Seabed leveling device and application method thereof

Abstract

The invention relates to the technical field of seabed leveling construction, in particular to a seabed leveling device and an application method thereof.The seabed leveling device comprises a supporting mechanism, a seabed scanning mechanism, a rock sensing mechanism, a seabed leveling mechanism and a control host; the supporting mechanism is connected with the ship body. The supporting mechanism is connected with the seabed scanning mechanism, the rock sensing mechanism and the seabed leveling mechanism. The submarine scanning mechanism is used for acquiring submarine topographic data; the rock sensing mechanism is used for detecting whether rock exists in a lug boss of the seabed area to be leveled or not; the control host is connected with the seabed scanning mechanism, the rock sensing mechanism and the seabed leveling mechanism, and the control host is used for controlling the seabed leveling mechanism to conduct seabed leveling operation on the seabed area to be leveled according to detection data of the seabed scanning mechanism and the rock sensing mechanism. The submarine topography and the rock existence condition are fully considered in the submarine shaping operation, and the submarine leveling operation efficiency and quality are improved.

Description

Technical Field

[0001] The invention relates to the technical field of seabed leveling construction, and in particular to a seabed leveling device and an application method thereof. Background Art

[0002] In the field of marine engineering, the seabed is exposed to strong hydrodynamic scouring such as waves and tides for a long time, often becoming extremely uneven and with complex and changeable geological conditions, which poses severe challenges to marine engineering construction. Traditional solutions mainly rely on large ships, such as climbing suction ships and grab ships, to perform sand pumping and leveling operations. However, these methods are not only inefficient, time-consuming and labor-intensive, but also have obvious shortcomings in cost control and operation accuracy. In particular, such operations often require the use of ships with large displacement, which undoubtedly further increases the difficulty and cost of the operation.

[0003] In addition, most traditional leveling devices are fixedly installed on ships, lacking the necessary flexibility and environmental adaptability, and it is difficult to achieve a comprehensive leveling effect from local to overall. This not only seriously restricts the efficiency of leveling operations, but also further increases the difficulty and cost of operations. As for the detection of seabed topography, traditional means such as single-beam sonar or simple mechanical detection equipment often have limited accuracy and are far from meeting the actual needs of high-precision leveling operations.

[0004] More importantly, in the seabed leveling operation, in addition to dealing with a large amount of mud and sand, we also have to deal with rocks that may be mixed in the mud and sand. If we simply pump out the mud and sand and ignore the existence of rocks, it is likely to cause the rocks to be exposed, which will seriously affect the leveling effect and the stability of the seabed terrain. Therefore, how to effectively deal with these rocks during the leveling process has become a key issue that needs to be solved urgently. Summary of the invention

[0005] The purpose of the present invention is to provide a seabed leveling device and an application method thereof in order to solve at least one of the above technical problems.

[0006] The present invention achieves the above-mentioned purpose through the following technical solutions:

[0007] A seabed leveling device, comprising: a supporting mechanism, a seabed scanning mechanism, a rock sensing mechanism, a seabed leveling mechanism, and a control host;

[0008] The support mechanism is connected to the hull, and the support mechanism is connected to the seabed scanning mechanism, the rock sensing mechanism, and the seabed leveling mechanism;

[0009] The seabed scanning mechanism is used to obtain seabed topographic data;

[0010] The rock sensing mechanism is used to detect whether there are rocks in the raised portion of the seabed area to be leveled;

[0011] The control host is connected to the seabed scanning mechanism, the rock sensing mechanism, and the seabed leveling mechanism. The control host is used to control the seabed leveling mechanism to perform seabed leveling operations on the seabed area to be leveled according to the detection data of the seabed scanning mechanism and the rock sensing mechanism.

[0012] Furthermore, the support mechanism includes: a transverse slide rail and a longitudinal slide rail;

[0013] The two longitudinal slide rails are respectively fixed on both sides of the ship's hull;

[0014] The transverse slide rail includes a transverse track; both ends of the transverse track are respectively slidably connected to one of the longitudinal slide rails. An elevating mechanism is arranged on the transverse track, and the seabed leveling mechanism is connected to the elevating mechanism. The longitudinal position of the seabed leveling mechanism is adjusted through the elevating mechanism.

[0015] Furthermore, the transverse slide rail further includes: a plurality of sliders slidably connected to the transverse track;

[0016] A fixed platform is connected to the slider, and the seabed scanning mechanism is connected to the fixed platform;

[0017] The elevating mechanism includes: a lifting device and a towing rope; the lifting device is connected to the slider; the seabed leveling mechanism is respectively connected to the lifting device and the towing rope.

[0018] Furthermore, the transverse slide rail is connected to the ship's hull deck through a load platform; the height of the load platform is adjustable.

[0019] Furthermore, the seabed scanning mechanism includes: a scanning mechanism main body;

[0020] An LED lighting lamp, a camera, and a multi-beam image sonar detector are arranged on the front side of the scanning mechanism main body;

[0021] At least one thruster is arranged in each direction of the scanning mechanism main body, and the thruster is used to adjust the position of the scanning mechanism main body;

[0022] A manipulator is further arranged on the scanning mechanism main body, and the manipulator is used to finely adjust the position of the scanning mechanism main body.

[0023] Furthermore, the rock sensing mechanism includes: a box body, a top rod, an induction probe, and an induction driving mechanism;

[0024] The induction drive mechanism is connected to the box, the upper end of the push rod is connected to the induction drive mechanism, and the lower end passes through the bottom of the box and is connected to the induction probe; the induction drive mechanism drives the push rod to move, and when the induction probe is inserted into the seabed sediment layer and detects the existence of rocks, the induction probe sends a rock detection signal to the control host;

[0025] The rock sensing mechanism is connected to the seabed leveling mechanism via a base.

[0026] Further, the induction drive mechanism comprises: a built-in movable plate, a linear drive, a moving rod, and a rotary drive motor;

[0027] The built-in movable plate separates the box into two parts, an upper part and an lower part. The linear drive is fixed to the upper part of the box. The linear drive drives the connected moving rod and controls the up and down movement of the moving rod. The lower end of the moving rod passes through the built-in movable plate and is connected to the rotary drive motor. The output end of the rotary drive motor is connected to the end of the push rod away from the sensing probe.

