Device and method for improving anti-scouring capacity of bed bottom

Abstract

The invention provides a device and method for improving the anti-scouring capacity of a bed bottom, and the device comprises a mother ship which carries slurry; one end of the traction cable is connected with the mother ship; the leather bag is connected with the other end of the traction cable; the grouting pipe is used for conveying the slurry to the leather bag; the grouting head is arranged at the bottom of the leather bag; the vibrating body is mounted outside the grouting head; the stirring and mixing impeller is mounted at the tail end of the grouting head; the controller is installed on the mother ship and controls the vibrating body. The in-situ surface sediment can be utilized, the vibrating body, the grouting head and the stirring and mixing impeller are combined, aggregates are rapidly manufactured on site, a protection area is densely distributed, an anti-scouring layer is constructed, and wave flow scouring is prevented.

Description

Technical Field

[0001] The present invention relates to the technical field of water conservancy engineering, and in particular to a device and method for improving the anti-scouring capability of a bed bottom. Background Art

[0002] Under the action of waves and currents, the bottom sediment often scours, causing the bottom bed to lower. Scour pits caused by scour can be seen everywhere near structures and building foundations. The formation of scour pits causes bridges in rapids and wind power platforms in the sea to tilt, and collapses can be seen every year. At present, passive and active protection measures have been developed for the scour problem. The implementation of these measures not only requires a lot of manpower, material resources and time costs, but also has some limitations. With the emergence of new materials, some new engineering technologies are often spawned. Therefore, it is necessary to continuously develop new anti-scour protection technologies to solve local scour problems around structures in rivers and the sea.

[0003] According to the research on relevant domestic and foreign literature, reports and local scour protection projects around underwater piles, there are many types of scour prevention methods at present, including active protection methods such as ring wings and slits that change the pile structure, and passive protection methods such as riprap, water grass mats, sand blankets, concrete interlocking rows, and solidified soil. Among them, the solidified soil method is to mix the solidified material with water and pour it onto the underwater bed surface that needs to be protected, but this method has three main defects:

[0004] 1) When the project area may be scoured as a whole (general erosion) or there are large sand waves, the edge of the consolidated layer formed by the existing soil consolidation method will be scoured first, and then the bottom of the consolidated soil layer will be hollowed out to form a large range of suspension;

[0005] 2) The solidified slurry will be consolidated with the foundation of structures such as bridge piers, forming a secondary friction force that is unfavorable to the foundation. Once the bottom of the solidified soil is hollowed out, it is easy to tilt or even collapse, seriously endangering the safety of the structure;

[0006] 3) When the bottom flow velocity is large, the loss during construction is large due to the good fluidity of the solidified slurry.

[0007] Of course, other anti-scour methods also have different defects. Therefore, there are still many accidents of bridge collapse and pile collapse due to scour. Therefore, it is of great practical significance to develop new anti-scour protection methods around underwater foundations.

[0008] After searching, the Chinese patent with application number 202410966930.6 disclosed "A device and method for in-situ roughening of the bottom bed to prevent scour protection", which uses the in-situ sediment of the bottom bed to make an anti-scour protection layer on site. The rake frame it uses is a rigid steel structure, which has poor adaptability to the ups and downs of the complex bottom bed terrain. It is difficult to dynamically adjust the contact angle between the frame and the bottom bed, resulting in insufficient elevation control accuracy. In addition, the rake frame lacks a slurry storage and pressure control module, and cannot monitor and maintain the injection pressure of the solidified material in real time. It is easy to cause uneven slurry discharge due to external water flow disturbances or fluctuations in bottom bed resistance, affecting the molding stability of the anti-scour protection layer. Summary of the invention

[0009] In view of the defects in the prior art, an object of the present invention is to provide a device and method for improving the anti-scouring ability of the bed bottom.

[0010] According to one aspect of the present invention, there is provided a device for improving the anti-scouring capability of a bed bottom, comprising:

[0011] The mother ship carries the slurry;

[0012] A towing cable, one end of which is connected to the mother ship;

[0013] a leather bag connected to the other end of the traction cable;

[0014] A grouting pipe for conveying the slurry to the bladder;

[0015] A grouting head, arranged at the bottom of the bladder;

[0016] A vibrating body, mounted outside the grouting head;

[0017] A mixing impeller is installed at the end of the grouting head;

[0018] A controller is installed on the mother ship and controls the vibrator.

