Monitoring and control system and method for underwater pavement construction of large-area Reynolds protection pad of navigation channel

Abstract

The invention discloses a navigation channel large-area Reynolds protection pad underwater paving construction monitoring control system and method. The monitoring control system comprises an information acquisition module, an information transmission module, a data storage module, a data processing module, a digital twinning module, an artificial intelligence planning module, a data analysis module and a paving control module. The monitoring and control method comprises the steps of establishment of an initial underwater terrain digital elevation model, planning of a Reynolds protection pad laying path, establishment of an underwater terrain digital elevation model during construction, monitoring and deviation rectification of bottom net rack laying operation, monitoring of stone filling operation and monitoring and control of the stone void ratio. Through cooperative work of acoustic, visual, electromagnetic and mechanical sensors, the problem that a single sensor has an underwater monitoring blind area is solved, a digital twin model of each construction stage is established, and automation, real-time performance and high efficiency of underwater paving construction monitoring and control of the Reynolds protection pad are realized.

Description

Technical Field

[0001] The present invention belongs to the technical field of underwater engineering monitoring and control, and relates to a monitoring and control system and method for underwater paving construction of large-area Reno mattresses in waterways. Background Art

[0002] A Reno mattress is a flexible structure composed of a metal mesh box filled with stones. Due to its excellent anti-scouring performance and strong structure, it is widely used in waterway slope protection and bottom protection projects. Traditional underwater paving construction of Reno mattresses mostly uses the manual drag-sheet method or the hoisting method, and the positioning and manual connection of Reno mattresses are carried out by divers. Therefore, it has a high dependence on manual experience and is difficult to be applicable to the large-area construction of Reno mattresses. In addition, the current monitoring means for the underwater paving construction quality of large-area Reno mattresses in waterways mainly include measuring the depth with a bamboo pole or a sounding rope, underwater probing by divers, and inspection during the low-water period. These means cannot monitor and control the underwater paving construction process in real time, accurately, and efficiently, and it is difficult to ensure the quality of underwater paving construction of large-area Reno mattresses in waterways.

[0003] The problems faced in the underwater paving construction of large-area Reno mattresses in waterways mainly include the following aspects: 1) The underwater monitoring means are relatively backward: The underwater environment is complex and the visibility is low. The manual measurement method is easily interfered by water flow and sediment, resulting in low monitoring efficiency and limited coverage; 2) It is difficult to ensure the construction accuracy: There is no real-time data feedback for underwater concealed operations, resulting in difficulty in real-time and accurate control of the laying position, flatness, and overlapping width of Reno mattresses. Insufficient construction accuracy is likely to cause local scouring and structural instability, and then the Reno mattress cannot perform its expected function; 3) Poor adaptability to dynamic construction: When the water flow and terrain change during underwater paving construction and the condition of the Reno mattress deviates from the construction expectation, it is difficult to quickly adjust the construction parameters to adapt to the change of the construction environment; 4) Difficult to control the construction quality: The monitoring of key indicators such as the filling density of Reno mattresses is time-consuming and laborious, resulting in a long construction quality acceptance cycle, and it is difficult to achieve real-time control of the construction quality.

[0004] In the prior art, the patent "An Underwater Survey Robot Propulsion Device" (CN109795661B) proposes an underwater robot for surveying and sampling work, but does not specifically solve the problem of monitoring and control for underwater paving construction of large-area Reno mattresses in waterways; the patent "An Underwater Rock Throwing Real-Time Monitoring System Based on a Three-Dimensional Point Cloud System and Its Working Method" (CN108614270B) uses the acoustic principle to detect the quality of underwater rock throwing, but does not solve the problem of real-time feedback control during construction. Therefore, there is an urgent need for an intelligent system integrating monitoring, analysis, and control and a corresponding method in the underwater paving construction of large-area Reno mattresses in waterways, so as to improve the quality, efficiency, and safety of underwater paving construction of large-area Reno mattresses in waterways. Summary of the Invention

[0005] Aiming at the deficiencies of the existing technology, the present invention proposes a monitoring and control system and method for underwater paving construction of large - area Reno mattresses in waterways, which is conducive to realizing real - time quality monitoring and dynamic adjustment of underwater Reno mattress paving construction, and improving the informatization level, construction efficiency, safety and reliability of underwater paving construction of large - area Reno mattresses in waterways.