[0028] Furthermore, the induction drive mechanism further comprises: a transmission rod;

[0029] The output end of the linear drive extends out of the top of the box and is connected to the bottom of the transmission rod, the top of the transmission rod is connected to an external movable plate, the upper end of the moving rod passes through the top of the box and is connected to the external movable plate, and a flexible sealing sleeve is connected between the external movable plate and the outer wall of the box;

[0030] A plurality of connecting rods fixedly connected to the built-in movable plate are arranged around the outside of the rotary drive motor, and a push plate is connected to the end of the connecting rod facing away from the built-in movable plate; the end of the push rod facing away from the sensing probe passes through the push plate and is connected to the rotary drive motor, and a bearing is arranged on the inner wall of the through hole on the push plate for the push rod to pass through.

[0031] Furthermore, the seabed leveling mechanism comprises: a cutter suction pump and a sand storage tank fixed to a base;

[0032] The bottom of the sand storage tank is connected with the output end of the suction pump through a delivery pipe. The top of the sand storage tank is open and a sand discharge port is arranged at the bottom.

[0033] An application method of a seabed leveling device, applied to any of the above-mentioned seabed leveling devices, the application method comprising:

[0034] Scanning the seabed by a seabed scanning mechanism to obtain a three-dimensional seabed model, and determining a raised portion in the three-dimensional seabed model;

[0035] Detect whether there is a rock in the raised part of the seabed area to be leveled through a rock sensing mechanism;

[0036] The control host determines the sediment adjustment amount of each raised part according to the seabed three-dimensional model and the detection data of the rock sensing mechanism;

[0037] The seabed leveling mechanism levels the seabed area to be leveled according to the sediment adjustment amount determined by the control host.

[0038] The beneficial effects of the present invention are as follows:

[0039] Through the design of the support mechanism, the present invention realizes a stable connection with the hull and has the ability to move freely in a vast seabed area. This design not only significantly improves the operation efficiency but also enables the device to flexibly cope with various complex seabed terrains. At the same time, the equipped lifting mechanism further enhances the adaptability and flexibility of the device, and can adjust the longitudinal position of the seabed leveling mechanism according to actual operation requirements, thus ensuring the smooth progress of the leveling operation.

[0040] The present invention has made a major breakthrough in seabed scanning and rock detection. The seabed scanning mechanism integrates a variety of advanced devices, which can capture the subtle changes of the seabed terrain in real time and accurately, providing high-precision and all-round data support for the leveling operation. The rock sensing mechanism can penetrate into the seabed sediment layer to accurately detect whether there is a rock in the raised part, effectively avoiding damaging the rock or causing other safety problems during the leveling process. These innovative designs not only improve the safety and efficiency of the operation but also fully reflect the dual advantages of the device in technological innovation and environmental protection concepts.

[0041] Through the innovative support mechanism, high-precision seabed scanning mechanism, reliable rock sensing mechanism and efficient seabed leveling mechanism, the present invention realizes all-round and high-precision leveling operation of the seabed terrain. This design not only improves the operation efficiency and quality but also effectively protects the seabed ecological environment, injecting new vitality and power into the development of the marine engineering field. Brief Description of the Drawings

[0042] Figure 1 It is a schematic structural diagram of the support mechanism of an embodiment of the present invention;

[0043] Figure 2 It is a schematic structural diagram of the transverse slide rail of an embodiment of the present invention;

[0044] Figure 3 It is a schematic structural diagram of the seabed scanning mechanism of an embodiment of the present invention;

[0045] Figure 4 It is a schematic diagram of the operation of the seabed scanning mechanism of an embodiment of the present invention Figure 1;

[0046] Figure 5 Schematic of the operation of the seabed scanning mechanism according to an embodiment of the present invention Figure 2 ;

[0047] Figure 6 Schematic structural diagram of the rock sensing mechanism and the seabed leveling mechanism according to an embodiment of the present invention;

[0048] Figure 7 Flowchart of the application method of the seabed leveling device according to an embodiment of the present invention;

[0049] Figure 8 Schematic diagram of the seabed rock condition before leveling according to an embodiment of the present invention;

[0050] Figure 9 Schematic diagram of the seabed rock condition after leveling according to an embodiment of the present invention.

[0051] Wherein, 1. Horizontal slide rail, 1-1. Horizontal track, 1-2. Slide block, 2. Vertical slide rail, 3. Lifting equipment, 4. Suction dredge pump, 5. Towing rope, 6. Fixed platform, 7. Manipulator, 8. Main body of the scanning mechanism, 9. LED lighting lamp, 10. Camera, 11. Multi-beam sonar detector, 12. Thruster, 12-1. First thruster, 12-2. Second thruster, 12-3. Third thruster, 12-4. Fourth thruster, 13. Box body, 14. Inner movable plate, 15. Connecting rod, 16. Rotary drive motor, 17. Push plate, 18. Jack rod, 19. Inductive probe, 20. Linear drive, 21. Transmission rod, 22. Flexible sealing sleeve, 23. Outer movable plate, 24. Moving rod, 25. Sand storage tank, 26. Sand discharge port, 27. Delivery pipe, 28. Seabed sediment layer, 29. Rock, 30. Protrusion. Detailed implementation manners

[0052] Now, the content of the present invention will be described with reference to exemplary embodiments. It should be understood that the described embodiments are only for enabling those of ordinary skill in the art to better understand and thus implement the content of the present invention, rather than implying any limitation to the scope of the present invention.

[0053] As used herein, the term "comprising" and its variants are to be construed as open-ended terms meaning "including but not limited to". The term "based on" is to be construed as "at least partially based on". The terms "one embodiment" and "an embodiment" are to be construed as "at least one embodiment".

