High-water-level sluice gate overwater platform and construction method

Abstract

The invention relates to the technical field of gate construction, in particular to a high-water-level gate-closing water platform and a construction method, the high-water-level gate-closing water platform comprises a deck, and is characterized in that a water outlet is formed in the middle of the deck, rails are arranged on the two sides of the water outlet, a water portal frame is arranged on the top of the deck, and a gate-closing gate is arranged on the water portal frame. The bottom end of the overwater portal frame is fixedly connected with a sliding seat, and the sliding seat is in sliding connection with the track; through cooperation of the suction cup type desilting pipeline, the underwater detection robot and the overwater portal frame fine adjustment mechanism, the construction technology of high-water-level sluice lowering is carried out, the principle of the suction cup type desilting pipeline is that a steel suction cup is additionally arranged at the front end of the desilting pipeline, it is guaranteed that when a slurry pump carries out underwater desilting, deposited silt does not turn upwards, and secondary pollution is avoided; and meanwhile, silt in the reserved gate groove is cleaned, and it is guaranteed that the underwater detection robot can be smoothly put into the gate in the follow-up process.

Description

Technical Field

[0001] The present application relates to the technical field of sluice gate lowering construction, and in particular to a high-water-level sluice gate lowering water platform and a construction method. Background Art

[0002] A sluice is a low-head hydraulic structure built on the banks of rivers, channels, reservoirs, and lakes with the functions of retaining and discharging water. Closing the gate can block floods, prevent tides, and raise water levels to meet the needs of upstream water intake or navigation; opening the gate can discharge floodwaters, drain waterlogging, flush sand, take in water, or adjust the flow rate according to downstream water needs. When lowering and installing the gate on the water surface, it is difficult to locate and connect the gate underwater, and it is easily affected by water flow impact and silt upturning and obstruction. Especially under high water level conditions with a depth of more than 15m, the gate is more susceptible to disturbance underwater. At present, there is no better construction technology for lowering the gate at high water level.

[0003] At present, the underwater positioning accuracy of gates at high water levels is low, the construction safety risks are high, the traditional dredging process disturbs the bottom mud, affects the field of view of the detection robot, prolongs the construction period, and lacks efficient underwater fine-tuning technology, making it difficult to achieve precise docking of gates. Summary of the Invention

[0004] The purpose of this application is to provide a high water level sluice water platform and a construction method.

[0005] Firstly, the high water level sluice gate floating platform provided in this application adopts the following technical solutions: The high water level gate lowering water platform includes a deck, a water outlet is provided in the middle of the deck, tracks are provided on both sides of the water outlet, an above-water gantry is provided on the top of the deck, the bottom end of the above-water gantry is fixedly connected with a sliding seat, the sliding seat and the track are slidably connected, a slide rail is provided on the top inner wall of the above-water gantry, the outer wall of the slide rail is slidably connected with a driving block, and a driving wheel is provided on one side of the driving block, the bottom end of the driving block is fixedly connected with a driving box, and an adjusting component is provided inside the driving box, and the adjusting component includes a fixed plate, a threaded cylinder, a threaded column, a servo motor, a movable joint, a connecting plate, and a slide groove.

[0006] By adopting the above technical solution, the water gantry is installed above the deck, and the bottom is slidably connected to the track through a sliding seat, and can move laterally along the track. The bottom of the sliding seat is provided with an electrically driven roller to realize electric drive. The slide rail is fixed to the top of the gantry, and the driving block moves longitudinally along the slide rail through the driving wheel. The driving wheel is also driven by a motor to realize the two-way positioning and longitudinal and transverse movement function of the drive box.

[0007] The middle inner wall of the drive box is fixedly connected to a fixed plate, and the bottom of the fixed plate is triangularly arranged with a threaded cylinder, and the threaded cylinder and the fixed plate are connected by a bearing, and the bottom inner wall of the threaded cylinder is threadedly connected with a threaded column, and the bottom end of the threaded column is connected to a movable joint, and the bottom end of the movable joint is provided with a connecting plate, and the top outer wall of the connecting plate is arranged with a sliding groove, and the movable joint is embedded in the sliding groove and slidably connected to the sliding groove.

[0008] By adopting the above technical solution, the adjustment component is located inside the drive box, and its core function is adaptive leveling and load buffering. The fixed plate is fixed to the inner wall of the drive box to play a supporting role. The threaded barrel can be driven to rotate by a servo motor. When the threaded barrel rotates, it drives the threaded column to rise and fall, thereby driving the movable joint to adjust the height. The slide groove allows the movable joint to slide to adapt to the tilt, and the threaded columns in different positions are raised and lowered to different heights, thereby realizing the angle adjustment of the connecting plate, so that when the water gantry is tilted by external force, the connecting plate and the lifting box can be adjusted through the adjustment component to ensure that the lifting box is in a horizontal position.