[0006] The first aspect of this application discloses a monitoring and control system for underwater paving construction of large - area Reno mattresses in waterways. The monitoring and control system includes an information acquisition module, an information transmission module, a data storage module, a data processing module, a digital twin module, an artificial intelligence planning module, a data analysis module, and a paving control module;

[0007] The information acquisition module includes a multibeam sonar, an underwater camera, a water flow sensor, and a ground penetrating radar; The multibeam sonar is installed on a special monitoring lifting device and is used to obtain point cloud data of the underwater terrain and the depth, shape, and position of the Reno mattress; The Reno mattress includes a bottom grid, stones, and a top grid; The underwater camera is installed on a special monitoring lifting device and is used to obtain image data of the underwater terrain and the Reno mattress; The water flow sensor is installed on a special monitoring lifting device and is used to obtain hydrological condition data of the construction area, including water flow velocity, flow direction, and eddy current intensity; The ground penetrating radar is installed on a special monitoring lifting device and is used to obtain point cloud data of the void distribution between the stones;

[0008] The information transmission module is used to establish remote connections and transmissions of information between modules, and is also used to give suggestions to construction technicians and send alarm information;

[0009] The data storage module is used to store the data obtained and generated during the operation of this monitoring and control system;

[0010] The data processing module is used to perform pre - processing operations and fusion operations on the image data and point cloud data obtained by the information acquisition module; The pre - processing operations include denoising and enhancement operations on the image data, and denoising, filtering, and scaling operations on the point cloud data; The fusion operation includes mutual registration and mapping of the image data and the point cloud data;

[0011] The digital twin module is used to establish a digital elevation model based on the image data and point cloud data after the pre - processing operation and fusion operation of the information acquisition module; The digital elevation model includes an initial underwater terrain digital elevation model, an underwater terrain digital elevation model during construction, and a post - construction underwater terrain digital elevation model;

[0012] The artificial intelligence planning module uses deep learning technology and is used to obtain a planning scheme for underwater paving construction of Reno mattresses based on the initial underwater terrain digital elevation model, the survey and design documents, and the hydrological condition data;

[0013] The data analysis module is used to perform operations and analysis on the digital elevation model, so as to extract model features and obtain analysis results;

[0014] The paving control module includes a monitoring special lifting device control unit, a winch device control unit, a vibration compaction device control unit, and a paving equipment control unit; the monitoring special lifting device control unit is used to control the monitoring special lifting device, the winch device control unit is used to control the winch device, the vibration compaction device control unit is used to control the vibration compaction device, and the paving equipment control unit is used to control the paving direction, paving speed, and stone filling speed of the paving equipment.

[0015] The second aspect of this application discloses a monitoring and control method for underwater paving construction of large - area Reno mattresses in waterways, including the following steps:

[0016] S1. Establishment of the initial underwater terrain digital elevation model: Before the underwater paving construction of large - area Reno mattresses in waterways, the point cloud data of the depth, shape, and position of the underwater terrain is obtained through the multi - beam sonar, and the image data of the underwater terrain is obtained through the underwater camera; subsequently, the digital twin module establishes the initial underwater terrain digital elevation model according to the image data and point cloud data after the pre - processing operation and fusion operation by the information acquisition module;

[0017] S2. Planning of the Reno mattress laying path: According to the initial underwater terrain digital elevation model, the survey and design documents, and the hydrological condition data, the artificial intelligence planning module obtains the planning scheme for the underwater paving construction of Reno mattresses; the planning scheme includes the Reno mattress laying path and the overlapping scheme;

[0018] S3. Establishment of the underwater terrain digital elevation model during construction: During the underwater paving construction of Reno mattresses carried out according to the planning scheme, the point cloud data of the depth, shape, and position of the Reno mattress is obtained through the multi - beam sonar, and the image data of the Reno mattress is obtained through the underwater camera; subsequently, the digital twin module establishes the underwater terrain digital elevation model during construction according to the image data and point cloud data after the pre - processing operation and fusion operation by the information acquisition module; the underwater terrain digital elevation model during construction is updated as the image data and the point cloud data are updated;