[0054] Embodiment 1

[0055] According to an embodiment of the present invention, a seabed leveling device includes: a support mechanism, a seabed scanning mechanism, a rock sensing mechanism, a seabed leveling mechanism, and a control host;

[0056] The support mechanism is connected to the hull and is also connected to the seabed scanning mechanism, the rock sensing mechanism, and the seabed leveling mechanism;

[0057] The seabed scanning mechanism is used to obtain seabed terrain data;

[0058] The rock sensing mechanism is used to detect whether there is a rock 29 in the raised part 30 of the seabed area to be leveled;

[0059] The control host is connected to the seabed scanning mechanism, the rock sensing mechanism, and the seabed leveling mechanism, and is used to control the seabed leveling mechanism to perform seabed leveling operations on the seabed area to be leveled according to the detection data of the seabed scanning mechanism and the rock sensing mechanism.

[0060] In this embodiment, an efficient and advanced seabed leveling device is proposed. This device integrates multiple high-tech components and aims to achieve efficient and precise leveling operations of the seabed terrain. The seabed leveling device mainly includes five core parts: a support mechanism, a seabed scanning mechanism, a rock sensing mechanism, a seabed leveling mechanism, and a control host. The support mechanism, as the cornerstone of the entire device, is closely connected to the hull, providing a stable operation platform. At the same time, it is also closely connected to other functional mechanisms, ensuring the collaborative operation ability of the entire system. The seabed scanning mechanism uses advanced scanning technology to collect all-round and high-precision data of the seabed terrain. These detailed data provide crucial terrain information for subsequent leveling operations, ensuring the accuracy and efficiency of the leveling operations. During the seabed leveling operation, in addition to considering sediment, the rocks 29 that may exist in the sediment should also be considered. Simply pumping away the sediment may expose the rocks 29 and affect the leveling effect. The rock sensing mechanism detects whether there is a rock 29 in the raised part 30 of the seabed area to be leveled. This function is crucial for ensuring the safety and efficiency of the leveling operation. Through the precise detection of the rock sensing mechanism, the rocks 29 can be discovered and processed in a timely manner, thus avoiding potential risks. The control host is arranged on the bed deck and is electrically connected to the seabed scanning mechanism, the rock sensing mechanism, and the seabed leveling mechanism. As the brain of the entire device, the control host receives the detection data from the seabed scanning mechanism and the rock sensing mechanism and conducts comprehensive analysis. Based on these data, the control host can precisely control the working state of the seabed leveling mechanism, including key parameters such as the leveling depth, range, and speed. This intelligent control method not only improves the accuracy of the leveling operation but also significantly enhances the working efficiency.

[0061] The seabed leveling device of the present invention not only gets rid of the dependence on large-displacement ships in the traditional operation mode, but also realizes the rapid and precise leveling of the seabed terrain through highly integrated and intelligent design. This not only greatly reduces the shipping cost, but also significantly improves the work efficiency. Compared with the traditional seabed leveling methods, the present invention not only provides more accurate and detailed seabed feature data support, but also achieves a qualitative leap in operation efficiency and cost control. This innovative technical solution has brought a revolutionary progress to the field of seabed engineering and provides a more efficient and reliable leveling solution for future seabed construction.

[0062] Figure 1 It is a schematic structural diagram of a support mechanism according to an embodiment of the present invention. Figure 2 It is a schematic structural diagram of a transverse slide rail according to an embodiment of the present invention. As Figure 1-2 shown, according to an embodiment of the present invention, the support mechanism includes a transverse slide rail 1 and a longitudinal slide rail 2;

[0063] The two longitudinal slide rails 2 are respectively fixed on both sides of the ship's hull;

[0064] The transverse slide rail 1 includes a transverse track 1-1; both ends of the transverse track 1-1 are respectively slidably connected to a longitudinal slide rail 2, and a lifting mechanism is arranged on the transverse track 1-1. The seabed leveling mechanism is connected to the lifting mechanism, and the longitudinal position of the seabed leveling mechanism is adjusted through the lifting mechanism.

[0065] Preferably, the transverse slide rail 1 further includes a plurality of sliders 1-2 slidably connected to the transverse track 1-1;

[0066] The fixed platform 6 is connected to the slider 1-2, and the seabed scanning mechanism is connected to the fixed platform 6;

[0067] The lifting mechanism includes: a lifting device 3 and a towing rope 5; the lifting device 3 is connected to the slider 1-2; the seabed leveling mechanism is respectively connected to the lifting device 3 and the towing rope 5.

[0068] Preferably, the transverse slide rail 1 is connected to the ship's hull deck through a load platform; the height of the load platform is adjustable.

[0069] In this embodiment, the support mechanism includes a transverse slide rail 1 and a longitudinal slide rail 2. Specifically, two longitudinal slide rails 2 are firmly fixed on both sides of the ship's side, providing a track foundation for the longitudinal movement of the entire leveling device. The transverse slide rail 1 includes a rigid transverse track 1-1, and both ends of the track are respectively slidably connected to a longitudinal slide rail 2, ensuring that the transverse slide rail 1 can move longitudinally. On the transverse track 1-1, a plurality of sliders 1-2 are arranged. These sliders 1-2 are also made of rigid materials and can slide smoothly along the transverse track 1-1. A fixed platform 6 is connected to one of the sliders 1-2, and a seabed scanning mechanism for precisely scanning the seabed terrain is connected to the fixed platform 6. In order to achieve precise adjustment of the seabed leveling mechanism, a lifting mechanism is arranged on the transverse track 1-1. The lifting mechanism includes a lifting device 3 and a towing rope 5. The lifting device 3, preferably a 5T electric hoist, is connected to the slider 1-2 and is connected to the seabed leveling mechanism through a suspension cable. By retracting and releasing the suspension cable, the position of the seabed leveling mechanism in the vertical direction can be flexibly adjusted. In order to ensure the smooth movement of the seabed leveling mechanism in the vertical direction, a wave compensator is specially equipped on the suspension cable. In addition, in order to keep the seabed leveling mechanism moving smoothly horizontally underwater, a plurality of towing ropes 5 (steel wire ropes with adjustable lengths are used in this embodiment) are arranged. One end of each of them is connected to the seabed leveling mechanism, and the other end is fixed to both ends of the transverse track 1-1, providing a stable horizontal traction force for the seabed leveling mechanism. It is worth mentioning that the transverse slide rail 1 is also connected to the hull deck through a load platform with adjustable height, which enables the entire support mechanism to be flexibly adjusted according to the operation requirements, further improving the operation efficiency and accuracy.