[0009] The middle outer wall of the connecting plate is equidistantly provided with through holes, a support spring is arranged at the top center of the connecting plate, a damping telescopic rod is provided on one side of the support spring, the top of the support spring is connected to a buffer plate, and the buffer plate is also connected to the damping telescopic rod, a connecting rod is arranged and connected at the bottom edge of the buffer plate, and the bottom end of the connecting rod is connected to a lifting box through the through hole.

[0010] By adopting the above technical solution, when the load fluctuates, the connecting rod transmits force to the buffer plate through the through hole, and the support spring and the damping telescopic rod work together to absorb the impact and prevent rigid vibration from damaging the structure.

[0011] The interior of the lifting box is connected to a driving rod through a bearing, and the middle outer wall of the driving rod is connected to a winding drum. A lifting rope is arranged around the outer wall of the winding drum, and the bottom end of the lifting rope passes through the lifting box and is connected to a hook. A driving motor is provided on one side of the lifting box, and the output end of the driving motor is connected to the driving rod. The surfaces of the fixing plate and the connecting plate are provided with level sensors, a pressure sensor is provided on one side of the inner wall of the through hole, and a controller is provided on one inner wall of the driving box.

[0012] By adopting the above technical solution, the driving motor drives the driving rod to rotate, the winding drum releases or reels the lifting rope, and controls the lifting of the hook, thereby realizing the lifting of the gate. The horizontal sensor can detect the level of the lifting box and the fixed plate in real time to facilitate the adjustment of the horizontal position of the adjustment component. The pressure on the side wall of the through hole can be detected by the pressure sensor. When the lifting box tilts, the pressure on the side wall of the through hole of the connecting rod increases, and the adjusted angle is corrected by the controller, so that the horizontal angle can be adjusted in time, thereby enhancing the stability of the lifting, realizing safe, stable and intelligent water operations in high water level environments, and greatly improving engineering efficiency and safety.

[0013] The construction method comprises the following steps: Step 1: Underwater measurement and positioning: Based on the working scope and environment of the construction site and the measurement requirements, away from radio interference sources, select known points on land near the tunnel entrance or on the upstream water inlet cofferdam, establish a coordinate reference base station, deploy four sets of underwater sonar beacons, and link them with the Beidou satellite positioning system to construct a three-dimensional coordinate system; Step 2: Underwater dredging: Use an underwater dredging pipe with a suction cup to discharge the silt. The suction cup dredging pipe uses the natural head of the reservoir as its power. It consists of a suction cup, a silt discharge pipe, a control gate valve, and a surface work boat. The surface work boat lowers the suction cup to the dredging location, and the silt enters the silt discharge pipe through the suction cup and is discharged; Step 3: The water platform is in place. After being measured and positioned using GPS-RTK and a total station, it is anchored and fixed. The two rear anchors are anchored parallel to the front anchors. The length of each anchor rope can be adjusted appropriately according to the actual situation on site, thereby positioning the water gantry. Step 4: The detection robot is launched into the water and started to explore the underwater situation. It then determines whether there are any structures in the installation area based on the control system display parameters to avoid collisions. It then generates a point cloud model of the door slot, compares it with the BIM model to calculate the deviation value, and automatically generates compensation parameters. Step 5: Gate hoisting: Select a suitable location on the shore and hoist the gate onto the transport ship platform using a truck crane. After the transport ship arrives at the construction area, use the floating crane on the water hoisting platform to directly transfer the gate to the position below the water gantry hoisting platform and hoist the gate. Step 6: Determine the docking conditions. When the gate is lowered to 1m from the top of the gate slot, stop lowering and maintain the position for 5 minutes to ensure that there are no structures or silt. After the underwater detection robot confirms that the gate and the gate slot are aligned, slowly lower the gate until it docks with the gate slot. During this process, the gantry load, travel trajectory, gate underwater status, and lowering depth technical parameters are always monitored; Step 7: After the hoisting and lowering are completed and the gate is docked with the gate slot, the coordinates of the lifting point are checked again through the GPS-RTK system and the total station, and the gantry moving mechanism and the crane beam transverse movement mechanism are locked. When the deviation between the platform lifting point center and the gate slot center is less than 50mm, the gate is lowered. At the same time, the underwater detection robot transmits the underwater docking image to the monitoring end in real time. If the gate is found to be offset or tilted, the lowering is stopped immediately until the gate is installed.