[0019] Preferably, an elastic bottom pad is provided at the bottom of the bladder for opening the bladder and providing support for the installation of the grouting head; the bottom area of ​​the bottom pad is equal to that of the bladder.

[0020] Preferably, a one-way valve is provided in the grouting head.

[0021] Preferably, it also includes one or more of a mother ship positioner, a three-axis tilt sensor and a water depth sensor;

[0022] The mother ship locator is installed on the mother ship to measure the geodetic position coordinates of the mother ship in real time;

[0023] The three-axis inclination sensor is arranged on the traction cable to measure the inclination of the traction cable in real time;

[0024] The water depth sensor is arranged on the bladder to measure the water depth at the location of the bladder in real time.

[0025] Preferably, it also includes:

[0026] The pressure sensor is arranged on the bladder to measure the pressure P of the slurry in the bladder in real time. 囊 ;

[0027] The slurry pump is installed on the mother ship and transports the slurry into the bladder through the grouting pipe; the pressure of the slurry pump itself is P 泵 , P 泵 >P 囊 +τk, τ is the shear strength of the bottom soil, k is the slurry-soil mixing coefficient, ranging from 1.5 to 5.

[0028] Preferably, it also includes a slurry mixing pump, which is installed on the mother ship and mixes water and slurry in a volume ratio of 1:4.5-5.5 to obtain slurry.

[0029] According to a second aspect of the present invention, a method for improving the anti-scouring capability of a bed bottom is provided, using a device for improving the anti-scouring capability of a bed bottom, the steps of which include:

[0030] When the real-time position of the underwater bladder reaches the protection zone, the controller turns on the vibrator, causing the mixing impeller to penetrate the specified depth of the bottom bed;

[0031] The slurry passes through the grouting pipe and the bladder, and is pumped out from the grouting head to drive the mixing impeller;

[0032] The mixing impeller mixes and consolidates the slurry with the bottom bed sediment;

[0033] When the height of the transported slurry volume per unit area reaches 1 / 2 of the penetration depth, the traction cable is retracted by a distance equal to the penetration depth of the mixing impeller into the bottom bed;

[0034] The above process is repeated until the entire protection area is filled with consolidated particles with diameters within the set range.

[0035] Preferably, the real-time position (x, y, z) of the underwater bladder is calculated by continuously reading data from a mother ship positioner, a water depth sensor and a three-axis tilt sensor;

[0036] x=x 0 +Lsinα, α is the angle between the towing cable and the travel direction, L is the length of the towing cable, x 0 It is the reading of the mother ship’s locator;

[0037] is the angle between the traction cable and the vertical direction of travel, y0 It is the reading of the mother ship's locator;

[0038] z=z 0 -Lsinθ, θ is the angle between the towing cable and the water depth direction, z 0 It is the reading of the mother ship's locator.

[0039] Preferably, the specified depth range is 30 mm to 300 mm.

[0040] Preferably, the diameters of the consolidated pellets are inconsistent, and the diameter ranges from 50 mm to 400 mm.

[0041] Compared with the prior art, the embodiments of the present invention have at least one of the following beneficial effects:

[0042] A device for improving the anti-scouring ability of the bottom bed according to an embodiment of the present invention can utilize in-situ surface mud (bottom bed mud), combined with a vibrator, a grouting head and a mixing impeller, to quickly produce aggregates on site, densely cover the protection area, construct an anti-scouring layer, and prevent wave and current scouring.

[0043] According to an embodiment of the present invention, a device and method for improving the anti-scouring capacity of the bottom bed are provided. The slurry used in the construction combines with the bottom bed mud to form consolidated aggregates. The slurry will not be consolidated with foundations such as piles and piers. Therefore, there will be no secondary problems such as negative friction caused by existing anti-scouring measures such as solidified soil method and expanded foundation method.

[0044] In the embodiment of the present invention, a device and method for improving the anti-scour capacity of the bottom of the bed is provided. The large particles that have been consolidated will sink, forming a coarsening layer that is difficult or impossible to move out of the scour pit under the action of waves and currents, thereby gradually gathering to form an anti-scour bottom layer, solving the scour problem caused by the bottom sediment being carried away by waves and currents. In the process of forming the coarsening layer, it can automatically adapt to the changes in the bottom bed elevation of the project area, effectively avoiding the phenomenon of suspended blocks when overall scour or sand wave movement occurs in the project area, thereby providing anti-scour protection for the bottom bed.

