuously enters the chassis frame 1 through the placing rod 4. At this time, the stone in the placing rod 4 is continuously reduced, and the weight-type material level meter 50 collects the stone height information of the placing rod 4 in real time, and converts the stone height information into stone height data. The receiving module 101 receives the stone height data and sends it to the control module 102. The control module 102 compares the stone height data with the preset value of the stone height. If the stone height data is greater than the preset value of the stone height, the control module 102 controls the placing cart 2 and the placing cart 3 to continue to move. If the first position data is equal to the first displacement preset value, the control module 102 controls the placing cart 2 and the placing cart 3 to stop moving, and the control module 102 issues an alarm prompt.

[0103] Furthermore, a display light is installed on the material distribution rod 4, which is distinguished by red and green. Red means that the weight of the weight-type material level meter 50 has not been retracted, and feeding is prohibited. Green means that the weight of the weight-type material level meter 50 has been retracted, and feeding can be allowed. At the same time, the control module 102 outputs the stone height data in real time through the display screen, and displays the stone height data on the display screen in real time, so as to manually judge whether feeding is needed and whether it is necessary to stop and wait.

[0104] In one or more embodiments, Figure 1 , Figure 2 As shown, it also includes measuring towers 6 arranged at four right angles of the chassis frame 1 and lifting legs 7 arranged at the bottom of the chassis frame 1;

[0105] A second measuring instrument 40 is provided on the top of the measuring tower 6, and the second measuring instrument 40 is used to collect the third position data and the second height data of the measuring tower 6;

[0106] The second measuring instrument 40 is in communication connection with the receiving module 101, and the receiving module 101 is used to receive the third position data and the second height data and send them to the control module 102;

[0107] The lifting legs 7 are in communication connection with the control module 102 . The control module 102 determines whether the chassis frame 1 reaches the designated position according to the third position data, and controls the lifting legs 7 to move up and down according to the second height data.

[0108] By setting measuring towers 6 at four right angles of the chassis frame 1 and then setting a second measuring instrument 40 on the top of the measuring tower 6, the position and posture information of the chassis frame 1 can be fully covered to ensure the comprehensiveness and accuracy of the measurement. Furthermore, the second measuring instrument 40 collects the third position data and the second height data of the measuring tower 6, and obtains the position information of the chassis frame 1 in real time through the third position data. After subtracting the height of the measuring tower 6 from the second height data, the height information of the chassis frame 1 can be obtained in real time. At the same time, the control module 102 determines whether the chassis frame 1 has reached the specified position according to the third position data, and determines whether the height of the chassis frame 1 meets the design requirements according to the second height data, so as to control the lifting legs 7 to lift and adjust, so as to achieve high-precision positioning and adjustment. Therefore, through the coordinated work of the measuring tower 6, the second measuring instrument 40, the receiving module 101 and the control module 102, high-precision positioning, automatic leveling and intelligent control of the chassis frame 1 are achieved.

[0109] In an optional embodiment, the lifting legs 7 are hydraulic legs, and the hydraulic legs are configured as follows: the whole machine is equipped with 4 sets of hydraulic legs, and the rated load of the single-leg supporting hydraulic cylinder is 50t and the stroke is 1.2m. During construction, the hydraulic legs can flexibly adjust the support height and angle according to the underwater terrain and foundation conditions to ensure that the chassis frame 1 is stably located on the bottom of the water. Due to its strong bearing capacity and reasonable stroke design, it can effectively adapt to different geological conditions, disperse the weight of the chassis frame 1, reduce the pressure on the bottom foundation, and enhance the construction stability of the chassis frame 1.

[0110] In an optional implementation, the second surveying instrument 40 is a real-time dynamic differential positioning surveying instrument, referred to as an RTK surveying instrument, wherein the model may be Leica-GS16.