[0014] The above-mentioned technical solution utilizes a suction-cup desilting pipeline. The principle is to add a steel suction cup to the front end of the desilting pipeline to prevent sediment from flowing up during underwater desilting by the slurry pump, thereby preventing secondary contamination and obstructing the underwater detection robot's field of view. This also clears sediment from the reserved gate slot, ensuring smooth subsequent sluice gate lowering. The gantry's fine-tuning mechanism, driven by the vertical and horizontal movement of the gantry crane and the hook, achieves horizontal and vertical movement of the hook. Once the gate slot is cleaned, the gate is transported to the designed lowering point, hoisted, and the underwater detection robot lowered into the water to inspect the desilting quality and ensure that no sediment remains in the gate slot. The gate is then slowly lowered into the water. When the gate is 1 meter from the top of the gate slot, it is held in this position for 5 minutes, while the lowering speed is further reduced. The underwater detection robot determines the relative position of the gate and the gate slot. The gantry's vertical and horizontal movement mechanisms slowly fine-tune the horizontal position, completing the docking of the gate with the gate slot.

[0015] During the underwater dredging, the suction cup dredging pipeline switches between different working modes. In the coarse dredging stage, negative pressure adsorption is adopted with a vacuum degree of -85kPa. In the fine dredging stage, jet disturbance is combined with siphon dredging. A double-layer filter screen prevents the diffusion of fine particles. The water transparency is monitored in real time by the turbidity sensor carried by the underwater robot.

[0016] By adopting the above technical solutions, underwater dredging technology has achieved efficient, environmentally friendly and precise dredging operations through the combination of phased operation mode, multi-technology collaboration and intelligent monitoring system. Through the innovative three-in-one architecture of phased processing, intelligent regulation and ecological protection, the processing volume per unit time is increased, the construction period is compressed, the diffusion of suspended matter is reduced, and the eco-friendly construction standards are achieved. The siltation in the northwest region is relatively serious, and in order to prevent the dredging work from affecting the field of view of the underwater detection robot, an underwater dredging pipe with a suction cup is used to discharge the silt, and the suction cup is used as the front component of the underwater dredging pipe. Compared with the traditional dredger equipped with a jet device, it can avoid the disturbance of the bottom mud during dredging, forming secondary pollution, and then affecting the underwater detection field of view of the gate. At the same time, it also shortens the time for secondary sedimentation of sediment after dredging construction.

[0017] During the positioning of the above-water platform, a total station is placed at a known coordinate point on the shore and in an open area of ​​the upstream cofferdam. Measuring stations are set at the two corners of the above-water platform near the downstream side to place prisms. The position and direction of the above-water platform are controlled according to the angle and distance parameters displayed by the total station.

[0018] By adopting the above technical solution, by setting up total stations in open areas on the shore and upstream cofferdam, the visibility requirements of the total stations can be met, the visibility problems caused by obstacles can be avoided, and the measurement efficiency can be improved. The fine-tuning mechanism of the underwater gantry can realize the vertical and horizontal movement functions of the hook on the horizontal plane, and then the underwater robot is used to cooperate with the detection to complete the underwater docking of the gate and the gate slot, avoiding deep-water operations by divers. Compared with grouting backfilling, it also reduces the time and material cost of sealing the diversion tunnel.

[0019] During the gate hoisting process, the GPS-RTK system and the total station are used to verify the platform coordinates. The center of the lifting point is kept in coincidence with the center of the underwater gate slot by adjusting the longitudinal movement mechanism of the gate crane and the crane. The underwater detection robot is started to explore the underwater situation. Combined with the control system display parameters, it is determined whether there are any structures in the installation area to avoid collisions.

[0020] By adopting the above technical solutions, GPS-RTK provides plane positioning accuracy of ±1cm and elevation accuracy of ±2cm. The total station supplements the millimeter-level measurement of local areas to form a redundant verification system. Strain gauges and load sensors are deployed at key nodes of the sling to monitor the stress distribution of the lifting in real time. The mechanism automatically locks when the time limit is exceeded. When any sensor fails, it automatically switches to the backup channel to ensure the continuous and reliable operation of the system. The underwater robot continuously scans the docking gap, generates a gap thermal map, and guides fine-tuning until the gap uniformity meets the standard.

[0021] During the underwater measurement and positioning process, a Leica TS60 total station is used to conduct joint measurement between the base station and the construction control network, and the third-class traverse measurement standard is implemented. The dynamic coordinate system conversion parameters based on the BIM model are established, and the coordinate system conversion model is set: X = K·R·x+T, where K is the scale factor, R is the rotation matrix, and T is the translation vector. The base station stability is monitored daily, and the plane displacement is required to be ≤3mm and the elevation change is required to be ≤5mm.