[0070] The support mechanism of the present invention combines the transverse slide rail and the longitudinal slide rail to achieve flexible longitudinal movement and local transverse adjustment of the seabed leveling device in the direction of the ship's side. By using the smooth sliding of the rigid slider on the transverse track and the precise control of the lifting mechanism (including a 5T electric hoist and a towing rope), combined with the wave compensator to ensure the smoothness of the vertical movement, and at the same time, a plurality of towing ropes provide stable horizontal traction, and together with the load platform with adjustable height, the efficiency and accuracy of the seabed leveling operation are improved.

[0071] Figure 3 It is a schematic structural diagram of a seabed scanning mechanism according to an embodiment of the present invention; Figure 4 It is a schematic diagram of the operation of a seabed scanning mechanism according to an embodiment of the present invention Figure 1 ; Figure 5 It is a schematic diagram of the operation of a seabed scanning mechanism according to an embodiment of the present invention Figure 2 。As Figure 3-5 shown, according to an embodiment of the present invention, the seabed scanning mechanism includes: a scanning mechanism main body 8;

[0072] On the front side of the main body 8 of the scanning mechanism, there are an LED lighting lamp 9, a camera 10, and a multi-beam image sonar detector 11;

[0073] At least one thruster 12 is respectively arranged in each direction of the main body 8 of the scanning mechanism, and the thruster 12 is used to adjust the position of the main body 8 of the scanning mechanism;

[0074] A manipulator 7 is also arranged on the main body 8 of the scanning mechanism, and the manipulator 7 is used to finely adjust the position of the main body 8 of the scanning mechanism.

[0075] In this embodiment, the seabed scanning mechanism includes: the main body 8 of the scanning mechanism, an LED lighting lamp 9, a camera 10 (adopting a 1080P high-definition camera), a multi-beam image sonar detector 11, at least four thrusters 12 (marked as the first thruster 12-1, the second thruster 12-2, the third thruster 12-3, and the fourth thruster 12-4), and a manipulator 7. The manipulator 7 is movably connected to the main body 8 of the scanning mechanism.

[0076] Taking the main body 8 of the scanning mechanism as the core, thrusters 12 are equipped in all directions thereof to realize large-range position adjustment of the main body 8 of the scanning mechanism. At the same time, a manipulator 7 is also installed on the main body 8 of the scanning mechanism for performing more delicate position fine-tuning. The LED lighting lamp 9 and the camera 10 are respectively installed on the front side of the main body 8 of the scanning mechanism for providing lighting and real-time image monitoring during the scanning process. The multi-beam image sonar detector 11 is also located on the front side and is a key device for obtaining seabed terrain data.

[0077] The connection between the seabed scanning mechanism and the hull is realized through a support mechanism. Specifically, the main body 8 of the scanning mechanism is connected to the fixed platform 6. In this embodiment, the main body 8 of the scanning mechanism is connected to the fixed platform 6 through a wired cable. The fixed platform 6 is slidably connected to the transverse track 1-1 through a slider 1-2. The transverse track 1-1 is installed on a load platform with adjustable height. This setting allows the seabed scanning mechanism to move freely in the horizontal direction. The longitudinal slide rail 2 is fixed on both sides of the ship's side, and through its longitudinal movement ability, it drives the entire seabed scanning mechanism to perform longitudinal adjustment during the ship's navigation. This design ensures that the seabed scanning mechanism can flexibly cover a wide detection area.

[0078] The multi-beam sonar detector 11 adopts advanced sonar technology. By emitting acoustic wave pulses and receiving reflected signals, it realizes precise measurement of the seabed terrain. This technology can quickly generate high-density seabed point cloud data, providing detailed and reliable data support for subsequent leveling operations. Compared with traditional methods, the multi-beam sonar detector not only improves the measurement accuracy but also significantly improves the operation efficiency and reduces the cost. During each stage of the seabed leveling operation, the data of the seabed area to be leveled is scanned through the multi-beam sonar detector 11, and the seabed leveling operation can be adjusted in a timely manner.

[0079] The thruster 12 and the manipulator 7 play crucial roles in the position adjustment of the seabed scanning mechanism. The thruster 12 generates horizontal thrust to push the seabed scanning mechanism to quickly move near the target area in the water. The manipulator 7, through the telescopic, lifting, and rotating functions of its joints, realizes small-range translation, depth adjustment, and angle adjustment of the scanning mechanism, ensuring that the seabed scanning mechanism can accurately reach the target position and perform high-precision scanning. After the seabed scanning mechanism is lowered to the preset area through the support mechanism, the control host adjusts the thruster 12 and the manipulator 7 in sequence according to the data fed back by the multibeam sonar detector 11 and the camera 10. Before use, to ensure the normal operation of the manipulator 7, detailed inspections of the joints of the manipulator 7 are required before startup to ensure that the manipulator 7 can stretch, contract, and rotate flexibly, so as to complete the subsequent high-precision adjustment tasks. During use, first, the seabed scanning mechanism is safely lowered to the preset area through the support mechanism. The control host starts to receive the data fed back by the multibeam sonar detector 11 and the camera 10, and according to the real-time feedback of the data, the control host adjusts the thruster 12 and the manipulator 7 in sequence to achieve the precise positioning of the scanning mechanism. The thruster 12 starts first, generating horizontal thrust to push the scanning mechanism to quickly move near the target area in the water. When the scanning mechanism approaches the target area, the thrust of the thruster 12 gradually decreases, and then the manipulator 7 takes over the dominant position adjustment work. The manipulator 7, through the telescopic, lifting, and rotating functions of its joints, realizes small-range translation, depth adjustment, and angle adjustment of the scanning mechanism. Specifically, the telescopic function of the joint 8 of the manipulator 7 can push or pull the scanning mechanism for small-range horizontal movement to adapt to the minor deviations of the target area; the lifting function is used to adjust the depth of the scanning mechanism so that it can fit the seabed topography at different depths; the rotating function is responsible for adjusting the angle of the scanning mechanism to ensure that the scanning direction is consistent with a specific direction of the target area. Under the fine adjustment of the manipulator 7, the scanning mechanism can finally accurately reach the target position and perform high-precision scanning. Throughout the process, the control host continuously receives and processes the data from the multibeam sonar detector 11 and the camera 10 to ensure the accuracy of the position adjustment and the high quality of the scanning effect.

