Integrated ship equipment for non-explosive excavation of underwater rock in inland waterway and construction method

Abstract

The invention discloses inland waterway underwater rock non-explosive excavation integrated ship equipment and a construction method. The inland waterway underwater rock non-explosive excavation integrated ship equipment comprises a construction ship; the positioning system comprises positioning anchors and winches which are arranged on the bow and the stern of the ship body, and positioning piles which can be lowered to support the ship body; the two sets of rock taking devices are symmetrically arranged on the two sides of the moon pool, and each rock taking device comprises a transverse and longitudinal moving track platform, a telescopic drill rod, a cylindrical drill and a slag salvaging bucket drill bit, and the cylindrical drills and the slag salvaging bucket drill bits can be switched; the rock slag treatment system comprises a drilling machine slag conveying vehicle moving along a track, a telescopic arm grab bucket, a backhoe, a broadside slag conveying bucket and a bow and stern crushing device, wherein the telescopic arm grab bucket and the backhoe are arranged on the broadside; the bow and stern crushing device comprises a guide hopper, a crusher and a slag storage cabin with a screen; and the automatic control system comprises a controller, riverbed scanning equipment and an equipment collaborative operation algorithm module. The integrated ship equipment can be suitable for shallow water inland waterway construction and can crush and excavate underwater hard rocks, meanwhile, the integrated ship equipment can be transformed from a barge, and the construction cost is greatly reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of inland waterway dredging. More specifically, the present invention relates to an integrated ship equipment for non-explosive excavation of underwater rocks in inland waterways. Background Art

[0002] Currently, the current situation of inland waterways in China is characterized by generally low waterway grades, prominent losses in transportation efficiency, and insufficient network connectivity, which severely restricts the development of low-carbon modes such as "river-sea through transport". Moreover, for each level increase in the waterway grade, the fuel consumption of ships can be reduced by 12%, which plays a significant role in achieving the "dual carbon" goal and constructing an efficient and low-carbon transportation system. Therefore, optimizing the ship navigation conditions through waterway regulation and improving the navigation efficiency have become key issues that need to be solved urgently.

[0003] In inland waterways, the water depth is shallow and the width is narrow. Although the underwater blasting excavation technology is efficient, it has problems such as ecological damage, vibration pollution, and noise pollution, which run counter to the concept of green and low-carbon development. Moreover, the blasting method is strictly restricted by environmental protection policies. Currently, the applied dredging equipment includes large cutter suction dredgers, trailing suction hopper dredgers, amphibious excavators, etc. Among them, large cutter suction dredgers cannot be deployed in Class IV waterways with an average water depth of <5m, and the cutter is only suitable for moderately weathered rock formations; amphibious excavators need to customize hydraulic breakers additionally, and the reliability of the hydraulic system seal needs to be considered; the power of the rock-breaking equipment that can be carried by ROV is small, the working surface is narrow, and it does not have a digging function. In addition, foreign underwater special tunneling equipment also has problems such as poor adaptability and high costs. Therefore, in order to solve the adaptability of rock excavation in inland waterways and the contradiction between environmental protection and efficiency in inland waterway regulation, the present invention proposes an integrated equipment and construction method for non-explosive excavation of underwater rocks in inland waterways. Summary of the Invention

[0004] The purpose of the present invention is to provide an integrated ship equipment and construction method for non-explosive excavation of underwater rocks in inland waterways. This integrated ship equipment has a shallow draft, can be applicable to the construction of shallow-water inland waterways, and can crush and excavate underwater hard rocks. At the same time, this integrated ship equipment can be transformed from a barge, greatly reducing the construction cost. On the other hand, this integrated ship equipment is composed of an intelligent drilling device and system, realizing automated drilling operations, completing efficient excavation operations while achieving high-precision control of the excavation area, reducing both labor and working hours, reducing construction costs while improving construction efficiency.