[0111] Specifically, before the leveling operation is performed, the preset coordinate values ​​and the preset elevation values ​​of the measuring tower 6 are input in advance into the control module 102, and the chassis frame 1 is placed on the bottom of the water by the crane ship 200. During the placement of the chassis frame 1, the coordinate information and elevation information of the measuring tower 6 are collected in real time by the second measuring instrument 40, and the coordinate information of the measuring tower 6 is converted into the third position data, and the elevation information is converted into the second height data. The receiving module 101 receives the third position data and the second height data and sends them to the control module 102. The control module 102 compares the third position data with the preset coordinate value of the measuring tower 6 to determine whether the deviation between the two is within the design deviation range. If the deviation values ​​between the two are within the design deviation range, the display screen outputs that the chassis frame 1 has reached the preset position. If the deviation values ​​between the two are not within the design deviation range, the display screen outputs that the chassis frame 1 has not reached the preset position, so that the operator can adjust the position of the chassis frame 1 until the deviation values ​​between the two fall within the design deviation range.

[0112] When the chassis frame 1 reaches the preset position, the control module 102 compares the second height data with the preset value of the height of the measuring tower 6. If the deviation between the two is within the design deviation range, the display screen outputs that the chassis frame 1 has reached the preset height; if the deviation between the two is not within the design deviation range, the control module 102 controls the lifting legs 7 to rise or fall until the deviation between the two falls within the design deviation range.

[0113] In one or more embodiments, Fig.11 As shown, the material distribution rod 4 includes a funnel 41, an assembly rod 42 and a material discharging rod 43;

[0114] The funnel 41 is connected to the top of the assembly rod 42 , the discharging rod 43 is fixed on the material distributing trolley 3 , and the bottom of the assembly rod 42 is inserted into the top of the discharging rod 43 .

[0115] The stone is received by the funnel 41, and the stone enters the chassis frame 1 after passing through the funnel 41, the assembly rod 42 and the discharge rod 43. Among them, the assembly rod 42 is assembled from a plurality of single-section rods. When facing different water depth working conditions, the number of sections and the combination of the rods can be flexibly adjusted to conveniently adapt to the complex and changeable underwater construction environment, effectively improving the versatility of the equipment and the convenience of construction;

[0116] The plug-in assembly method of the assembly rod 42 and the discharge rod 43 facilitates the installation and replacement of the assembly rod 42.

[0117] Furthermore, if Figure 3 As shown, the bottom of the assembly rod 42 has a first chuck 44, and the top of the discharge rod 43 has a second chuck 45. After the assembly rod 42 is inserted into the top of the discharge rod 43, the first chuck 44 and the second chuck 45 abut against each other, thereby achieving the limiting between the assembly rod 42 and the discharge rod 43.

[0118] In this embodiment, the discharge port of the distributing rod 4 points to the bottom outlet of the material rod 43 . Furthermore, the sleeve 51 is sleeved on the discharge rod 43 , and driven by the telescopic rod 52 , the sleeve 51 moves up and down along the discharge rod 43 .

[0119] In this embodiment, the maximum height of the placing boom 4 is 26.2 m, which accurately meets the maximum water depth requirement of 25 m.

[0120] In this embodiment, the size of the material outlet of the placing rod is The adjustment range of the elevation compensation device 5 is up to ±500mm. Through the cooperation of the main control system 100, the elevation compensation device 5 and the first measuring instrument 10, in the gravel leveling construction, according to the elevation benchmark and design requirements of different construction areas, the thickness and flatness of the gravel material can be accurately controlled, effectively ensuring that the height difference of the material between ridges is stable within a very small range, and the leveling accuracy is controlled at the industry-leading level.

[0121] A single-beam scanning device is arranged at the bottom end of the fabric rod 4, which can display the situation after leveling in real time based on the data of the single-beam scanning, and compare whether the leveling accuracy exceeds the standard.

[0122] In one or more embodiments, Figure 3 , Figure 5 As shown, the chassis frame 1 includes a chassis crossbeam 11 and a chassis longitudinal beam 12 which are connected to each other. A transverse track 8 is provided on the chassis crossbeam 11 along the length direction. The material distribution vehicle 2 is provided with a first running wheel 21 which is mounted on the transverse track 8.