[0080] The LED lighting lamp 9 and the camera 10 are mainly used to provide necessary lighting and real-time monitoring during the scanning process. The LED lighting lamp 9 can illuminate the seabed environment so that the camera 10 can capture clear images. The camera 10 then transmits these images to the control host in real time for the operator to monitor the scanning progress and results. At the same time, the camera 10 can also combine with the data of the multibeam sonar detector 11 to provide the operator with more comprehensive seabed topography information.

[0081] The seabed scanning mechanism provided by the present invention integrates key components such as LED lighting lamps, cameras, multi-beam sonar detectors, thrusters, and manipulators, achieving precise scanning and position adjustment of the seabed topography. Among them, the thrusters enable large-range and rapid movement, and the manipulator completes high-precision fine-tuning to ensure that the scanning mechanism can accurately reach the target position. The multi-beam sonar detector provides high-precision seabed topography data, while the LED lighting lamp and the camera provide lighting and real-time monitoring, jointly improving the efficiency and accuracy of seabed scanning.

[0082] Figure 6 It is a schematic structural diagram of the rock sensing mechanism and the seabed leveling mechanism according to an embodiment of the present invention. As Figure 6 shown, according to an embodiment of the present invention, the rock sensing mechanism includes: a box body 13, a top rod 18, a sensing probe 19, and a sensing driving mechanism;

[0083] The sensing driving mechanism is connected to the box body 13. The upper end of the top rod 18 is connected to the sensing driving mechanism, and the lower end penetrates through the bottom of the box body 13 and is connected to the sensing probe 19. The sensing driving mechanism drives the top rod 18 to move. When the sensing probe 19 is inserted into the seabed sediment layer 28 and detects the existence of a rock 29, the sensing probe 19 sends a rock detection signal to the control host;

[0084] The rock sensing mechanism is connected to the seabed leveling mechanism through a base 12.

[0085] Preferably, the sensing driving mechanism includes: an internal movable plate 14, a linear driver 20, a moving rod 24, and a rotary driving motor 16;

[0086] The internal movable plate 14 divides the box body 13 into upper and lower parts. The linear driver 20 is fixed to the upper part of the box body 13. The linear driver 20 is drivingly connected to the moving rod 24 to control the up and down movement of the moving rod 24. The lower end of the moving rod 24 penetrates through the internal movable plate 14 and is connected to the rotary driving motor 16. The output end of the rotary driving motor 16 is connected to the end of the top rod 18 away from the sensing probe 19.

[0087] Preferably, the sensing driving mechanism further includes: a transmission rod 21;

[0088] The output end of the linear driver 20 extends out of the top of the box body 13 and is connected to the bottom of the transmission rod 21. An external movable plate 23 is connected to the top of the transmission rod 21. The upper end of the moving rod 24 penetrates through the top of the box body 13 and is connected to the external movable plate 23. A flexible sealing sleeve 22 is connected between the external movable plate 23 and the outer wall of the box body 13;

[0089] A plurality of connecting rods 15 fixedly connected to the built-in movable plate 14 are arranged around the outside of the rotary drive motor 16. One end of the connecting rod 15 away from the built-in movable plate 14 is connected to a push plate 17. One end of the ejector rod 18 away from the induction probe 19 passes through the push plate 17 and is connected to the rotary drive motor 16. Bearings are arranged on the inner wall of the through hole on the push plate 17 for the ejector rod 18 to pass through.

[0090] In this embodiment, the rock sensing mechanism includes a box body 13, an ejector rod 18, an induction probe 19 and an induction driving mechanism. These components are precisely designed and connected to jointly achieve the precise detection of underwater rocks. As the basic support structure of the entire rock sensing mechanism, the induction driving mechanism is fixed inside the box body 13, and a through channel is provided for the ejector rod 18. The robust design of the box body 13 ensures its stability and durability in the complex underwater environment. One end of the ejector rod 18 is connected to the induction driving mechanism, and the other end passes through the bottom of the box body 13 and is fixedly connected to the induction probe 19. The ejector rod 18 moves under the drive of the induction driving mechanism, thereby driving the induction probe 19 to insert into the underwater sediment layer 28 for detection. A pressure sensor is arranged in the induction probe 19, and this pressure sensor communicates with the control host in real time to detect and feedback the pressure change of the object contacted by the induction probe 19. When the induction probe 19 inserts into the underwater sediment layer 28 and detects a rock 29, since the hardness of the rock 29 is much greater than that of the sediment, the pressure sensor will receive a significantly increased pressure signal and immediately send it to the control host, thereby indicating the presence of the rock 29.

[0091] The induction driving mechanism is fixedly installed on the upper part of the box body 13. The ejector rod 18 passes through the box body 13, one end extends outside the box body 13 and is connected to the induction probe 19, and the other end extends deep into the box body 13 and is connected to the induction driving mechanism. The induction driving mechanism includes a built-in movable plate 14, a linear driver 20, a moving rod 24, and a rotary drive motor 16. The built-in movable plate 14 divides the internal space of the box body 13 into upper and lower parts, providing installation positions for each component. The built-in movable plate 14 can slide up and down along the inner wall of the box body 13. The linear driver 20 is fixedly installed on the upper part of the box body 13, and by driving and connecting the moving rod 24, the linear movement of the moving rod 24 in the up and down direction is realized. The linear driver 20 can select structures such as a cylinder, a hydraulic cylinder or a motor with a lead screw nut assembly, etc., and all need to have good waterproof and sealing performance. The bottom end of the moving rod 24 passes through the built-in movable plate 14 and is fixedly connected to the rotary drive motor 16. The output shaft of the rotary drive motor 16 is coaxially fixed to the ejector rod 18, and is used to drive the ejector rod 18 and the induction probe 19 to move up and down through the moving rod 24 under the drive of the linear driver 20, and drive the ejector rod 18 to rotate when necessary to remove the adhered sediment.