[0005] The technical solution adopted by the present invention to solve this technical problem is: an integrated ship equipment for non-explosive excavation of underwater rocks in inland waterways, comprising: A construction ship, with a longitudinal moonpool provided on one side of the ship's midship, and a drilling and excavation operation area is arranged in the moonpool; A positioning system, including positioning anchors and winches arranged at the bow and stern of the hull, and positioning piles that can be lowered to support the hull; The rock sampling device, with two sets of rock sampling devices symmetrically arranged on both sides of the moonpool, includes a horizontal and vertical moving track platform, a telescopic drill pipe, and a switchable barrel drill and slag bucket bit; The rock slag treatment system includes a drill rig slag transport vehicle moving along the track, a telescopic arm grab and backhoe installed on the side of the ship, a side slag transport bucket, and a bow and stern crushing device; the bow and stern crushing device includes a guiding hopper, a crusher, and a slag storage bin with a screen; The automated control system includes a controller, a riverbed surveying device, and an equipment collaborative operation algorithm module.

[0006] As a further solution of the present invention: the drill pipe of the rock sampling device is a three-stage hydraulic telescopic structure.

[0007] As a further solution of the present invention: the crusher is a double-roll hydraulically adjustable crusher, and the dynamic adjustment range of the roll spacing is 30 - 150 mm.

[0008] As a further solution of the present invention: the slag storage bin is equipped with a double-layer vibrating screen, with the upper layer aperture of 10 mm and the lower layer aperture of 2 mm, and the bottom hatch is a pneumatically sealed opening and closing structure.

[0009] As a further solution of the present invention: a pressure sensor is arranged in the hydraulic cylinder of the telescopic arm grab, and the closing pressure is applied in a gradient of 5 - 35 MPa.

[0010] As a further solution of the present invention: it further includes: A current sensor for collecting the current fluctuation frequency of the motor of the rock sampling device; An accelerometer installed on the drill pipe for collecting the vibration signal of the drill pipe; The automated control system further includes a lithology adaptive module for controlling the switching analysis of the bit.

[0011] The present invention also provides a construction method using the integrated ship equipment, including: Step 1: After the commissioning of each operating equipment and automated process is completed, the construction ship sails or is towed to the operation area to be worked. The bow and stern positioning anchors are arranged in the water by the anchor boat, and the hull is stabilized at the operation point through the cooperation of the positioning anchors and positioning piles, with the hull roll angle ≤ ±0.5°; Use the riverbed surveying device to conduct a riverbed survey to confirm the situation of the riverbed surface in the operation area and assist the operation excavation; Step 2: The rock sampling device drills rocks according to the preset hole positions, and the lithology adaptive module dynamically selects the barrel drill or the slag bucket according to the real-time load data; Step 3: The drill rig slag transport vehicle collects the rock slag and transports it to the crushing device, and the crushing particle size is dynamically controlled within 30 - 150 mm; Step 4: Each rock sampling device is responsible for drilling a number of longitudinally consecutive holes. After the two groups of drilling rigs complete the operation, two continuous grooves and two continuous rock walls are formed. The rock walls are grabbed by the telescopic arm grab on the other side. The hydraulic grab with the front end opened is extended into the drilled holes through the telescopic arm, and the grab is closed by driving the hydraulic cylinder to break and remove the rock walls. By continuously grabbing and longitudinally moving along the track, the two rock walls are grabbed. Finally, the backhoe is used to clean the residual gravel at the bottom of the river; The rock blocks picked up by the telescopic arm grab and the backhoe are collected by the slag transport bucket arranged on the same side of the ship's side. Similar to the slag transport bucket of the drilling rig, the rock blocks are transported to the guiding bucket of the bow and stern crushing device through the side track, lifting device, and dumping device, and crushed into gravel for storage or transported to the transport ship; Step 5: After completing a single cycle of river bottom rock excavation, use the river bottom survey equipment to conduct a river bottom survey to verify the elevation error of the excavation surface.