[0022] By adopting the above technical solutions, the Leica TS60 total station has an angle measurement accuracy of 0.5″ and a distance measurement accuracy of 0.6mm+1ppm. Combined with 360° prism tracking technology, it can achieve dynamic positioning 5 times per second. Compared with traditional total stations, the angle measurement error is reduced by 75%, meeting the third-class traverse measurement standard. When the base station displacement is detected to be greater than 2mm or the elevation change is greater than 3mm, a three-level response is automatically triggered. The first level warning: sound and light alarm and data marked in red, the second level response: suspend key processes and start the backup base station, the third level disposal: re-measure the control network and iterate the model parameters. The stability control is achieved through the integration of ultra-precision instruments with BIM, from two-dimensional plane control to four-dimensional dynamic monitoring of time and space, which improves the stability of the base station.

[0023] During the underwater exploration process, the detection robot adopts a Bluefin-12 underwater robot equipped with a 128-line laser scanner and a 2-megapixel high-definition camera system, a MicroSeisM underwater sonar array, and real-time 3D modeling software, with a point cloud density of ≥500 points / m 2 .

[0024] By adopting the above technical solutions, the underwater exploration robot adopts the Bluefin-12 model and integrates a multi-source sensing system. Through the deep integration of high-precision perception, intelligent data processing and real-time modeling technology, it significantly improves the accuracy, efficiency and safety of underwater engineering surveys.

[0025] In summary, this application includes at least one of the following beneficial technical effects: 1. The high-water-level sluice gate lowering process is carried out by cooperating with a suction-cup dredging pipeline, an underwater detection robot, and an above-water gantry fine-tuning mechanism. The suction-cup dredging pipeline works by adding a steel suction cup to the front end of the dredging pipeline to ensure that the accumulated silt does not turn over and cause secondary pollution when the mud pump is performing underwater dredging, thereby affecting the field of view of the underwater detection robot. At the same time, the silt in the reserved gate slot is also cleared to ensure smooth subsequent sluice gate lowering. 2. Underwater dredging technology achieves efficient, environmentally friendly and precise dredging operations through the combination of a phased operation mode, multi-technology collaboration and an intelligent monitoring system. Through the innovative three-in-one architecture of phased treatment, intelligent regulation and ecological protection, the processing volume per unit time is increased, the construction period is shortened, the diffusion of suspended matter is reduced, and the eco-friendly construction standards are achieved. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 This is a schematic diagram of the construction method structure of an embodiment of the present application; Figure 2 This is a schematic structural diagram of an above-water hoisting platform according to an embodiment of the present application; Figure 3 This is the internal connection structure of the drive box of the embodiment of the present application; Figure 4 This is a schematic diagram of the internal connection structure of the lifting box of an embodiment of the present application; Figure 5 This is a schematic diagram of the layout of the water platform mobile station in an embodiment of the present application; Figure 6 This is a layout diagram of the total station and water platform measurement and control network of an embodiment of the present application; Figure 7 This is a schematic diagram of the connection structure between the support spring and the buffer plate in an embodiment of the present application; Figure 8 This is a schematic diagram of the distribution structure of the servo motor on the surface of the fixed plate according to an embodiment of the present application; Explanation of the accompanying reference numerals: 1. Deck; 2. Launch port; 3. Track; 4. Floating gantry; 5. Sliding seat; 6. Slide rail; 7. Drive block; 8. Drive wheel; 9. Drive box; 10. Adjustment assembly; 101. Fixed plate; 102. Threaded cylinder; 103. Threaded column; 104. Servo motor; 105. Movable joint; 106. Connecting plate; 107. Slide groove; 11. Through hole; 12. Support spring; 13. Damping telescopic rod; 14. Buffer plate; 15. Connecting rod; 16. Lifting box; 17. Drive rod; 18. Winding drum; 19. Lifting rope; 20. Hook; 21. Drive motor; 22. Level sensor; 23. Pressure sensor; 24. Controller. DETAILED DESCRIPTION

[0027] The following is combined with Figure 1 - Attachment Figure 8 , further details of this application are given.

[0028] Example 1: A water platform for lowering the gate at high water level includes a deck 1, a water outlet 2 is provided in the middle of the deck 1, tracks 3 are provided on both sides of the water outlet 2, a water gantry 4 is provided on the top of the deck 1, a sliding seat 5 is fixedly connected to the bottom end of the water gantry 4, and the sliding seat 5 is slidably connected to the track 3, a sliding rail 6 is provided on the top inner wall of the water gantry 4, a driving block 7 is slidably connected to the outer wall of the sliding rail 6, and a driving wheel 8 is provided on one side of the driving block 7, the bottom end of the driving block 7 is fixedly connected to the driving box 9, and an adjusting component 10 is provided inside the driving box 9, and the adjusting component 10 includes a fixed plate 101, a threaded cylinder 102, a threaded column 103, a servo motor 104, a movable joint 105, a connecting plate 106, and a slide groove 107.