[0019] S4. Monitoring and rectification of the laying operation of the bottom grid: During the laying of the bottom grid, the data analysis module calculates and analyzes the digital elevation model of the underwater terrain during the construction to determine whether the offset of the laying position of the bottom grid and the deviation of the lap width meet the requirements; when the offset of the laying position of the bottom grid or the deviation of the lap width does not meet the requirements, an alarm message is sent to the construction technicians through the information transmission module, and the laying position or lap width of the bottom grid is rectified by controlling the winch device through the paving control module;

[0020] S5. Monitoring of the stone filling operation: During the stone filling operation, the data analysis module calculates and analyzes the digital elevation model of the underwater terrain during the construction to determine whether the stones are lost; when the stones are lost, an alarm message is sent to the construction technicians through the information transmission module;

[0021] S6. Monitoring and control of the void ratio of the stones: After the stone filling is completed, point cloud data on the void distribution between the stones is obtained through the ground penetrating radar, point cloud data on the depth, shape, and position of the Reno mattress at this time is obtained through the multibeam sonar, and image data of the Reno mattress at this time is obtained through the underwater camera; subsequently, the digital twin module establishes a post-construction underwater terrain digital elevation model based on the image data and point cloud data after preprocessing and fusion operations by the information acquisition module; the data analysis module calculates and analyzes the post-construction underwater terrain digital elevation model, extracts the accumulated volume of the stones and the total void volume, so as to determine whether the void ratio of the stones meets the requirements; when the void ratio of the stones does not meet the requirements, an alarm message is sent to the construction technicians through the information transmission module, and the paving control module controls the vibration compaction device to vibrate and compact the stones until the void ratio of the stones meets the requirements.

[0022] Preferably, during the underwater paving construction of the Reno mattress, hydrological condition data is obtained in real time according to the water flow sensor, and the paving direction, paving speed, and stone filling speed of the paving equipment are adjusted in real time through the paving control module.

[0023] Preferably, in step S4, the offset D of the laying position of the bottom grid and the deviation E of the lap width satisfy the following expressions:

[0024]

[0025] where [D] is the limit value of the offset of the laying position of the bottom grid, and [E] is the limit value of the deviation of the lap width of the bottom grid.

[0026] Preferably, in step S6, the void ratio P of the stones satisfies the following expressions:

[0027]

[0028] Among them, V a is the total void volume of the stone material, V0 is the bulk volume of the stone material, and [P] is the limit value of the void ratio of the stone material.

[0029] Compared with the prior art, the beneficial effects of the present invention are as follows: A monitoring and control system and method for underwater paving construction of large-area Reno mattresses in waterways are disclosed for real-time quality monitoring and dynamic adjustment of underwater Reno mattress paving construction. The monitoring and control system includes an information acquisition module, an information transmission module, a data storage module, a data processing module, a digital twin module, an artificial intelligence planning module, a data analysis module, and a paving control module; the monitoring and control method includes the establishment of an initial underwater terrain digital elevation model, the planning of the laying path of the Reno mattress, the establishment of the underwater terrain digital elevation model during construction, the monitoring and deviation correction of the laying operation of the bottom grid, the monitoring of the stone filling operation, and the monitoring and control of the void ratio of the stone material; among them, through the collaborative work of acoustic, visual, electromagnetic, and mechanical sensors, the problem of underwater monitoring blind spots existing in a single sensor is solved, and the comprehensiveness and accuracy of underwater Reno mattress paving construction monitoring are improved; a digital twin model of each construction stage is established based on the data obtained in real time by a variety of sensors, and the laying path and overlapping scheme of the Reno mattress are planned through artificial intelligence technology to improve the environmental adaptability and intelligence of underwater construction; by obtaining various construction technical parameters of the Reno mattress from the digital twin model and reproducing the whole construction process in a visual manner, the automation, real-time, and high efficiency of underwater Reno mattress paving construction monitoring and control are realized. Description of the Drawings