[0012] As a further solution of the present invention: The equipment collaborative operation algorithm module is set to: real-time monitor the hydraulic cylinder pressure value of the telescopic arm grab. When the pressure continuously exceeds 25 MPa for 2 seconds, trigger the backhoe intervention instruction, and the controller controls the backhoe to clean the residual rock blocks within 10 seconds after the grab withdraws.

[0013] As a further solution of the present invention: The current fluctuation frequency is collected by the current sensor of the rock sampling device motor, and combined with the spectrum analysis of the drill pipe vibration accelerometer, the rock breaking index K is calculated according to the following formula: K = 0.6 * (ΔI / I t ) + 0.4 * (A 200-300 / A) Where, ΔI is the current deviation value, I t is the average current value, A 200-300 is the vibration acceleration amplitude in the frequency band of 200 - 300 Hz, and A is the total vibration acceleration amplitude; If K is greater than 0.7, it is determined as hard rock, and the drill bit is controlled to switch to the slag bucket drill bit, and the drilling pressure is increased to 18 - 22 MPa; If K is between 0.3 and 0.7, maintain the operation of the cylinder drill, and the drilling pressure is 12 - 15 MPa; If K is less than 0.3, it is determined as a soft rock formation, maintain the operation of the cylinder drill, and reduce the drilling pressure to 8 - 10 MPa.

[0014] The present invention has at least the following beneficial effects: Through the longitudinal offset design of the moonpool, synchronous operation between the drilling area (moonpool side) and the slag cleaning area (side) is achieved without interference. An integrated crushing and screening system on the ship directly produces engineering aggregates, solving the problem of high cost of transporting muck in traditional processes (accounting for 30%-40% of the total investment); the positioning pile + anchor chain composite positioning system enables the ship's roll angle to be ≤ ±0.5°, meeting the precise positioning requirements of the drill bit.

[0015] Efficient construction: High-integration and automated rock-taking operation, with the rock-taking device, telescopic boom grab, and backhoe operating synchronously and cooperatively, enabling efficient and high-precision non-explosive underwater rock excavation.

[0016] Safe and reliable: Automated operation reduces manual control and human risks.

[0017] Flexible adaptability: The telescopic drill pipe, telescopic boom grab, and backhoe can adapt to various water depth conditions. The lateral track of the drill rig controls the lateral spacing of the drill holes, adapting to different rock strengths.

[0018] Recycling of waste slag: The taken rock slag is crushed to the target particle size, and the crushed particles can be reused as coarse aggregates in concrete preparation.

[0019] Other advantages, objectives, and features of the present invention will be partially reflected by the following description and partially understood by those skilled in the art through the research and practice of the present invention. Description of the Drawings

[0020] Figure 1 is the functional layout diagram of the construction ship of the present invention; Figure 2 is the schematic diagram of rock-taking, slag transportation, and crushing of the rock-taking device of the present invention; Figure 3 is the side view of the operation area; Figure 4 is the simulation diagram of side rock slag crushing and transportation; Figure 5 is the construction simulation diagram.

[0021] Among them, 1 - construction ship, 2 - positioning anchor and winch, 3 - positioning pile, 4 - belt, 5 - transverse and longitudinal moving track platform, 6 - rock-taking device, 7 - moonpool, 8 - rock-taking hole slot, 9 - drill rig slag truck, 10 - lifting device, tipping device, 11 - crusher, 12 - guiding bucket, 13 - slag storage tank, 14 - side slag transportation bucket, 15 - telescopic boom grab, 16 - backhoe, 17 - rock wall grabbing, 18 - pedestrian passage. Detailed Embodiments

[0022] The present invention will be described in detail and completely below in conjunction with the accompanying drawings. Those of ordinary skill in the art will be able to implement the present invention based on these descriptions. Before describing the present invention in conjunction with the accompanying drawings, it should be specifically noted that: the technical solutions and technical features provided in each part including the following descriptions in the present invention can be combined with each other without conflict.