[0123] like Figure 6 , Figure 7 As shown, a longitudinal track 9 is provided on the material distribution trolley 2 along the length direction, and a second running wheel 31 is provided on the material distribution trolley 3 , and the second running wheel 31 is installed on the longitudinal track 9 .

[0124] By arranging a transverse track 8 on the chassis frame 1, the first running wheel 21 of the material distribution cart 2 is installed on the transverse track 8, so that the material distribution cart 2 can move laterally on the chassis frame 1 along the transverse track 8; by arranging a longitudinal track 9 on the material distribution cart 2, the second running wheel 31 of the material distribution trolley 3 is installed on the longitudinal track 9, so that the material distribution trolley 3 can move longitudinally on the material distribution cart 2; through the cooperation between the material distribution cart 2 and the material distribution trolley 3, the material distribution rod 4 of the material distribution trolley 3 can move longitudinally and transversely on the chassis frame 1, so as to lay stones more conveniently and comprehensively, and effectively improve the leveling efficiency.

[0125] In an optional embodiment, the chassis crossbeam 11 is selected from Steel pipe, chassis longitudinal beam 12 adopts The steel pipe has a chassis cross beam 11 of 37720 mm in length and a chassis longitudinal beam 12 of 18500 mm in length. After the chassis cross beam 11 and the chassis longitudinal beam 12 are assembled into the chassis frame 1, the horizontal flattened length thereof is 32800 mm and the longitudinal flattened length thereof is 14000 mm.

[0126] Furthermore, the material distribution cart 2 can move freely laterally in the chassis frame 1, and the material distribution trolley 3 can move flexibly longitudinally in the material distribution cart 2. The two work together to make the maximum leveling area of ​​a single workstation reach 32.8m×14m, effectively covering a larger construction area, reducing the frequent shifting of equipment, and improving construction efficiency.

[0127] In an optional embodiment, the middle part of the transverse track 8 has an arched section. The transverse track 8 installed on the chassis crossbeam 11 is designed to be arched, and the arch height is 40 mm. During the material distribution process, the chassis crossbeam 11 will produce a small disturbance due to the change in material weight distribution. The arched transverse track 8 can cleverly offset this disturbance, ensuring that the material distribution trolley 2 moves smoothly and stably, reducing equipment wear and energy consumption, and improving material distribution accuracy and efficiency.

[0128] Furthermore, the arched section is located in the middle of the transverse track 8, and the length of the arched section is designed according to actual needs.

[0129] In an optional implementation manner, in this embodiment, the transverse track 8 is made of an I-beam, and a moving area for installing the first running wheel 21 is formed between the upper and lower flange plates of the I-beam. Specifically, the first running wheel 21 abuts against the lower flange plate of the I-beam, and the first running wheel 21 rolls on the lower flange plate of the I-beam.

[0130] In an optional implementation manner, in this embodiment, the longitudinal movement track 9 is made of an I-beam, and a moving area for installing the second running wheel 31 is formed between the upper and lower flange plates of the I-beam. Specifically, the second running wheel 31 abuts against the lower flange plate of the I-beam, and the second running wheel 31 rolls on the lower flange plate of the I-beam.

[0131] In one or more embodiments, Figure 6 As shown, a longitudinal groove 22 is provided on the material distributing trolley 2, and the longitudinal moving tracks 9 are located on both sides of the longitudinal groove 22;

[0132] The material placing trolley 3 is partially located in the longitudinal groove 22, and the bottom of the material placing rod 4 passes through the longitudinal groove 22 and extends downward.

[0133] The bottom of the placing rod 4 passes through the longitudinal groove 22 and extends downward into the chassis frame 1, so that the stones pass through the placing rod 4 into the chassis frame 1 to implement the laying of the stone layer and level the underwater bed.

[0134] In an optional embodiment, if Fig.10 As shown, the chassis frame 1 includes a chassis crossbeam 11 and a chassis longitudinal beam 12, and an airtight drainage chamber 300 is disposed in each of the chassis crossbeam 11 and the chassis longitudinal beam 12;

[0135] It also includes a crane vessel 200, on which an air compressor 201 is disposed. The air compressor 201 is connected to the air-tight drainage chamber 300 through an air pipe.