[0030] Figure 1 is a connection schematic diagram of the monitoring and control system for underwater paving construction of large-area Reno mattresses in waterways according to the present invention;

[0031] Figure 2 is a flowchart of the monitoring and control method for underwater paving construction of large-area Reno mattresses in waterways according to the present invention;

[0032] Figure 3 is a schematic diagram of underwater paving construction of large-area Reno mattresses in waterways according to an embodiment of the present invention;

[0033] Reference numerals: 1 - Information acquisition module, 11 - Multibeam sonar, 12 - Underwater camera, 13 - Water flow sensor, 14 - Ground penetrating radar, 2 - Information transmission module, 3 - Data storage module, 4 - Data processing module, 5 - Digital twin module, 6 - Artificial intelligence planning module, 7 - Data analysis module, 8 - Paving control module, 81 - Control unit of the special lifting device for monitoring, 82 - Control unit of the winch device, 83 - Control unit of the vibration compaction device, 84 - Control unit of the paving equipment, 91 - Gabion mattress, 92 - Paving equipment, 93 - Winch device, 94 - Vibration compaction device, 95 - Special lifting device for monitoring, 96 - Water surface. Detailed implementation manners

[0034] The following further describes the implementation manners of the present invention in conjunction with the attached drawings and reference numerals, so that those skilled in the art can implement it after studying this specification. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0035] The first aspect of this application discloses a Figures 1-3 monitoring and control system for underwater paving construction of large - area gabion mattresses in waterways as shown, and this monitoring and control system includes an information acquisition module 1, an information transmission module 2, a data storage module 3, a data processing module 4, a digital twin module 5, an artificial intelligence planning module 6, a data analysis module 7, and a paving control module 8;

[0036] The information acquisition module 1 includes a multibeam sonar 11, an underwater camera 12, a water flow sensor 13, and a ground penetrating radar 14; the multibeam sonar 11 is installed on the special lifting device 95 for monitoring, and is used to obtain the underwater terrain and the point - cloud data of the depth, shape, and position of the gabion mattress 91; the gabion mattress 91 includes a bottom grid, stones, and a top grid; the underwater camera 12 is installed on the special lifting device 95 for monitoring, and is used to obtain the image data of the underwater terrain and the gabion mattress 91; the water flow sensor 13 is installed on the special lifting device 95 for monitoring, and is used to obtain the hydrological condition data of the construction area, including water flow velocity, flow direction, and eddy current intensity; the ground penetrating radar 14 is installed on the special lifting device 95 for monitoring, and is used to obtain the point - cloud data of the void distribution between the stones;

[0037] The information transmission module 2 is used to establish remote connections and transmissions of information between each module, and is also used to give suggestions to construction technicians and send alarm information;

[0038] The data storage module 3 is used to store the data acquired and generated during the operation of this monitoring and control system;

[0039] The data processing module 4 is used to perform preprocessing operations and fusion operations on the image data and point cloud data obtained by the information acquisition module 1; the preprocessing operations include denoising and enhancement operations on the image data, and denoising, filtering and scaling operations on the point cloud data; the fusion operations include mutual registration and mapping of the image data and the point cloud data.

[0040] The digital twin module 5 is used to establish a digital elevation model according to the image data and point cloud data after the preprocessing operations and fusion operations of the information acquisition module 1; the digital elevation model includes an initial underwater terrain digital elevation model, an underwater terrain digital elevation model during construction, and an underwater terrain digital elevation model after construction.

[0041] The artificial intelligence planning module 6 uses deep learning technology to obtain a planning scheme for the underwater paving construction of the revetment mattress according to the initial underwater terrain digital elevation model, the survey and design documents, and the hydrological condition data.

[0042] The data analysis module 7 is used to perform operations and analysis on the digital elevation model, so as to extract model features and obtain analysis results.

[0043] The paving control module 8 includes a monitoring special lifting device control unit 81, a winch device control unit 82, a vibration compaction device control unit 83, and a paving equipment control unit 84; the monitoring special lifting device control unit 81 is used to control the monitoring special lifting device 95, the winch device control unit 82 is used to control the winch device 93, the vibration compaction device control unit 83 is used to control the vibration compaction device 94, and the paving equipment control unit 84 is used to control the paving direction, paving speed and stone filling speed of the paving equipment 92.