[0023] In addition, the embodiments of the present invention involved in the following descriptions are usually only some embodiments of the present invention, rather than all embodiments. Therefore, all other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present invention without creative efforts should fall within the protection scope of the present invention.

[0024] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments, and the specific implementation process is as follows: As Figures 1 - 5 shown, the present invention provides an integrated ship equipment for non-explosive underwater rock excavation in inland waterways, including: A construction ship 1, with a longitudinal moonpool 7 provided on one side of the ship's midship. A drilling and excavation operation area is arranged in the moonpool 7, and a pedestrian passage 18 is also provided on the construction ship 1; A positioning system, including positioning anchors and winches 2 arranged at the bow and stern of the hull, and positioning piles 3 that can be lowered to support the hull; among them, the positioning anchors are responsible for the movement and positioning of the construction ship 1 within the operation area, and the positioning piles 3 are responsible for lowering the legs to support part of the ship's gravity after the construction ship 1 is positioned, stabilizing the hull, and enabling the construction to be carried out under relatively stable conditions.

[0025] A rock taking device 6, with two groups of rock taking devices 6 symmetrically arranged on both sides of the moonpool 7, including a transverse and longitudinal moving track platform 5, a telescopic drill rod, and interchangeable barrel drill and slag bucket bits, suitable for multi-water depth working conditions; A rock slag treatment system, including a drill slag transport vehicle 9 moving along the track, a telescopic arm grab 15 and a backhoe 16 arranged on the side of the ship, a side slag transport bucket 14, and bow and stern crushing devices; the bow and stern crushing devices include a guiding hopper 12, a crusher 11, and a slag storage cabin 13 with a screen; An automatic control system, which includes a controller, a riverbed surveying device, and an equipment cooperative operation algorithm module.

[0026] This technical solution can also include the following technical details to better achieve the technical effect: the drill rod of the rock taking device 6 is a three-stage hydraulic telescopic structure, with a telescopic ratio ≥ 3:1, and an intelligent torque feedback system is provided at the end.

[0027] This technical solution can also include the following technical details to better achieve the technical effect: the crusher 11 is a double-roll hydraulically adjustable crusher 11, and the dynamic adjustment range of the roll spacing is 30 - 150 mm.

[0028] This technical solution may also include the following technical details to better achieve the technical effect: The slag storage bin 13 is equipped with a double-layer vibrating screen with an upper aperture of 10 mm and a lower aperture of 2 mm, and the bottom hatch is a pneumatically sealed opening and closing structure. In this embodiment, the particle size of the rock slag after crushing is 5 - 40 mm, which is directly used as coarse aggregate for concrete, and the utilization rate is ≥90%.

[0029] This technical solution may also include the following technical details to better achieve the technical effect: A pressure sensor is provided in the hydraulic cylinder of the telescopic arm grab 15, and the closing pressure is applied in a gradient of 5 - 35 MPa.

[0030] This technical solution may also include the following technical details to better achieve the technical effect: It further includes: A current sensor for collecting the motor current fluctuation frequency of the rock sampling device 6; An accelerometer installed on the drill pipe for collecting the vibration signal of the drill pipe; The automated control system further includes a lithology self-adaptive module for controlling the switching analysis of the drill bit.