[0136] A single chassis crossbeam 11 is arranged into three air-tight drainage chambers 300, a single chassis longitudinal beam 12 is arranged into two air-tight drainage chambers 300, and a total of 10 sets of air-tight drainage chambers 300 are arranged in the entire chassis frame 1; each air-tight drainage chamber 300 is provided with two drainage ports at the bottom and an exhaust valve at the top. During the launching and lifting process of the chassis frame 1, the air-tight drainage chamber 300 can effectively adjust the buoyancy and drainage performance, facilitate the sinking and recovery operations of the chassis frame 1, and improve the construction safety and convenience. Furthermore, the air pressure of the air-tight drainage chamber 300 is adjusted by the air compressor 201 to adjust the drainage volume of the air-tight drainage chamber 300, thereby adjusting the buoyancy of the air-tight drainage chamber 300.

[0137] Example 2

[0138] On the basis of Example 1, Figure 5-Figure 9 As shown, in the underwater bed leveling system described in this embodiment, a transverse track 8 is arranged on the chassis crossbeam 11, a first rack 13 is installed on the top of the transverse track 8, and the first rack 13 is laid along the length direction of the transverse track 8;

[0139] The material distributing trolley 2 comprises a first hydraulic power mechanism, a first traveling wheel 21 and a trolley frame 27, wherein the first hydraulic power mechanism comprises a first gear 23, a first hydraulic motor 25 and a first rotating rod 26;

[0140] Among them, Figure 6 As shown, four first running wheels 21 are arranged on the trolley frame 27. The first running wheels 21 are arranged in groups of two at the front and rear ends of the trolley frame 27 respectively. A first hydraulic motor 25 is installed in the middle of one side in the length direction of the trolley frame 27. Both ends of the first hydraulic motor 25 are connected to a first rotating rod 26. The first rotating rod 26 extends along the length direction of the trolley frame 27 to the top of the first running wheel 21 and is connected to the first gear 23. Figure 7 ;

[0141] like Figure 5 As shown, when the material distribution vehicle 2 is installed on the chassis crossbeam 11 of the chassis frame 1, the first running wheel 21 cooperates with the transverse track 8, the first gear 23 cooperates with the first rack 13, and the first hydraulic motor 25 drives the first gear 23 to rotate through the first rotating rod 26, so that the first gear 23 moves on the first rack 13, so that the material distribution vehicle 2 moves along the length direction of the first rack 13, and then drives the first running wheel 21 to move on the transverse track 8;

[0142] The meshing transmission mode of the first gear 23 and the first rack 13 can realize precise displacement control, ensuring the moving accuracy of the material distribution cart 2. At the same time, since the hydraulic motor has a high torque output characteristic, it can provide sufficient power to drive the material distribution cart 2 to move under heavy load conditions. The cooperation of the first traveling wheel 21 and the transverse track 8, as well as the cooperation of the first gear 23 and the first rack 13, form a double guiding mechanism, further improving the moving accuracy and stability of the material distribution cart 2.

[0143] Furthermore, if Figure 4 As shown, the assembled underwater leveling system also includes a crane ship 200, on which a hydraulic pump 202 is provided. The hydraulic pump 202 is connected to a first hydraulic motor 25 through a hydraulic oil pipe. The speed of the first hydraulic motor 25 can be adjusted by the hydraulic system of the hydraulic pump 202 to achieve variable speed movement of the material placing trolley 2 to meet different working conditions.

[0144] Furthermore, the control module 102 is connected to the hydraulic system of the hydraulic pump 202, and the control module 102 controls the movement of the material distribution vehicle 2 by controlling the hydraulic pump 202;

[0145] In an optional embodiment, if Figure 5 As shown, it also includes a first baffle 14 located above the first rack 13, and the first baffle 14 is used to shield the first rack 13 to prevent debris from falling onto the first rack 13, thereby affecting the movement of the first gear 23, wherein the bottom of the first baffle 14 is connected to the transverse track 8.