[0045] A device and method for improving the anti-scouring capacity of the bottom bed according to an embodiment of the present invention can mix the slurry in the bottom bed, and basically no slurry is eroded by waves and currents during construction, thereby avoiding the serious slurry loss problem caused by existing anti-scouring measures such as solidified soil method and expanded foundation method. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] Other features, objects and advantages of the present invention will become more apparent from the detailed description of non-limiting embodiments made with reference to the following drawings:

[0047] Figure 1 It is a structural schematic diagram of a device for improving the anti-scouring ability of a bed bottom in one embodiment of the present invention;

[0048] Figure 2 Flow chart of the method for enhancing the anti-erosion ability of the bottom of the bed in an embodiment of the present invention;

[0049] Figure 3 Agglomerate distribution map after construction in an embodiment of the present invention;

[0050] Figure 4 Schematic diagram of the roughened protection layer formed after the wave current action causes the agglomerates to aggregate and erode the protected area in an embodiment of the present invention.

[0051] Wherein, 1 - towing cable, 2 - slurry mixing pump, 3 - slurry pump, 4 - grouting pipe, 5 - bladder, 6 - pressure sensor, 7 - bottom pad, 8 - check valve, 9 - vibrating body, 10 - grouting head, 11 - stirring impeller, 12 - triaxial inclination sensor, 13 - water depth sensor, 14 - mother ship locator, 15 - controller. Detailed implementation manners

[0052] The present invention will be described in detail below with reference to specific embodiments. The following embodiments will help those skilled in the art to further understand the present invention, but do not limit the present invention in any form. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present invention, several modifications and improvements can still be made. These all belong to the protection scope of the present invention.

[0053] As Figure 1 shown, it is a schematic structural diagram of the device for enhancing the anti-erosion ability of the bottom of the bed in an embodiment of the present invention, including: mother ship, towing cable 1, bladder 5, grouting pipe 4, grouting head 10, vibrating body 9, stirring impeller 11, controller 15. The mother ship carries the slurry; one end of the towing cable 1 is connected to the mother ship; the bladder 5 is connected to the other end of the towing cable 1; the grouting pipe 4 transports the slurry to the bladder 5; the grouting head 10 is arranged at the bottom of the bladder; the vibrating body 9 is installed outside the grouting head 10; the stirring impeller 11 is installed at the end of the grouting head 10; the controller 15 is installed on the mother ship to control the vibrating body 9.

[0054] In the above embodiment, the in-situ surface sediment (bottom sediment) can be utilized, combined with the vibrating body, grouting head and stirring impeller, to quickly produce agglomerates on-site, densely cover the protection area, construct an anti-erosion layer, and prevent wave current erosion. The mother ship usually refers to a small ship or barge, and these small ships are usually used to complete specific tasks, such as cargo transportation or offshore wind power operation and maintenance. The mother ship in the above embodiment refers to the hull carrying the bladder, and the bladder is used to complete the task of diving into the water body and mixing the slurry with the bottom sediment to form consolidated agglomerates.

[0055] In some specific embodiments, the traction cable 1 can be made of a steel cable or a wear-resistant ultra-high polymer cable, and its function is to pull the bladder 5. The grouting pipe 4 can be a high-pressure resistant pipe made of high-strength polymer material, and its function is to transport the slurry.

[0056] The skin 5 is made of a flexible polymer composite material to form a closed cavity. Compared with the traditional rigid frame structure, the flexible cavity compensates for the terrain undulations through deformation, realizes the adaptive adjustment function of dynamically fitting the bottom surface, and significantly improves the elevation control accuracy. Its elastic deformation characteristics can not only eliminate the pressure disturbance caused by the impact of external water flow, but also adjust the slurry discharge rate through local expansion / contraction, ensuring the stability of the quality of the consolidated pellet molding and the anti-scouring performance.

[0057] The vibrator 9 can be made of stainless steel, a high-speed brushless motor and a polarization block, etc., and its function is to fluidize the bottom bed, so that the grouting head 10 and the mixing impeller 11 can easily penetrate into the bottom bed. The grouting head 10 is a nozzle made of high strength such as stainless steel, and its function is to transport the slurry. The mixing impeller 11 is an impeller rotating component made of high strength such as stainless steel. The slurry ejected from the grouting head 10 drives the mixing impeller 11 to rotate, and the rotation of the mixing impeller 11 mixes the slurry with the surrounding mud and sand. The controller 15 is made of electronic components and is installed on the construction mother ship. Its function is to control the vibrator 9 and other components.