[0029] By adopting the above technical solution, the water gantry 4 is spanned above the deck 1, and the bottom is slidably connected to the track 3 through the sliding seat 5, and can move laterally along the track 3. The bottom of the sliding seat 5 is provided with an electrically driven roller to realize electric drive. The slide rail 6 is fixed to the top of the gantry and the driving block 7 moves longitudinally along the slide rail 6 through the driving wheel 8. The driving wheel 8 is also driven by a motor to realize the bidirectional positioning longitudinal and transverse movement function of the drive box 9.

[0030] A fixed plate 101 is fixedly connected to the inner wall in the middle of the drive box 9, and a threaded cylinder 102 is arranged in a triangular shape at the bottom of the fixed plate 101, and the threaded cylinder 102 and the fixed plate 101 are connected by a bearing, and a threaded column 103 is threadedly connected to the inner wall of the bottom of the threaded cylinder 102, and the bottom end of the threaded column 103 is connected to a movable joint 105, and a connecting plate 106 is provided at the bottom end of the movable joint 105, and a sliding groove 107 is arranged on the top outer wall of the connecting plate 106, and the movable joint 105 is embedded in the sliding groove 107 and is slidably connected to the sliding groove 107.

[0031] By adopting the above technical solution, the adjustment component 10 is located inside the drive box 9, and its core function is adaptive leveling and load buffering. The fixed plate 101 is fixed to the inner wall of the drive box 9 to play a supporting role. The threaded barrel 102 can be driven to rotate by the servo motor 104. When the threaded barrel 102 rotates, it drives the threaded column 103 to rise and fall, thereby driving the movable joint 105 to adjust the height. The slide groove 107 allows the movable joint 105 to slide to adapt to the tilt, and the threaded column 103 in different positions is raised and lowered to different heights, thereby realizing the angle adjustment of the connecting plate 106, so that when the water gantry 4 is tilted by external force, the connecting plate 106 and the lifting box 16 can be adjusted through the adjustment component 10 to ensure that the lifting box is in a horizontal position.

[0032] The middle outer wall of the connecting plate 106 is equidistantly provided with through holes 11, and a support spring 12 is arranged at the top center of the connecting plate 106. A damping telescopic rod 13 is provided on one side of the support spring 12. The top of the support spring 12 is connected to a buffer plate 14, and the buffer plate 14 is also connected to the damping telescopic rod 13. A connecting rod 15 is arranged and connected at the bottom edge of the buffer plate 14, and the bottom end of the connecting rod 15 is connected to the lifting box 16 through the through hole 11. When the load fluctuates, the connecting rod 15 transmits force to the buffer plate 14 through the through hole 11, and the support spring 12 and the damping telescopic rod 13 work together to absorb impact to prevent rigid vibration from damaging the structure.

[0033] The interior of the lifting box 16 is connected to a driving rod 17 through a bearing, and the middle outer wall of the driving rod 17 is connected to a winding drum 18. A lifting rope 19 is arranged around the outer wall of the winding drum 18, and the bottom end of the lifting rope 19 passes through the lifting box 16 and is connected to a hook 20. A driving motor 21 is provided on one side of the lifting box 16, and the output end of the driving motor 21 is connected to the driving rod 17. A level sensor 22 is provided on the surface of the fixing plate 101 and the connecting plate 106, a pressure sensor 23 is provided on one side of the inner wall of the through hole 11, and a controller 24 is provided on the inner wall of one side of the driving box 9.

[0034] By adopting the above technical solution, the driving motor 21 drives the driving rod 17 to rotate, the winding drum 18 releases or reels the lifting rope 19, and controls the lifting and lowering of the hook 20, thereby realizing the lifting of the gate. The horizontal sensor 22 can detect the level of the position of the lifting box 16 and the fixed plate 101 in real time, so as to facilitate the adjustment of the horizontal position of the adjustment component 10. The pressure sensor 23 can detect the side wall pressure of the through hole 11. When the lifting box 16 tilts, the side wall pressure of the connecting rod 15 relative to the through hole 11 increases, so that the adjusted angle is corrected through the controller 24, so that the horizontal angle is adjusted in time, thereby enhancing the stability of the lifting, realizing safe, stable and intelligent water operations in high water level environments, and greatly improving engineering efficiency and safety.