[0146] In one or more embodiments, Figure 6 As shown, the middle of the trolley frame 27 has a longitudinal groove 22, and longitudinal tracks 9 are installed on both sides of the longitudinal groove 22. A second rack 24 is installed on the top of the longitudinal track 9, and the second rack 24 is laid along the length direction of the longitudinal track 9;

[0147] like Figure 8 As shown, the material distributing trolley 3 includes a second hydraulic power mechanism, a second traveling wheel 31 and a trolley frame 35, and the second hydraulic power mechanism includes a second gear 32, a second hydraulic motor 33, and a second rotating rod 34;

[0148] Among them, four second running wheels 31 are arranged on the trolley frame 35, and the second running wheels 31 are arranged in groups of two at the front and rear ends of the trolley frame 35, respectively. A second hydraulic motor 33 is installed in the middle of one side in the length direction of the trolley frame 35, and both ends of the second hydraulic motor 33 are connected to the second rotating rod 34. The second rotating rod 34 extends along the width direction of the trolley frame 35 to the top of the second running wheel 311 and is connected to the second gear 32. Fig. 9 ;

[0149] like Fig. 9As shown, when the material distribution trolley 3 is installed on the longitudinal track 9 of the material distribution trolley 2, the second running wheel 31 cooperates with the longitudinal track 9, the second gear 32 cooperates with the second rack 24, and the second hydraulic motor 33 drives the second gear 32 to rotate through the second hydraulic motor 33, so that the second gear 32 moves on the second rack 24, so that the material distribution trolley 3 moves along the length direction of the second rack 24, and then drives the second running wheel 31 to move on the longitudinal track 9;

[0150] The meshing transmission mode of the second gear 32 and the second rack 24 can realize precise displacement control, ensuring the moving accuracy of the material distribution trolley 3. At the same time, since the hydraulic motor has a high torque output characteristic, it can provide sufficient power to drive the material distribution trolley 3 to move under heavy load conditions. The cooperation of the second running wheel 31 and the longitudinal movement track 9, as well as the cooperation of the second gear 32 and the second rack 24, form a double guiding mechanism, further improving the moving accuracy and stability of the material distribution trolley 3.

[0151] Furthermore, if Figure 4 As shown, a hydraulic pump 202 is provided on the crane ship 200, and the hydraulic pump 202 is connected to the second hydraulic motor 33 through a hydraulic oil pipe. The speed of the second hydraulic motor 33 can be adjusted by the hydraulic system of the hydraulic pump 202 to achieve variable speed movement of the material distribution trolley 2 to meet different working conditions.

[0152] Furthermore, the control module 102 is connected to the hydraulic system of the hydraulic pump 202 , and the control module 102 controls the movement of the material distribution trolley 3 by controlling the hydraulic pump 202 .

[0153] In an optional embodiment, if Figure 7 , Fig. 9 As shown, it includes a second baffle 28 located above the second rack 24, and the second baffle 28 is used to shield the second rack 24 to prevent debris from falling onto the second rack 24, thereby affecting the movement of the second gear 32, wherein the bottom of the second baffle 28 is connected to the longitudinal track 9.

[0154] In an optional implementation, the hydraulic oil pipes from the underwater sealing valve group to the large material distribution cart 2 and the small material distribution cart 3 are installed using drag chains. The drag chains provide stable support and protection for the hydraulic oil pipes to prevent the oil pipes from being damaged due to shaking, pulling, friction and other factors during the operation of the equipment, thereby ensuring the stable operation of the hydraulic system and ensuring the precise control of the movement of the large material distribution cart 2 and the small material distribution cart 3 and the material distribution operation.

[0155] In an optional implementation, all tube bundles are equipped with floats for floating, ensuring that the connecting lines are arranged in an orderly manner in the underwater environment and protected from damage by external forces, stably transmitting power and control data, and realizing remote and precise control of the equipment.