[0044] The second aspect of the present application discloses a Figures 1-3 method for monitoring and controlling the underwater paving construction of a large area of revetment mattresses in a waterway as shown, including the following steps:

[0045] S1. Establishment of the initial underwater terrain digital elevation model: Before the underwater paving construction of a large area of revetment mattresses in the waterway, point cloud data on the depth, shape and position of the underwater terrain are obtained through the multibeam sonar 11, and image data of the underwater terrain are obtained through the underwater camera 12; Subsequently, the digital twin module 5 establishes an initial underwater terrain digital elevation model according to the image data and point cloud data after the preprocessing operations and fusion operations of the information acquisition module 1.

[0046] S2. Planning of the laying path of the Reno mattress: According to the initial underwater terrain digital elevation model, the survey and design documents, and the hydrological condition data, obtain the planning scheme for the underwater paving construction of the Reno mattress through the artificial intelligence planning module 6; the planning scheme includes the laying path and the overlapping scheme of the Reno mattress.

[0047] S3. Establishment of the underwater terrain digital elevation model during construction: During the underwater paving construction of the Reno mattress carried out according to the planning scheme, obtain the point cloud data of the depth, shape, and position of the Reno mattress 91 through the multibeam sonar 11, and obtain the image data of the Reno mattress 91 through the underwater camera 12; then establish the underwater terrain digital elevation model during construction through the digital twin module 5 according to the image data and point cloud data after the preprocessing operation and fusion operation by the information acquisition module 1; the underwater terrain digital elevation model during construction is updated as the image data and the point cloud data are updated.

[0048] S4. Monitoring and deviation correction of the laying operation of the bottom grid: During the laying of the bottom grid, perform operations and analysis on the underwater terrain digital elevation model during construction through the data analysis module 7 to determine whether the laying position offset and the overlapping width deviation of the bottom grid meet the requirements; when the laying position offset or the overlapping width deviation of the bottom grid does not meet the requirements, send an alarm message to the construction technicians through the information transmission module 2, and control the winch device to correct the laying position or the overlapping width of the bottom grid through the paving control module 8.

[0049] S5. Monitoring of the stone filling operation: During the stone filling operation, perform operations and analysis on the underwater terrain digital elevation model during construction through the data analysis module 7 to determine whether the stones are lost; when the stones are lost, send an alarm message to the construction technicians through the information transmission module 2.

[0050] S6. Monitoring and control of the void ratio of the stone material: After the stone material is filled, point cloud data on the void distribution between the stone materials is obtained through the geological radar 14, point cloud data on the depth, shape, and position of the Reno mattress 91 at this time is obtained through the multi-beam sonar 11, and image data of the Reno mattress 91 at this time is obtained through the underwater camera 12; Subsequently, the digital twin module 5 establishes a post-construction underwater terrain digital elevation model based on the image data and point cloud data after the preprocessing operation and fusion operation by the information acquisition module 1; The data analysis module 7 performs operations and analyzes on the post-construction underwater terrain digital elevation model, extracts the accumulated volume of the stone material and the total void volume, so as to determine whether the void ratio of the stone material meets the requirements; When the void ratio of the stone material does not meet the requirements, an alarm message is sent to the construction technicians through the information transmission module 2, and the paving control module 8 controls the vibration compaction device 94 to vibrate and compact the stone material until the void ratio of the stone material meets the requirements.

[0051] In specific implementation, during the underwater paving construction of the Reno mattress, hydrological condition data is obtained in real time according to the water flow sensor 13, and the paving direction, paving speed, and stone material filling speed of the paving equipment 92 are adjusted in real time through the paving control module 8.

[0052] In specific implementation, in step S4, the laying position offset D and the lap width deviation E of the bottom grid are calculated as shown in the following expressions:

[0053]

[0054] where [D] is the limit value of the laying position offset of the bottom grid, and [E] is the limit value of the lap width deviation of the bottom grid;

[0055] It can be seen from formula (1) that both the laying position offset D and the lap width deviation E of the bottom grid meet the requirements, and there is no need to send an alarm message to the construction technicians through the information transmission module 2.