[0058] In order to improve the efficiency of slurry preparation, in a preferred embodiment, a slurry mixing pump 2 is added. The pump can be made of stainless steel and installed on the mother ship, and can automatically mix water and slurry in a volume ratio of 1:4.5 to 5.5 to form slurry.

[0059] In order to improve the slurry delivery efficiency, the present embodiment preferably installs a slurry pump 3 on the mother ship. The slurry pump 3 can be a high-pressure plunger pump with a maximum pressure of 10 MPa. Its main function is to deliver slurry and drive the mixing impeller 11.

[0060] In a preferred embodiment, a bottom pad 7 is disposed at the bottom of the bladder 5. In addition, the bottom pad 7 is woven from a high-strength polymer material and a soft steel wire to form an elastic pad, the function of which is to enable the bladder to be fully expanded.

[0061] In a preferred embodiment, a one-way valve is disposed inside the grouting head. Furthermore, the one-way valve is made of high-strength material and installed on the grouting head, and its function is to allow the slurry to flow in one direction while preventing it from flowing back in the reverse direction.

[0062] In order to ensure the accuracy of the entire process, a group of positioning components is also provided in a preferred embodiment of the present invention, including a mother ship positioner 14, a three-axis tilt sensor 12 and a water depth sensor 13. The three-axis tilt sensor 12 can adopt the three-axis high-performance tilt sensor HMI739T of Maike Sensor, etc., and is arranged on the traction cable 1, and its function is to measure the inclination of the traction cable 1 in real time. The water depth sensor 13 can adopt the water depth sensor of Puquan Electronics, etc., and is arranged on the bladder 5, and its function is to measure the water depth at the location of the bladder 5 in real time. The mother ship positioner 14 can adopt the Beidou satellite navigation system, and is arranged on the construction mother ship, and its function is to measure the geodetic position coordinates in real time.

[0063] In another embodiment, a pressure sensor is also provided. The pressure sensor 6 can be a Mico pressure sensor with a range of -0.1Mpa to 2Mpa. It is provided on the bladder 5 to measure the pressure of the slurry in the bladder 5 and guide the parameter setting of the slurry pump 3. According to the actual pressure measured by the pressure sensor, the internal pressure of the slurry pump 3 is adjusted so that the pressure P of the slurry pump is 泵 >P 囊 +τk, τ is the shear strength of the bottom soil, k is the slurry-soil mixing coefficient, ranging from 1.5 to 5, P 囊 It is the measured pressure inside the bladder. The internal pressure of the bladder can dynamically respond to changes in multiple parameters such as slurry injection volume, seabed environmental pressure, bottom soil shear strength, and slurry-soil mixing ratio. By integrating the pressure sensor and the closed-loop control system, it can monitor the pressure fluctuation inside the cavity in real time, and link the grouting pump for dynamic compensation, thereby maintaining continuous and uniform slurry output from the grouting head.

[0064] Based on the same inventive concept, in other embodiments of the present invention, a method for improving the anti-scouring ability of the bed bottom is provided, using the device for improving the anti-scouring ability of the bed bottom in any of the above embodiments, such as Figure 2 As shown, the following steps are included:

[0065] S1, when the real-time position of the underwater bladder reaches the protection zone, the controller turns on the vibrator so that the mixing impeller penetrates the specified depth of the bottom bed;

[0066] S2, the slurry passes through the grouting pipe and the bladder, and is pumped out from the grouting head to drive the mixing impeller;

[0067] S3, the mixing impeller mixes and consolidates the slurry with the bottom sediment;

[0068] S4, when the height of the transported slurry volume per unit area reaches 1 / 2 of the penetration depth, the traction cable is retracted to a distance equal to the penetration depth of the mixing impeller into the bottom bed;

[0069] S5, repeat the above S1-S4 process until the entire protection area is filled with consolidated particles with diameters within a set range.

[0070] In the above implementation process, the slurry used combines with the bottom bed sediment to form consolidated aggregates, and the slurry will not be consolidated with the foundations such as piles and piers, so there will be no secondary problems such as negative friction caused by existing anti-scouring measures such as solidified soil method and expanded foundation method. The slurry is mixed in the bottom bed, and basically no slurry is eroded by waves and currents during the construction process, avoiding the serious loss of slurry caused by existing anti-scouring measures such as solidified soil method and expanded foundation method.