[0156] Example 3

[0157] Based on Example 1 or Example 2, this embodiment further discloses an operation method of an underwater bed leveling system, and the specific steps include:

[0158] S1: Positioning for sinking: The chassis frame 1 is sunk by means of the crane ship 200. High-precision positioning is achieved by means of the first measuring instrument 10 at the top of the four measuring towers 6 on the chassis frame 1. The first measuring instrument obtains the equipment position information in real time and compares it with the preset construction coordinates. The position of the chassis frame 1 is precisely adjusted during the lifting process of the crane ship 200 to ensure that it is placed in the designated position. The error can be strictly controlled within 5 cm, laying a precise foundation for subsequent construction.

[0159] S2: Leveling operation: After the plane position is determined, the height of the four corners of the chassis frame 1 is precisely adjusted to be in a horizontal state by controlling the telescopic length and angle of the lifting legs 7 according to the first measuring instruments 10 of the four measuring towers 6. During the leveling process, the measuring towers 6 continuously monitor the changes in the equipment posture and feed back to the main control system 100 to achieve closed-loop control, ensuring that the chassis frame 1 maintains a stable level in a complex underwater terrain and water flow environment, meeting the construction flatness requirements;

[0160] S3: Parameter entry and start of construction: accurately enter key parameters such as gravel ridge leveling height, width, ridge spacing, etc. in the main control system 100, and these parameters are set according to the engineering design drawings and construction specifications; after completing the parameter entry, inject gravel from the placing boom 4, and start the main control system 100 at the same time. The equipment will automatically execute the gravel leveling construction process according to the preset parameters, realize automated operation, and reduce errors and uncertainties caused by manual intervention;

[0161] S4: Construction process control: During the construction process, the main control system 100 continuously monitors the equipment operation status and construction parameters, such as the position of the material distribution vehicle, the material discharging speed, the thickness of the gravel paving, etc., and automatically adjusts the equipment operation parameters according to the real-time monitoring data. If it is detected that the gravel thickness deviation in a certain area exceeds the allowable range, the main control system 100 will automatically adjust the speed of the material distribution vehicle 2 and the material distribution vehicle 3 or the material outlet elevation compensation device 5 to ensure that the gravel is evenly and accurately laid and the leveling quality meets high standards;

[0162] S5: Transfer construction: When the leveling operation of one area is completed, the crane ship 200 comes into play again to lift the chassis frame to the next construction area; during the transfer process, the first measuring instrument 10 continues to work to ensure that the lifting and transfer paths are accurate, and the chassis frame 1 arrives at the new construction location quickly and safely, repeating the above construction process to efficiently advance the overall project progress.

[0163] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. An underwater bed leveling system, characterized in that: include: A chassis frame (1), wherein a material distribution vehicle (2) capable of moving laterally is disposed on the chassis frame (1), and a material distribution vehicle (3) capable of moving longitudinally is disposed on the material distribution vehicle (2); A material placing rod (4), wherein the material placing rod (4) is fixed on the material placing trolley (3); A first absolute value encoder (20), the first absolute value encoder (20) being arranged on the material distribution vehicle (2) and being used for collecting first position data of the material distribution vehicle (2); a second absolute value encoder (30), wherein the first absolute value encoder (20) is arranged on the material distribution trolley (3) and is used to collect second position data of the material distribution trolley (3); A main control system (100), the main control system (100) comprising a receiving module (101) and a control module (102), the receiving module (101) being communicatively connected to the first absolute value encoder (20) and the second absolute value encoder (30), the receiving module (101) being used to receive the first position data and the second position data and send them to the control module (102); The control module (102) is respectively connected to the receiving module (101), the large material distribution cart (2) and the small material distribution cart (3) for communication, and the control module (102) controls the movement of the large material distribution cart (2) and the small material distribution cart (3) according to the first position data and the second position data.

2. The underwater bed leveling system according to claim 1, characterized in that: Also includes: A first measuring instrument (10) is arranged at the top of the placing boom (4) and is used to collect first height data of the placing boom (4); An elevation compensation device (5) is arranged on the placing boom (4) and is used to adjust the height of the bottom end of the placing boom (4); The receiving module (101) is in communication connection with the first measuring instrument (10), and the receiving module (101) is used to receive the first height data and send it to the control module (102); The control module (102) is in communication connection with the elevation compensation device (5), and the control module (102) controls the elevation compensation device (5) to adjust the height of the bottom end of the placing boom (4) according to first height data.