[0056] In specific implementation, in step S6, the void ratio P of the stone material is calculated as shown in the following expressions:

[0057]

[0058] where, V a is the total void volume of the stone material, V0 is the accumulated volume of the stone material, and [P] is the limit value of the void ratio of the stone material;

[0059] It can be seen from formula (2) that the void ratio P of the stone material meets the requirements, and there is no need to vibrate and compact the stone material.

[0060] It can be seen that through the collaborative work of acoustic, visual, electromagnetic and mechanical sensors, the problem of blind spots in underwater monitoring of a single sensor is solved, and the comprehensiveness and accuracy of the underwater paving construction monitoring of the Reno mattress are improved; a digital twin model of each construction stage is established based on the data obtained in real time by a variety of sensors, and the laying path and overlapping scheme of the Reno mattress are planned through artificial intelligence technology to improve the environmental adaptability and intelligence of underwater construction; by obtaining various construction technical parameters of the Reno mattress from the digital twin model, the whole construction process is reproduced by means of visualization, realizing the automation, real-time and high efficiency of the underwater paving construction monitoring and control of the Reno mattress.

[0061] The above are one or more embodiments of the present invention, and the description thereof is relatively specific and detailed, but it should not be construed as a limitation on the scope of the patent for the present invention. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present invention, several variations and improvements can still be made, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent for the present invention shall be subject to the appended claims.

Claims

1. The underwater paving construction monitoring and control system for a large area of Reno mattresses in a waterway, characterized in that, It includes an information collection module, an information transmission module, a data storage module, a data processing module, a digital twin module, an artificial intelligence planning module, a data analysis module, and a paving control module; The information collection module includes a multibeam sonar, an underwater camera, a water flow sensor, and a ground penetrating radar; the multibeam sonar is installed on a dedicated monitoring lifting device for obtaining point cloud data of the underwater terrain and the depth, shape, and position of the Reno mattress; the Reno mattress includes a bottom grid, stones, and a top grid; the underwater camera is installed on the dedicated monitoring lifting device for obtaining image data of the underwater terrain and the Reno mattress; the water flow sensor is installed on the dedicated monitoring lifting device for obtaining hydrological condition data of the construction area, including water flow velocity, flow direction, and eddy current intensity; the ground penetrating radar is installed on the dedicated monitoring lifting device for obtaining point cloud data of the void distribution between the stones; The information transmission module is used to establish remote connections and transmissions of information between modules, and to provide suggestions to construction technicians and send alarm information; The data storage module is used to store the data obtained and generated during the operation of the monitoring and control system; The data processing module is used to perform preprocessing operations and fusion operations on the image data and point cloud data obtained by the information collection module; the preprocessing operations include denoising and enhancement operations on the image data, and denoising, filtering, and scaling operations on the point cloud data; The fusion operation includes mutual registration and mapping of the image data and the point cloud data; The digital twin module is used to establish a digital elevation model based on the image data and point cloud data after the preprocessing operations and fusion operations of the information collection module; the digital elevation model includes an initial underwater terrain digital elevation model, an underwater terrain digital elevation model during construction, and a post-construction underwater terrain digital elevation model; The artificial intelligence planning module uses deep learning technology to obtain a planning scheme for the underwater paving construction of the Reno mattress based on the initial underwater terrain digital elevation model, the survey and design documents, and the hydrological condition data; The data analysis module is used to perform operations and analyses on the digital elevation model, so as to extract model features and obtain analysis results; The paving control module includes a dedicated monitoring lifting device control unit, a winch device control unit, a vibration compaction device control unit, and a paving equipment control unit; the dedicated monitoring lifting device control unit is used to control the dedicated monitoring lifting device, the winch device control unit is used to control the winch device, the vibration compaction device control unit is used to control the vibration compaction device, and the paving equipment control unit is used to control the paving direction, paving speed, and stone filling speed of the paving equipment.