[0035] The construction method includes the following steps: Step 1: Underwater measurement and positioning. According to the working scope and environment of the construction site and the measurement requirements, away from radio interference sources, select known points on the land near the tunnel entrance or on the upstream water inlet cofferdam, establish a coordinate reference base station, deploy four sets of underwater sonar beacons, and link with the Beidou satellite positioning system to build a three-dimensional coordinate system. During the underwater measurement and positioning process, use the Leica TS60 total station to conduct joint measurement between the base station and the construction control network, implement the third-class traverse measurement standard, establish dynamic coordinate system conversion parameters based on the BIM model, and set the coordinate system conversion model: X = K·R·x+T, where K is the scale factor, R is the rotation matrix, and T is the translation vector. Monitor the stability of the base station every day, and require the plane displacement to be ≤3 mm, elevation change ≤ 5mm, the Leica TS60 total station has 0.5″ angular measurement accuracy and 0.6mm+1ppm distance measurement accuracy. With 360° prism tracking technology, it can achieve dynamic positioning 5 times per second. Compared with traditional total stations, the angle measurement error is reduced by 75%, meeting the third-class traverse measurement standard. When the base station displacement is detected to be greater than 2mm or the elevation change is greater than 3mm, a three-level response is automatically triggered. The first level warning: sound and light alarm and data marked in red, the second level response: suspend key processes and start the backup base station, the third level disposal: re-measure the control network and iterate the model parameters, and achieve stability control through ultra-precision instruments combined with BIM integration, from two-dimensional plane control to four-dimensional dynamic monitoring of time and space, which improves the stability of the base station; Step 2: Underwater dredging. Use underwater dredging pipes with suction cups to discharge silt. The suction cup dredging pipe uses the natural head of the reservoir as power. It is composed of a suction cup, a sand discharge pipe, a control gate valve and a surface work boat. The surface work boat lowers the suction cup to the dredging position, and the silt and sand enter the sand discharge pipe through the suction cup and are discharged. During underwater dredging, the suction cup dredging pipe switches to different working modes. The coarse dredging stage uses negative pressure adsorption with a vacuum degree of -85kPa. The fine dredging stage uses jet disturbance combined with siphon dredging. The double-layer filter screen prevents the diffusion of fine particles. The turbidity sensor carried by the underwater robot monitors the water transparency in real time. The underwater dredging technology is achieved through a phased operation mode, multi-technology collaboration and intelligent The combination of energy-saving and monitoring systems has achieved efficient, environmentally friendly and precise dredging operations. Through the innovative structure of phased processing, intelligent control and ecological protection, the processing volume per unit time has been increased, the construction period has been shortened, the diffusion of suspended matter has been reduced, and the eco-friendly construction standards have been achieved. The siltation in the northwest region is relatively serious. In order to prevent the dredging work from affecting the field of view of the underwater detection robot, an underwater dredging pipe with a suction cup is used to discharge the silt. The suction cup is used as the front component of the underwater dredging pipe. Compared with the traditional dredger equipped with a jet device, it can avoid the disturbance of the bottom mud during dredging, resulting in secondary pollution, which in turn affects the underwater detection field of view of the gate. At the same time, it also shortens the time for secondary sedimentation of sediment after dredging construction. Step 3: The water platform is in place. After the water platform is measured and positioned jointly with the GPS-RTK and the total station, it is anchored and fixed. The two rear anchors are anchored parallel to the front anchor. The length of each anchor rope can be adjusted appropriately according to the actual situation on site, so as to position the water gantry 4. During the water platform is in place, a known coordinate point is selected at the shore and the open area of ​​the upstream cofferdam to place the total station. The measuring station is set at the two corners of the downstream side of the water platform to place the prism. The position and direction of the water platform are controlled according to the angle and distance parameters displayed by the total station. By setting the total station at the shore and the open area of ​​the upstream cofferdam, the visibility requirement of the total station can be met, the visibility problem affected by obstacles can be avoided, and the measurement efficiency can be improved. The fine-tuning mechanism of the water gantry 4 can realize the vertical and horizontal movement function of the hook 20 on the horizontal plane, and then the underwater robot is used to cooperate with the detection to complete the underwater docking of the gate and the gate slot, avoiding deep-water operations by divers. Compared with grouting backfilling, it also reduces the time and material cost of diversion tunnel plugging. Step 4: The detection robot is launched into the water and started to explore the underwater situation. It combines the control system display parameters to determine whether there are any structures in the installation area to avoid collisions, generate a door slot point cloud model, compare it with the BIM model to calculate the deviation value, and automatically generate compensation parameters. The detection robot uses a Bluefin-12 underwater robot equipped with a 128-line laser scanner and a 2-megapixel high-definition camera system, a MicroSeisM underwater sonar array, and real-time 3D modeling software. The point cloud density is ≥500 points / m2 The underwater detection robot adopts the Bluefin-12 model and integrates a multi-source sensing system. Through the deep integration of high-precision perception, intelligent data processing and real-time modeling technology, it significantly improves the accuracy, efficiency and safety of underwater engineering surveys; Step 5: Gate hoisting, select a suitable location on the shore, and use a car crane to lift the gate to the transport ship platform. After the transport ship arrives at the construction waters, use the floating crane on the water hoisting platform to directly transfer the gate to the position below the water gantry 4 lifting, and lift the gate. During the gate hoisting process, use the GPS-RTK system and the total station to verify the platform coordinates, and adjust the gantry crane longitudinal movement mechanism and the crane to keep the lifting point center and the The centers of the underwater door slots are in an overlapping state. The underwater detection robot is activated to explore the underwater situation and, in combination with the control system display parameters, determine whether there are any structures in the installation area to avoid collisions. GPS-RTK provides plane positioning accuracy of ±1cm and elevation accuracy of ±2cm. The total station supplements the millimeter-level measurement of local areas to form a redundant verification system. Strain gauges and load sensors are deployed at key nodes of the lifting equipment to monitor the lifting stress distribution in real time. The mechanism automatically locks when the limit is exceeded. If any sensor fails, it automatically switches to the backup channel to ensure the continuous and reliable operation of the system. The underwater robot continuously scans the docking gap, generates a gap thermal map, and guides fine-tuning until the gap uniformity meets the standard. Step 6: Determine the docking conditions. When the gate is lowered to 1m from the top of the gate slot, stop lowering and maintain the position for 5 minutes to ensure that there are no structures or silt. After the underwater detection robot confirms that the gate and the gate slot are aligned, slowly lower the gate until it docks with the gate slot. During this process, the gantry load, travel trajectory, gate underwater status, and lowering depth technical parameters are always monitored; Step 7: After the hoisting and lowering are completed and the gate is docked with the gate slot, the coordinates of the lifting point are checked again through the GPS-RTK system and the total station, and the gantry moving mechanism and the crane beam transverse movement mechanism are locked. When the deviation between the platform lifting point center and the gate slot center is less than 50mm, the gate is lowered. At the same time, the underwater detection robot transmits the underwater docking image to the monitoring end in real time. If the gate is found to be offset or tilted, the lowering is stopped immediately until the gate is installed.