3. The underwater bed leveling system according to claim 2, characterized in that: It also comprises a weight-type material level meter (50), which is arranged above the distribution boom (4) and is used to collect stone height data inside the distribution boom (4); The weight-type material level meter (50) is in communication connection with the receiving module (101), and the receiving module (101) is used to receive the stone height data and send it to the control module (102); The control module (102) determines whether to issue an alarm and control the material distribution vehicle (2) and the material distribution vehicle (3) to stop according to the stone height data.

4. The underwater bed leveling system according to claim 1, characterized in that: It also includes measuring towers (6) arranged at four right angles of the chassis frame (1) and lifting legs (7) arranged at the bottom of the chassis frame (1); A second measuring instrument (40) is arranged on the top of the measuring tower (6), and the second measuring instrument (40) is used to collect third position data and second height data of the measuring tower (6); The second measuring instrument (40) is communicatively connected to the receiving module (101), and the receiving module (101) is used to receive the third position data and the second height data and send them to the control module (102); The lifting leg (7) is in communication connection with the control module (102), and the control module (102) determines whether the chassis frame (1) has reached a specified position based on the third position data, and controls the lifting leg (7) to be lifted or lowered based on the second height data.

5. An underwater bed leveling system according to any one of claims 1 to 4, characterized in that: The chassis frame (1) comprises a chassis crossbeam (11) and a chassis longitudinal beam (12) connected to each other, a transverse track (8) is provided on the chassis crossbeam (11) along the length direction, and the material distribution vehicle (2) has a first running wheel (21), and the first running wheel (21) is installed on the transverse track (8); The material distribution trolley (2) is provided with a longitudinal track (9) along the length direction, and the material distribution trolley (3) has a second running wheel (31), and the second running wheel (31) is installed on the longitudinal track (9).

6. The underwater bed leveling system according to claim 5, characterized in that: An airtight drainage chamber (300) is provided in both the chassis cross beam (11) and the chassis longitudinal beam (12).

7. The underwater bed leveling system according to claim 5, characterized in that: The middle part of the transverse track (8) has an arched section.

8. The underwater bed leveling system according to claim 5, characterized in that: The material distributing trolley (2) further comprises a first hydraulic power mechanism and a trolley frame (27), wherein the first running wheel (21) is connected to the front and rear ends of the trolley frame (27); The first hydraulic power mechanism comprises a first gear (23) and a first hydraulic motor (25) mounted on the vehicle frame (27), the first gear (23) being located above the first traveling wheel (21), and the first hydraulic motor (25) being used to drive the first gear (23); The chassis frame (1) further comprises a first rack (13), wherein the first rack (13) is mounted on the top of the transverse track (8), and the first rack (13) is arranged along the length direction of the transverse track (8); The first gear (23) is meshed with the first rack (13).

9. The underwater bed leveling system according to claim 8, characterized in that: The material distributing trolley (3) comprises a second hydraulic power mechanism and a trolley frame (35), and the second running wheel (31) is connected to the front and rear ends of the trolley frame (35); The second hydraulic power mechanism comprises a second gear (32) and a second hydraulic motor (33) mounted on the trolley frame (35), the second gear (32) being located above the second running wheel (31), and the second hydraulic motor (33) being used to drive the second gear (32); The material distribution cart (2) further comprises a second rack (24), wherein the second rack (24) is mounted on the top of the longitudinal track (9), and the second rack (24) is arranged along the length direction of the longitudinal track (9); The second gear (32) is meshed with the second rack (24).

10. The underwater bed leveling system according to claim 9, characterized in that: It also includes a crane ship (200), on which a hydraulic pump (202) is provided, and the hydraulic pump (202) is connected to the first hydraulic motor (25) and the second hydraulic motor (33).

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