2. Monitoring and control method for underwater paving construction of large - area Reno mattresses in waterways, characterized in that, For the underwater paving construction monitoring and control system of the large-area Reno mattress in the waterway as described in Claim 1, the monitoring and control method includes the following steps: S1. Establishment of the initial underwater terrain digital elevation model: Before the large-area underwater paving construction of the revetment mattress in the waterway, the point cloud data of the depth, shape, and position of the underwater terrain is obtained through the multi-beam sonar, and the image data of the underwater terrain is obtained through the underwater camera; Subsequently, the digital twin module establishes the initial underwater terrain digital elevation model based on the image data and point cloud data after the preprocessing operation and fusion operation by the information acquisition module; S2. Planning of the laying path of the revetment mattress: According to the initial underwater terrain digital elevation model, the survey and design documents, and the hydrological condition data, the artificial intelligence planning module obtains the planning scheme for the underwater paving construction of the revetment mattress; The planning scheme includes the laying path of the revetment mattress and the lapping scheme; S3. Establishment of the underwater terrain digital elevation model during construction: During the underwater paving construction of the revetment mattress according to the planning scheme, the point cloud data of the depth, shape, and position of the revetment mattress is obtained through the multi-beam sonar, and the image data of the revetment mattress is obtained through the underwater camera; Subsequently, the digital twin module establishes the underwater terrain digital elevation model during construction based on the image data and point cloud data after the preprocessing operation and fusion operation by the information acquisition module; The underwater terrain digital elevation model during construction is updated as the image data and the point cloud data are updated; S4. Monitoring and deviation correction of the laying operation of the bottom grid: During the laying of the bottom grid, the data analysis module performs operations and analyzes on the underwater terrain digital elevation model during construction to judge whether the laying position deviation and the lapping width deviation of the bottom grid meet the requirements; When the laying position deviation or the lapping width deviation of the bottom grid does not meet the requirements, an alarm message is sent to the construction technicians through the information transmission module, and the laying position or the lapping width of the bottom grid is corrected by controlling the winch device through the paving control module; S5. Monitoring of the stone filling operation: During the stone filling operation, the data analysis module performs operations and analyzes on the underwater terrain digital elevation model during construction to judge whether the stones are lost; When the stones are lost, an alarm message is sent to the construction technicians through the information transmission module; S6. Monitoring and control of the void ratio of the stone materials: After the stone materials are filled, point cloud data on the void distribution between the stone materials is obtained through the geological radar, point cloud data on the depth, shape, and position of the revetment mattress at this time is obtained through the multi-beam sonar, and image data of the revetment mattress at this time is obtained through the underwater camera; subsequently, the digital twin module establishes a post-construction underwater terrain digital elevation model based on the image data and point cloud data after the preprocessing operation and fusion operation by the information acquisition module; the data analysis module performs operations and analysis on the post-construction underwater terrain digital elevation model, extracts the accumulated volume of the stone materials and the total void volume, so as to judge whether the void ratio of the stone materials meets the requirements; when the void ratio of the stone materials does not meet the requirements, an alarm message is sent to the construction technicians through the information transmission module, and the paving control module controls the vibration compaction device to vibrate and compact the stone materials until the void ratio of the stone materials meets the requirements.

3. The underwater paving construction monitoring and control method of large - area Reno mattresses for waterways according to claim 2, characterized in that, During the underwater paving construction of the revetment mattress, the hydrological condition data is obtained in real time according to the water flow sensor, and the paving direction, paving speed, and stone filling speed of the paving equipment are adjusted in real time through the paving control module.

4. The underwater paving construction monitoring and control method for large - area Reno mattresses in waterways according to claim 2, characterized in that, In step S4, the laying position offset D and the lap width deviation E of the bottom grid meet the following expressions: Among them, [D] is the limit value of the laying position offset of the bottom grid, and [E] is the limit value of the lap width deviation of the bottom grid.

5. The underwater paving construction monitoring and control method for large - area Reno mattresses in waterways according to claim 2, characterized in that, In step S6, the void ratio P of the stone materials meets the following expressions: Among them, V a is the total void volume of the stone material, V0 is the bulk volume of the stone material, and [P] is the limit value of the void ratio of the stone material.

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