[0031] The present invention also provides a construction method using the integrated ship equipment, including: Step 1: After the commissioning of each operation device and the automated process is completed, the construction ship 1 sails or is towed to the operation area to be worked. The anchor boat arranges the bow and stern positioning anchors in the water, and coordinates with the positioning piles 3 to stabilize the hull at the operation point. The hull roll angle ≤ ±0.5°. Specifically, the construction ship 1 accurately aligns the working area of the moon pool 7 with the starting point of the operation area to be worked through the positioning anchors and the positioning device. Then, the four bow and stern positioning piles 3 are lowered and the hull is lifted to a certain height but does not leave the water surface, so that the positioning piles 3 bear part of the weight of the construction ship 1, making the overall construction ship 1 more stable during operation; Use the riverbed sounding equipment to conduct a riverbed sounding to confirm the riverbed surface condition of the operation area and assist the excavation operation; Step 2: The rock sampling device 6 drills the rock according to the preset hole positions, and the lithology self-adaptive module dynamically selects the barrel drill or the slag bucket according to the real-time load data. Specifically: After the ship is in place, the two groups of rock sampling devices 6 adjust the horizontal and vertical distances on the moon pool 7 and then start the downhole rock sampling operation. During the operation, first use the barrel drill with picks to perform contour drilling, and the rock is completely taken out by the wedge device at the top of the barrel drill. Then, the drill rig is retracted horizontally and the slag truck 9 of the drill rig is controlled to move under the drill bit to collect the rock blocks. If the rock blocks cannot be taken out, replace the slag bucket drill bit to break and take out the remaining rock blocks, and collect them by lowering the slag truck.

[0032] Step 3: The drill slag truck 9 collects the rock slag and transports it to the crushing device, with the dynamic control of the crushing particle size within 30 - 150 mm. Specifically, after the drill slag truck 9 collects the rock blocks taken out by the drill, it longitudinally moves along the track to the front of the bow and stern crushing devices of the construction ship 1. The hoisting device lifts the trolley to the edge of the guiding port, and the tipping device overturns the trolley, so that the rock blocks and sewage fall through the guiding hopper 12 to the crushing inlet. The crusher 11 with the set crushing particle size crushes the rock blocks into crushed stones of the target size. The crushed stones and sewage fall into the slag storage tank 13 through the outlet directly below the crusher 11. The sewage and crushed stones in the slag storage tank 13 are roughly separated, and the crushed stones are separated by the double-layer vibrating screen equipped in the slag storage tank 13 to directly produce engineering aggregates for on-site construction. When the transport ship is alongside the construction ship, the crushed stones are transported to the transport ship through the bottom opening of the slag storage tank 13 and the belt 4 and then transported to the target area for application as engineering aggregates, solving the problem of high cost of transporting muck in the traditional process.

[0033] Step 4: Each rock sampling device 6 is responsible for the drilling operation of a number of longitudinal consecutive holes to form the rock sampling hole grooves 8. After the two groups of drills complete the operation, two continuous grooves and two continuous rock walls are formed. The rock walls are grabbed by the telescopic boom grab 15 on the other side. The hydraulic grab with the front end opened is extended into the drilled holes through the telescopic boom. The grab is closed by driving the hydraulic cylinder to break and take out the rock walls. By continuously grabbing and longitudinally moving along the track, the grabbing of the two rock walls is completed. Finally, the backhoe 16 is used to clean the residual crushed stones at the bottom of the river. The rock blocks taken by the telescopic boom grab 15 and the backhoe 16 are collected by the slag transport hoppers arranged on the same side of the ship's side. Just like the drill slag hoppers, they are transported to the guiding hopper 12 of the bow and stern crushing devices through the side track, hoisting device, and tipping device 10, and crushed into crushed stones for storage or transported to the transport ship. Step 5: After completing the single-cycle excavation of the river bottom rock, use the river bottom surveying equipment (acoustic scanning equipment) to conduct a river bottom survey, verify the elevation error of the excavation surface, and ensure that the elevation and flatness of the bottom surface meet the construction requirements. Then, raise the positioning piles 3 and anchor and cable them to the construction area of the next cycle to complete the drilling and excavation operation.

[0034] This technical solution may also include the following technical details to better achieve the technical effect: The equipment collaborative operation algorithm module is set to: monitor the hydraulic cylinder pressure value of the telescopic boom grab 15 in real time. When the pressure continuously exceeds 25 MPa for 2 seconds, trigger the intervention instruction of the backhoe 16. The controller controls the backhoe 16 to clean the residual rock blocks within 10 seconds after the grab withdraws.