[0092] To increase the effective stroke of the ejector rod 18, after the output end of the linear drive 20 extends out of the box body 13, a transmission rod 21 is fixedly connected coaxially. The other end of the transmission rod 21 is fixedly connected to an external movable plate 23, and the top end of the moving rod 24 penetrates through the top of the box body 13 and is fixedly connected to the external movable plate 23. A flexible sealing sleeve 22 is installed between the external movable plate 23 and the outer wall of the box body 13 to ensure that the inside of the box body is not eroded by seawater and sediment during the process of stroke extension.

[0093] A plurality of connecting rods 15 stably connect the internal movable plate 14 and the push plate 17. The push plate 17 and the internal movable plate 14 are parallel to each other. The rotary drive motor 16 is installed between the internal movable plate 14 and the push plate 17. A through hole for the ejector rod 18 to pass through is formed on the push plate 17, and bearings are installed on the inner wall of the through hole to reduce the frictional resistance when the ejector rod 18 moves and protect the rotary drive motor 16 from direct impact.

[0094] During the seabed leveling operation, first, the position of the convex part 30 is determined through the seabed three-dimensional model. Subsequently, the rock sensing mechanism is activated, and the linear drive 20 drives the moving rod 24 and the rotary drive motor 16 to drive the ejector rod 18 and the sensing probe 19 to move downward until the probe is inserted into the convex part 30. If there is a rock 29 in the convex part 30, the pressure sensor will detect a significantly increased pressure value and immediately send a rock detection signal to the control host. During the operation, the rotary drive motor 16 can drive the ejector rod 18 to rotate as needed to remove the adhered sediment on it and prevent the sediment from entering the inside of the box body 13 and affecting the operation of the mechanism. Preferably, a sealing ring can also be provided at the position where the ejector rod 18 passes through the box body 13 to further prevent sediment from entering the box body 13.

[0095] The rock sensing mechanism of the present invention is precisely designed. By using a linear drive and a rotary drive motor to drive the ejector rod and the sensing probe to insert into the seabed sediment layer for rock detection, the accuracy and stability of seabed rock detection are effectively improved. At the same time, through designs such as flexible sealing sleeves and bearings, the durability and reliability of the mechanism in a complex seabed environment are ensured.

[0096] As Figure 6 shown, according to an embodiment of the present invention, the seabed leveling mechanism includes: a cutter suction pump 4 and a sand storage tank 25 fixed to the base 12;

[0097] The bottom of the sand storage tank 25 is connected to the output end of the cutter suction pump 4 through a delivery pipe 27. The top of the sand storage tank 25 is open, and a sand discharge port 26 is provided at the bottom.

[0098] In this embodiment, the seabed leveling mechanism is fixedly connected to the lifting equipment 3 and the towing rope 5 through the base 12 to ensure stability and operability during seabed operations. Three cavities are ingeniously designed on the base 12 for installing the cutter suction pump 4, the rock sensing mechanism, and the sand storage tank 25 respectively. The cutter suction pump 4 is a cutter suction pump with a weight of about 2T, a flow rate of 1500m 3 , a head of 40m, a power of 160KW, and a sand content handling capacity of about 30%. The output end of the cutter suction pump 4 is connected to the top-open sand storage tank 25 through the conveying pipe 27, realizing the efficient extraction and temporary storage of sediment. The rock sensing mechanism is responsible for detecting the rock conditions on the seabed and providing key information for the leveling operation. In addition, the electric hoist can flexibly adjust the vertical height of the base 12 and the cutter suction pump 4 through the suspension cable to meet the seabed operation requirements at different depths. The sand storage tank 25 not only facilitates the transfer of the extracted sediment to the seabed protrusion 30 for filling and leveling, but the control host controls the opening of the sand discharge port 26 at the bottom of the sand storage tank 25 to discharge the sediment in the sand storage tank 25. Especially for the area containing rocks 29 inside, and when the sediment volume is too large, the cutter suction pump 4 can also directly transfer the excess sediment to other areas through the additionally connected sand discharge pipeline, ensuring the efficiency and flexibility of the leveling operation.

[0099] Embodiment 2

[0100] As Figure 1-6 shown, according to an embodiment of the present invention, a seabed leveling device includes a support mechanism, a seabed scanning mechanism, a rock sensing mechanism, a seabed leveling mechanism, and a control host;

[0101] The support mechanism ensures that each mechanism can be stably and flexibly deployed on the hull. It mainly consists of a transverse slide rail 1 and a longitudinal slide rail 2. The two longitudinal slide rails 2 are firmly installed on both sides of the ship's side, providing a basis for the longitudinal movement of the transverse slide rail 1. The transverse slide rail 1 includes a transverse track 1-1 and a plurality of sliders 1-2. The two ends of the transverse track 1-1 are respectively slidably connected to the longitudinal slide rails 2, and the sliders 1-2 can slide smoothly on the transverse track 1-1. To further enhance the stability of the transverse track 1-1, the transverse track 1-1 is also connected to the ship's deck through an adjustable-height load platform.

[0102] The seabed scanning mechanism is installed on a slider 1-2 through a fixed platform 6, achieving precise scanning of the seabed topography. The seabed scanning mechanism integrates a scanning mechanism main body 8, an LED lighting lamp 9, a camera 10, a multi-beam image sonar detector 11, and four thrusters 12 with different directions (the first thruster 12-1, the second thruster 12-2, the third thruster 12-3, and the fourth thruster 12-4), and is also equipped with a manipulator 7 for precise positioning. By adjusting the position of the fixed platform 6 on the transverse track 1-1 and the position of the transverse track 1-1 on the longitudinal slide rail 2, the seabed scanning mechanism can be sent into a preset area. The control host starts the corresponding thruster 12 as needed, pushing the seabed scanning mechanism to quickly move to the target area, and then achieving precise adjustment through the manipulator 7. The LED lighting lamp 9 and the camera 10 provide lighting and real-time image monitoring, while the multi-beam sonar detector 11 is responsible for obtaining seabed topography data.