[0036] The suction-cup desilting pipeline utilizes a steel suction cup at the front end of the desilting pipeline to prevent sediment from flowing up during underwater desilting, thereby preventing secondary contamination and obstructing the underwater detection robot's field of view. This also clears sediment from the reserved gate slot, ensuring smooth subsequent sluice gate lowering. The fine-tuning mechanism of the underwater gantry (4) relies on the longitudinal movement of the gate crane and the lateral movement of the hook (20), enabling the hook (20) to move horizontally and vertically. Once the gate slot is cleared, the gate is transported to the designated lowering point, hoisted, and the underwater detection robot lowered into the water to inspect the desilting quality and ensure that no sediment remains in the gate slot. The gate is then slowly lowered into the water. When the gate is 1 meter from the top of the gate slot, it is held in this position for 5 minutes, while the lowering speed is further reduced. The underwater detection robot then determines the relative position of the gate and the gate slot. The gantry's longitudinal and lateral movement mechanisms then slowly fine-tune the horizontal position, completing the docking of the gate with the gate slot.

[0037] The implementation principle of the embodiment of the present application is as follows: first, underwater measurement and positioning are carried out. According to the working scope and environment of the construction site and the measurement requirements, a known point is selected on the land near the tunnel entrance or on the upstream water inlet cofferdam away from radio interference sources, a coordinate reference base station is established, four groups of underwater sonar beacons are deployed, and the three-dimensional coordinate system is constructed by linking with the Beidou satellite positioning system. Underwater dredging is carried out, and an underwater dredging pipe with a suction cup is used to discharge the silt. The suction cup dredging pipe uses the natural water head of the reservoir as the power, and is composed of a suction cup, a sand discharge pipe, a control gate valve and a water surface working The surface work boat lowers the suction cup to the position to be dredged, and the silt and sand are discharged from the suction cup into the sand discharge pipe. The water platform is in place. After the water platform is measured and positioned with the help of GPS-RTK and total station, it is anchored and fixed. The two rear anchors are anchored parallel to the front anchor. The length of each anchor rope can be adjusted appropriately according to the actual situation on site, so as to position the water gantry 4. The detection robot is launched and the underwater detection robot is started to explore the underwater situation. It is combined with the control system display parameters to determine whether there are structures in the installation area to avoid collisions and generate a portal. The slot point cloud model is compared with the BIM model to calculate the deviation value and automatically generate the compensation parameters. For gate hoisting, a suitable position is selected on the shore and the gate is hoisted to the transport ship platform by a car crane. After the transport ship arrives at the construction waters, the floating crane on the water hoisting platform is used to directly transfer the gate to the position below the water gantry 4 hoisting. The gate is hoisted and the docking conditions are determined. When it is lowered to 1m from the top of the gate slot, the lowering is stopped and the posture is maintained for 5 minutes to ensure that there are no structures and silt. After the underwater detection robot confirms that the gate and the gate slot coincide, the gate is slowly lowered straight Until it is docked with the gate slot, the gantry load, travel trajectory, underwater status of the gate, and technical parameters of the lowering depth are always monitored. After the hoisting and lowering are completed, the GPS-RTK system and the total station are used to check the coordinates of the lifting points again after the gate is docked with the gate slot, and the gantry moving mechanism and the crane beam transverse mechanism are locked. When the deviation between the platform lifting point center and the gate slot center is <50mm, the gate is continued to be lowered. At the same time, the underwater detection robot transmits the underwater docking image to the monitoring end in real time. If the gate is found to be offset or tilted, the lowering is stopped immediately until the gate is installed.