[0035] This technical solution may also include the following technical details to better achieve the technical effects: By collecting the current fluctuation frequency through the motor current sensor of the rock sampling device 6 and combining with the spectrum analysis of the drill pipe vibration accelerometer (frequency band 50 - 500 Hz), calculate the rock fragmentation index K according to the following formula: K = 0.6 * (ΔI / I t ) + 0.4 * (A 200-300 / A) Where, ΔI is the current deviation value, I t is the average current value. The current sensor collects the instantaneous current value, and the lithology adaptive module calculates the arithmetic mean within the sliding time window (10 seconds) as I t , and the standard deviation of the current value within the current deviation value statistical window relative to the average current value. A 200-300 is the vibration acceleration amplitude in the frequency band of 200 - 300 Hz (characteristics of granite, such as hard minerals like quartz and feldspar), A is the total vibration acceleration amplitude (50 - 500 Hz). The original signal of the drill pipe vibration accelerometer is band-pass filtered to eliminate low-frequency interference and high-frequency noise, and then FFT transformation is performed to obtain the frequency-domain amplitude spectrum A(t). Calculate the root mean square value of the amplitude in the 200 - 300 Hz frequency band as A 200-300 , and calculate the root mean square value of the total amplitude in the 50 - 500 Hz as A; If K is greater than 0.7, it is determined as hard rock (Prandtl coefficient f ≥ 10), and control the drill bit to switch to a slag bucket drill bit and increase the drilling pressure to 18 - 22 MPa; If K is between 0.3 and 0.7, maintain the operation of the cylinder drill bit, and the drilling pressure is 12 - 15 MPa; If K is less than 0.3, it is determined as a soft rock formation, maintain the operation of the cylinder drill bit, and reduce the drilling pressure to 8 - 10 MPa.

[0036] Although the embodiments of the present invention have been disclosed as above, it is not limited to only the applications listed in the specification and embodiments. It can be fully applied to various fields suitable for the present invention. For those familiar with the field, additional modifications can be easily made. Therefore, without departing from the general concept defined by the claims and the equivalent scope, the present invention is not limited to specific details and the embodiments shown and described here.

Claims

1. An integrated ship equipment for non-explosive excavation of underwater rocks in inland waterways, characterized in that, Including: A construction vessel with a longitudinal moonpool offset to one side of the ship's midship, and a drilling and excavation operation area is arranged in the moonpool; A positioning system, including positioning anchors and winches arranged at the bow and stern of the hull, and positioning piles that can be lowered to support the hull; A rock sampling device, with two groups of rock sampling devices symmetrically arranged on both sides of the moonpool, including a transverse and longitudinal moving track platform, a telescopic drill pipe, and interchangeable barrel drills and slag bucket bits; A rock slag treatment system, including a drill slag transport vehicle moving along the track, a telescopic boom grab and a backhoe arranged on the side of the hull, a side slag bucket, and bow and stern crushing devices; the bow and stern crushing devices include a guiding hopper, a crusher, and a slag storage bin with a screen; An automated control system, which includes a controller, a riverbed surveying device, and an equipment collaborative operation algorithm module.

2. The underwater rock non-explosive excavation integrated ship equipment for inland waterways as described in claim 1, characterized in that The drill pipe of the rock sampling device is a three-stage hydraulic telescopic structure.

3. The underwater rock non-explosive excavation integrated ship equipment for inland waterways as described in claim 1, characterized in that, The crusher is a double-roll hydraulically adjustable crusher, and the dynamic adjustment range of the roll spacing is 30 - 150 mm.

4. The underwater rock non-explosive excavation integrated ship equipment for inland waterways as described in claim 1, characterized in that, The slag storage bin is equipped with a double-layer vibrating screen, with an upper layer aperture of 10 mm and a lower layer aperture of 2 mm, and the bottom hatch is a pneumatically sealed opening and closing structure.