[0103] The rock sensing mechanism 4 is installed on a base 12 connected to a lifting mechanism (including a lifting device 3 and a towing rope 5) on another slider 1-2. The rock sensing mechanism 4 mainly consists of a box body 13, an internal movable plate 14, a linear drive 20, an external movable plate 23, a moving rod 24, a rotary drive motor 16, a transmission rod 21, a connecting rod 15, a push plate 17, a push rod 18, and a sensing probe 19. The linear drive 20 drives the transmission rod 21 to drive the external movable plate 23 to move up and down, and then through the moving rod 24 and the rotary drive motor 16, the push rod 18 and the sensing probe 19 penetrate into the seabed sediment layer 28 to detect the rock 29. When the sensing probe 19 detects the rock 29, it sends a signal to the control host.

[0104] The seabed leveling mechanism 5 is also fixed on the base 12 and mainly consists of a cutter suction pump 4 and a sand storage tank 25. The output end of the cutter suction pump 4 is connected to the bottom of the sand storage tank 25 through a delivery pipe 27, and the top of the sand storage tank 25 is open. According to the instructions of the control host, the seabed leveling mechanism levels the seabed sediment layer 28. The cutter suction pump 4 is responsible for pumping and transporting sediment, and the sand storage tank 25 is used for temporarily storing this sediment.

[0105] The control host receives the detection data from the seabed scanning mechanism and the rock sensing mechanism, analyzes it, and issues instructions to the seabed leveling mechanism for operation. At the same time, it coordinates the movement and positioning functions of the support mechanism to ensure the accuracy and efficiency of the entire leveling process.

[0106] The seabed leveling device of the present invention integrates a support mechanism, a seabed scanning mechanism, a rock sensing mechanism, a seabed leveling mechanism, and a control host, achieving precise scanning of the seabed topography, intelligent detection of rocks, and efficient leveling of the sediment layer. The device can be stably and flexibly deployed on the hull, and through the unified scheduling of the control host, it ensures the accuracy and efficiency of the leveling operation, effectively improving the quality and efficiency of seabed engineering.

[0107] Embodiment 3

[0108] Figure 7 It is a flowchart of the application method of the seabed leveling device according to an embodiment of the present invention; Figure 8 It is a schematic diagram of the seabed rock condition before leveling according to an embodiment of the present invention; Figure 9 It is a schematic diagram of the seabed rock condition after leveling according to an embodiment of the present invention. As Figure 7-9 shown, according to an embodiment of the present invention, an application method of a seabed leveling device, which is applied to any seabed leveling device of the present invention, the application method includes:

[0109] Step S102, scan the seabed through the seabed scanning mechanism to obtain a seabed three-dimensional model, and determine the protrusions 30 in the seabed three-dimensional model;

[0110] Step S104, detect whether there are rocks 29 in the protrusions 30 of the seabed area to be leveled through the rock sensing mechanism;

[0111] Step S106, the control host determines the sediment adjustment amount of each protrusion 30 according to the seabed three-dimensional model and the detection data of the rock sensing mechanism;

[0112] Step S108, the seabed leveling mechanism levels the seabed area to be leveled according to the sediment adjustment amount determined by the control host.

[0113] In this embodiment, a method for applying a seabed leveling device is proposed, which is applied to any seabed leveling device of the present invention. The method includes: using a seabed scanning mechanism (including a multibeam sonar detector 11, a camera 10, etc.), through the coordinated movement of the transverse slide rail 1 and the longitudinal slide rail 2, to comprehensively scan a preset seabed area. The scanned data is processed to generate a three-dimensional seabed model, and the raised parts 30 in the seabed topography are accurately identified. The rock sensing mechanism (including the sensing probe 19, the linear actuator 20, etc.) is lowered to the seabed sediment layer 28 through the lifting mechanism. The sensing probe 19 penetrates into the raised part 30 to detect whether there is a rock 29, and the detection result is fed back to the control host in real time. The control host calculates the sediment adjustment amount of each raised part 30 according to the three-dimensional seabed model and the rock detection data. Formulate a leveling strategy to determine the operation path, sand pumping depth and moving speed of the cutter suction pump 4. Any calculation method executable in the prior art can be used for the calculation process of the sediment adjustment amount by the control host, and no further elaboration will be made here. The seabed leveling mechanism (cutter suction pump 4, sand storage tank 25) starts to operate according to the instructions of the control host. The cutter suction pump 4 is accurately positioned by the lifting equipment 3 and the towing rope 5 and moves along the transverse slide rail 1 and the longitudinal slide rail 2 to the area to be leveled. During the operation, the multibeam sonar detector 11 continuously monitors the topographic changes in the sand pumping area to ensure the leveling accuracy. According to the monitoring data, the operation parameters of the cutter suction pump 4 are adjusted in a timely manner until the seabed topography reaches the flatness required by the design.

[0114] After the leveling operation is completed, the seabed scanning mechanism scans the leveled area again to generate a three-dimensional topographic map after leveling. The control host compares the three-dimensional topographic maps before and after leveling to evaluate the leveling effect. If it is found that there are still uneven areas, the cutter suction pump 4 will perform supplementary sand pumping or filling operations according to the new instructions until the entire area is completely flat.

[0115] The present invention integrates multibeam sonar detection, rock sensing and precise control technologies, realizes the comprehensive scanning of the seabed topography, the precise identification of rocks and the intelligent leveling operation, effectively improves the leveling accuracy and operation efficiency of seabed engineering, and ensures that the leveled area reaches the flatness required by the design.

[0116] Those skilled in the art can clearly understand that for the convenience and brevity of description, the specific working process of the method described above can refer to the corresponding process in the foregoing device embodiment, and will not be repeated here.

[0117] The above description is only a preferred embodiment of the present application and an explanation of the applied technical principles. Those skilled in the art should understand that the scope of the invention involved in the present application is not limited to the technical solution formed by the specific combination of the above technical features, but should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the inventive concept. For example, the technical solution formed by mutually replacing the above features with the technical features (but not limited to) having similar functions disclosed in the present application.