[0071] like Figure 3 As shown in the figure, the anti-erosion consolidation aggregates are formed in the protection area. These aggregates continue to aggregate under the sorting action of the wave flow, and finally form an anti-scour protection layer with a particle size of 30mm to 300mm, as shown in the figure. Figure 4 As shown. In other words, through the sinking of large particles on the surface, a coarsening layer that is difficult or impossible to move out of the scour pit under the action of waves and currents can be formed, so that it can gradually gather to form an anti-scour bottom layer, solving the scour problem caused by the bottom sediment being carried away by waves and currents. In the process of forming the coarsening layer, it can automatically adapt to the changes in the bottom bed elevation in the project area, effectively avoiding the phenomenon of suspended blocks when overall scour or sand wave movement occurs in the project area, and thus providing anti-scour protection for the bottom bed.

[0072] A preferred embodiment provides a preferred solution for reaching the real-time position protection zone in S1. That is, the mother ship tows the bladder through the towing cable, continuously reads the data of the mother ship positioner, water depth sensor and three-axis tilt sensor, and calculates the real-time position of the underwater bladder. Specifically, the three-dimensional coordinates of the real-time position are:

[0073] x=x 0 +Lsinα, α is the angle between the towing cable and the travel direction, L is the length of the towing cable, x 0 It is the reading of the mother ship's locator;

[0074] is the angle between the traction cable and the vertical direction of travel, y 0 It is the reading of the mother ship's locator;

[0075] z=z 0 -Lsinθ, θ is the angle between the towing cable and the water depth direction, z 0 It is the reading of the mother ship's locator.

[0076] A preferred embodiment provides a specific implementation method of S4. The initial penetration depth is set to 300 mm. When the height of the conveying volume reaches 150 mm, it is retracted upward by a distance of 150 mm. Subsequently, 150 mm is used as the new initial depth. When the height of the conveying volume reaches 150 mm, it is retracted upward by a distance of 150 mm again. The traction cable continues to retract upward, and this is repeated until it reaches the edge of the bed-making area designed for protection. Afterwards, the bed-making area is changed and another vertical row of bed-making operations is started.

[0077] In a preferred embodiment, the mixing impeller penetrates into the bottom bed to a specified depth ranging from 30 mm to 300 mm.

[0078] In a preferred embodiment, the diameter of the consolidated agglomerates ranges from 50 mm to 400 mm. Of course, due to the different strength of the bed, the working pressure of the grouting pump, the residence time of the grouting in situ and the depth of the mixing impeller sinking into the bed, the diameters of the obtained agglomerates are different, which is conducive to small particles filling the gaps between large particles, thereby further improving the anti-scouring ability.

[0079] The device in the above embodiment is applied to a specific embodiment to carry out anti-scouring protection around the piers of a bridge across a river. Specifically:

[0080] Bridge pier: Pile diameter 2m, single cylindrical pile, buried depth 38.6m.

[0081] Bottom bed: bed sand particle size d 50 =0.085mm, sorting coefficient ψ = 1.8, specific gravity γ s =2.65T / m 3 .

[0082] Designed water flow conditions: flow rate 3.5m / s, water depth 25.6m.

[0083] The specific implementation process is: the mother ship drags the bladder 5 forward through the towing cable 1, continuously reads the position reading of the mother ship locator 14, the water depth reading of the water depth sensor 13 and the inclination reading of the three-axis inclination sensor 12, calculates the position of the bladder, and adjusts it to the designated area that needs protection accordingly.

[0084] The controller 15 turns on the vibrating body 9 to allow the mixing impeller 11 to penetrate the bottom bed to a depth of 200 mm.

[0085] The slurry mixing pump 2 is turned on to mix the proportioned water and slurry evenly, and then the slurry is pumped to the mixing impeller 11 through the grouting pipe 4, the bladder 5, the one-way valve 8, and the grouting head 10 by the slurry pump 3, and the impeller 11 is pushed to mix the slurry with the bottom bed sediment.

[0086] When the volume of the transported slurry per unit area reaches a height of 100 mm, the traction cable 1 is retracted by a distance of 100 mm.

[0087] The above work is repeated until the mixing impeller 11 towed by the mother ship reaches the entire protection zone and the bed making operation is completed.