5. The underwater rock non-explosive excavation integrated ship equipment for inland waterways according to claim 1, characterized in that, A pressure sensor is arranged in the hydraulic cylinder of the telescopic boom grab, and the closing pressure is applied in a gradient of 5 - 35 MPa.

6. The underwater rock non-explosive excavation integrated ship equipment for inland waterways according to claim 1, characterized in that, Also including: A current sensor for collecting the motor current fluctuation frequency of the rock sampling device; An accelerometer installed on the drill pipe for collecting the drill pipe vibration signal; The automated control system also includes a lithology adaptive module for controlling the switching analysis of the bits.

7. A construction method using the catamaran equipment according to any one of claims 1 to 6, characterized in that, Including: Step 1: After the commissioning of each operating equipment and automated process is completed, the construction vessel sails or is towed to the operation area to be worked. The anchor boat arranges the bow and stern positioning anchors in the water, and the hull is stabilized at the operation point through the cooperation of the positioning anchors and the positioning piles, with the hull roll angle ≤ ±0.5°; Use the riverbed surveying device to conduct a riverbed survey to confirm the riverbed surface condition of the operation area and assist in the excavation operation; Step 2: The rock sampling device drills rocks according to the preset hole positions, and the lithology adaptive module dynamically selects a barrel drill or a slag bucket according to the real-time load data; Step 3: The drill slag transport vehicle collects the rock slag and transports it to the crushing device, and the crushing particle size is dynamically controlled within 30 - 150 mm; Step 4: Each rock sampling device is responsible for drilling a number of longitudinal consecutive hole positions. After the two groups of drills complete the operation, two continuous grooves and two continuous rock walls are formed. The rock walls are grabbed by the telescopic boom grab on the other side of the hull. The hydraulic grab with the front end opened is extended into the drilled hole through the telescopic boom, and the grab is driven by the hydraulic cylinder to close, cutting off and taking out the rock wall. By continuously grabbing and longitudinally moving along the track, the two rock walls are grabbed. Finally, the backhoe is used to clean the residual crushed stones at the bottom of the river; The rock blocks picked up by the telescopic boom grab and the backhoe are collected by the slag bucket arranged on the same side of the hull and, like the drill slag bucket, are transported to the guiding hopper of the bow and stern crushing device through the side track, lifting device, and dumping device, and crushed into crushed stones for storage or transported to the transport ship; Step 5: After completing a single cycle of riverbed rock excavation, use the riverbed surveying device to conduct a riverbed survey to verify the elevation error of the excavation surface.

8. The construction method according to claim 7, characterized in that, The device collaborative operation algorithm module is set as follows: continuously monitor the hydraulic cylinder pressure value of the telescopic arm grab. When the pressure remains > 25 MPa for 2 seconds, trigger the backhoe intervention command, and the controller controls the backhoe to clean the residual rock blocks within 10 seconds after the grab withdraws.

9. The construction method according to claim 7, characterized in that, Collect the current fluctuation frequency through the motor current sensor of the rock sampling device, and combine the spectrum analysis of the drill pipe vibration accelerometer to calculate the rock fragmentation index K according to the following formula: K = 0.6*(ΔI / I t ) + 0.4*(A 200-300 / A) where ΔI is the current deviation value, and I t is the average current value, in A 200-300 is the vibration acceleration amplitude in the frequency band of 200 - 300 Hz, and A is the total vibration acceleration amplitude; If K is greater than 0.7, it is determined as hard rock, and the drill bit is controlled to switch to a slag bucket drill bit, and the drilling pressure is increased to 18 - 22 MPa; If K is between 0.3 and 0.7, maintain the operation of the cylinder drill, and the drilling pressure is 12 - 15 MPa; If K is less than 0.3, it is determined as a soft rock formation, maintain the operation of the cylinder drill, and reduce the drilling pressure to 8 - 10 MPa.

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