[0118] It should be understood that the magnitude of the serial numbers of the steps in the content of the present invention and the embodiments does not absolutely mean the order of execution. The order of execution of each process should be determined by its function and internal logic, and should not constitute any limitation to the implementation process of the embodiments of the present invention.

Claims

1. A seabed leveling device, characterized in that: include: Support mechanism, seabed scanning mechanism, rock sensing mechanism, seabed leveling mechanism, control host; The support mechanism is connected to the hull, and the support mechanism is connected to the seabed scanning mechanism, the rock sensing mechanism, and the seabed leveling mechanism; The seabed scanning mechanism is used to obtain seabed topographic data; The rock sensing mechanism is used to detect whether there is a rock (29) in a raised portion (30) of a seabed area to be leveled; The control host is connected to the seabed scanning mechanism, the rock sensing mechanism, and the seabed leveling mechanism. The control host is used to control the seabed leveling mechanism to perform seabed leveling operations on the seabed area to be leveled according to the detection data of the seabed scanning mechanism and the rock sensing mechanism.

2. The seabed leveling device according to claim 1, characterized in that: The supporting mechanism comprises: a transverse slide rail (1) and a longitudinal slide rail (2); The two longitudinal slide rails (2) are respectively fixed on both sides of the ship's side; The transverse slide rail (1) comprises a transverse track (1-1); both ends of the transverse track (1-1) are respectively slidably connected to one of the longitudinal slide rails (2); a lifting mechanism is provided on the transverse track (1-1); the seabed leveling mechanism is connected to the lifting mechanism; and the longitudinal position of the seabed leveling mechanism is adjusted by the lifting mechanism.

3. The seabed leveling device according to claim 2, characterized in that: The transverse slide rail (1) further comprises: a plurality of sliding blocks (1-2) slidably connected to the transverse rail (1-1); The fixed platform (6) is connected to the slider (1-2), and the seabed scanning mechanism is connected to the fixed platform (6); The lifting mechanism comprises: a lifting device (3) and a traction rope (5); the lifting device (3) is connected to the slider (1-2); and the seabed leveling mechanism is respectively connected to the lifting device (3) and the traction rope (5).

4. The seabed leveling device according to claim 2, characterized in that: The transverse slide rail (1) is connected to the hull deck via a load platform; the load platform is height-adjustable.

5. The seabed leveling device according to claim 1, characterized in that: The seabed scanning mechanism comprises: a scanning mechanism body (8); The front side of the scanning mechanism body (8) is provided with an LED lighting lamp (9), a camera (10), and a multi-beam imaging sonar detector (11); At least one propeller (12) is provided in each direction of the scanning mechanism body (8), and the propeller (12) is used to adjust the position of the scanning mechanism body (8); A mechanical arm (7) is also provided on the scanning mechanism main body (8), and the mechanical arm (7) is used to fine-tune the position of the scanning mechanism main body (8).

6. The seabed leveling device according to claim 1, characterized in that: The rock sensing mechanism comprises: a box body (13), a top rod (18), a sensing probe (19), and a sensing driving mechanism; The inductive drive mechanism is connected to the box (13); the upper end of the push rod (18) is connected to the inductive drive mechanism, and the lower end passes through the bottom of the box (13) and is connected to the inductive probe (19); the inductive drive mechanism drives the push rod (18) to move, and when the inductive probe (19) is inserted into the seabed sedimentation layer (28) and detects the existence of rocks (29), the inductive probe (19) sends a rock detection signal to the control host; The rock sensing mechanism is connected to the seabed leveling mechanism via a base (12).

7. The seabed leveling device according to claim 6, characterized in that: The induction drive mechanism comprises: a built-in movable plate (14), a linear drive (20), a moving rod (24), and a rotary drive motor (16); The built-in movable plate (14) separates the box body (13) into two parts, an upper part and an lower part; the linear drive (20) is fixed to the upper part of the box body (13); the linear drive (20) drives the movable rod (24) and controls the up and down movement of the movable rod (24); the lower end of the movable rod (24) passes through the built-in movable plate (14) and is connected to the rotary drive motor (16); the output end of the rotary drive motor (16) is connected to the end of the push rod (18) away from the sensing probe (19).

8. The seabed leveling device according to claim 7, characterized in that: The induction drive mechanism further comprises: a transmission rod (21); The output end of the linear drive (20) extends out of the top of the box (13) and is connected to the bottom of the transmission rod (21); the top of the transmission rod (21) is connected to an external movable plate (23); the upper end of the moving rod (24) passes through the top of the box (13) and is connected to the external movable plate (23); a flexible sealing sleeve (22) is connected between the external movable plate (23) and the outer wall of the box (13); A plurality of connecting rods (15) fixedly connected to the built-in movable plate (14) are arranged around the outside of the rotary drive motor (16); the end of the connecting rod (15) away from the built-in movable plate (14) is connected to a push plate (17); the end of the push rod (18) away from the sensing probe (19) passes through the push plate (17) and is connected to the rotary drive motor (16); a bearing is arranged on the inner wall of the through hole on the push plate (17) for the push rod (18) to pass through.

9. The seabed leveling device according to claim 1, characterized in that: The seabed leveling mechanism comprises: a suction pump (4) fixed to a base (12) and a sand storage tank (25); The bottom of the sand storage tank (25) is connected to the output end of the suction pump (4) through a delivery pipe (27). The top of the sand storage tank (25) is open and a sand discharge port (26) is provided at the bottom.

10. An application method of a seabed leveling device, applied to the seabed leveling device according to any one of claims 1 to 9, characterized in that: The application method comprises: Scanning the seabed with a seabed scanning mechanism to obtain a three-dimensional seabed model, and determining a raised portion (30) in the three-dimensional seabed model; Detecting whether there is a rock (29) in the raised portion (30) of the seabed area to be leveled by a rock sensing mechanism; The control host determines the sediment adjustment amount of each protrusion (30) according to the three-dimensional seabed model and the detection data of the rock sensing mechanism; The seabed leveling mechanism performs leveling operations on the seabed area to be leveled according to the sediment adjustment amount determined by the control host.

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