[0088] The above-mentioned embodiment can provide a safe, reliable and easy-to-implement protection method for underwater structures or building foundations to achieve dense distribution of pellets with a diameter greater than 200 mm in the protection area.

[0089] The above describes the specific embodiments of the present invention. It should be understood that the present invention is not limited to the above specific embodiments, and those skilled in the art can make various modifications or variations within the scope of the claims, which does not affect the essence of the present invention. The above preferred features can be used in any combination without conflicting with each other.

Claims

1. A device for improving the anti-scouring ability of the bed bottom, characterized in that: include: The mother ship carries the slurry; A towing cable, one end of which is connected to the mother ship; a leather bag connected to the other end of the traction cable; A grouting pipe for conveying the slurry to the bladder; A grouting head, arranged at the bottom of the bladder; A vibrating body, mounted outside the grouting head; A mixing impeller is installed at the end of the grouting head; A controller is installed on the mother ship and controls the vibrator.

2. The device for improving the anti-scouring ability of the bed bottom according to claim 1 is characterized in that: An elastic bottom pad is provided at the bottom of the bladder, which is used to open the bladder and provide support for the installation of the grouting head; the bottom area of ​​the bottom pad is equal to that of the bladder.

3. The device for improving the anti-scouring ability of the bed bottom according to claim 1, characterized in that: A one-way valve is arranged in the grouting head.

4. The device for improving the anti-scouring ability of the bed bottom according to claim 1, characterized in that: Also includes one or more of a mother ship locator, a three-axis tilt sensor, and a water depth sensor; The mother ship locator is installed on the mother ship to measure the geodetic position coordinates of the mother ship in real time; The three-axis inclination sensor is arranged on the traction cable to measure the inclination of the traction cable in real time; The water depth sensor is arranged on the bladder to measure the water depth at the location of the bladder in real time.

5. The device for improving the anti-scouring ability of the bed bottom according to claim 1, characterized in that: Also includes: The pressure sensor is arranged on the bladder to measure the pressure P of the slurry in the bladder in real time. 囊 ; The slurry pump is installed on the mother ship and transports the slurry into the bladder through the grouting pipe; the pressure of the slurry pump itself is P 泵 , P 泵 >P 囊 +τk, τ is the shear strength of the bottom soil, k is the slurry-soil mixing coefficient, ranging from 1.5 to 5.

6. The device for improving the anti-scouring ability of the bed bottom according to claim 1, characterized in that: It also includes a slurry mixing pump, which is installed on the mother ship and mixes water and slurry in a volume ratio of 1:4.5-5.5 to obtain slurry.

7. A method for improving the anti-scouring ability of a bed bottom, using the device for improving the anti-scouring ability of a bed bottom according to claim 1, characterized in that: include: When the real-time position of the underwater bladder reaches the protection zone, the controller turns on the vibrator, causing the mixing impeller to penetrate the specified depth of the bottom bed; The slurry passes through the grouting pipe and the bladder, and is pumped out from the grouting head to drive the mixing impeller; The mixing impeller mixes and consolidates the slurry with the bottom bed sediment; When the height of the transported slurry volume per unit area reaches 1 / 2 of the penetration depth, the traction cable is retracted by a distance equal to the penetration depth of the mixing impeller into the bottom bed; The above process is repeated until the entire protection area is filled with consolidated particles with diameters within the set range.

8. A method for improving the anti-scouring capability of a bed bottom according to claim 7, characterized in that: By continuously reading the data from the mother ship locator, the water depth sensor and the three-axis tilt sensor, the real-time position (x, y, z) of the underwater bladder is calculated; x = x0 + Lsinα, α is the angle between the towing cable and the travel direction, L is the length of the towing cable, and x0 is the reading of the mother ship's positioner; y=y0+Lsinφ, φ is the angle between the towing cable and the vertical direction of travel, y0 is the reading of the mother ship positioner; z=z0-Lsinθ, θ is the angle between the towing cable and the water depth direction, and z0 is the reading of the mother ship locator.

9. A method for improving the anti-scouring capability of a bed bottom according to claim 7, characterized in that: The specified depth range is 30 mm to 300 mm.

10. A method for improving the anti-scouring capability of a bed bottom according to claim 7, characterized in that: The diameters of the consolidated pellets are not uniform, and the diameter ranges from 50 mm to 400 mm.

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