[0038] The examples of this specific embodiment are all preferred embodiments of this application and are not intended to limit the scope of protection of this application. Identical components are represented by the same reference numerals. Therefore, any equivalent changes made based on the structure, shape, and principle of this application should be included in the scope of protection of this application.

Claims

1. A high water level sluice water platform, comprising a deck (1), characterized in that: A water outlet (2) is provided in the middle of the deck (1), and tracks (3) are provided on both sides of the water outlet (2). An overwater gantry (4) is provided on the top of the deck (1), and a sliding seat (5) is fixedly connected to the bottom end of the overwater gantry (4), and the sliding seat (5) is slidably connected to the track (3). A slide rail (6) is provided on the top inner wall of the overwater gantry (4), and a driving block (7) is slidably connected to the outer wall of the slide rail (6), and a driving wheel (8) is provided on one side of the driving block (7). The bottom end of the driving block (7) is fixedly connected to a driving box (9), and an adjusting component (10) is provided inside the driving box (9). The adjusting component (10) comprises a fixed plate (101), a threaded barrel (102), a threaded column (103), a servo motor (104), a movable joint (105), a connecting plate (106), and a slide groove (107).

2. The high water level sluice gate floating platform according to claim 1, characterized in that: The inner wall of the middle portion of the drive box (9) is fixedly connected to a fixed plate (101), the bottom of the fixed plate (101) is provided with a threaded cylinder (102) arranged in a triangular shape, and the threaded cylinder (102) and the fixed plate (101) are connected via a bearing, the inner wall of the bottom of the threaded cylinder (102) is threadedly connected to a threaded column (103), the bottom end of the threaded column (103) is connected to a movable joint (105), the bottom end of the movable joint (105) is provided with a connecting plate (106), the top outer wall of the connecting plate (106) is provided with a sliding groove (107), the movable joint (105) is embedded in the sliding groove (107) and is slidably connected to the sliding groove (107).

3. The high water level sluice gate floating platform according to claim 2, characterized in that: The middle outer wall of the connecting plate (106) is provided with through holes (11) arranged at equal intervals, a support spring (12) is arranged at the center of the top of the connecting plate (106), a damping telescopic rod (13) is provided on one side of the support spring (12), the top of the support spring (12) is connected to a buffer plate (14), and the buffer plate (14) is also connected to the damping telescopic rod (13), a connecting rod (15) is arranged and connected at the bottom edge of the buffer plate (14), and the bottom end of the connecting rod (15) passes through the through hole (11) and is connected to a lifting box (16).

4. The high water level sluice gate floating platform according to claim 3, characterized in that: The interior of the lifting box (16) is connected to a driving rod (17) through a bearing, the middle outer wall of the driving rod (17) is connected to a winding drum (18), a suspension rope (19) is arranged around the outer wall of the winding drum (18), the bottom end of the suspension rope (19) passes through the lifting box (16) and is connected to a hook (20), a driving motor (21) is arranged on one side of the lifting box (16), the output end of the driving motor (21) is connected to the driving rod (17), the surfaces of the fixing plate (101) and the connecting plate (106) are both provided with a level sensor (22), a pressure sensor (23) is arranged on one side of the inner wall of the through hole (11), and a controller (24) is arranged on one side of the inner wall of the driving box (9).

5. A construction method for lowering a sluice gate at a high water level, using the high water level lowering sluice gate floating platform according to any one of claims 1 to 4, characterized in that: The construction method comprises the following steps: Step 1: Underwater measurement and positioning: Based on the working scope and environment of the construction site and the measurement requirements, away from radio interference sources, select known points on land near the tunnel entrance or on the upstream water inlet cofferdam, establish a coordinate reference base station, deploy four sets of underwater sonar beacons, and link them with the Beidou satellite positioning system to construct a three-dimensional coordinate system; Step 2: Underwater dredging: Use an underwater dredging pipe with a suction cup to discharge the silt. The suction cup dredging pipe uses the natural head of the reservoir as its power. It consists of a suction cup, a silt discharge pipe, a control gate valve, and a surface work boat. The surface work boat lowers the suction cup to the dredging location, and the silt enters the silt discharge pipe through the suction cup and is discharged; Step 3: The water platform is in place. After the water platform is measured and positioned by GPS-RTK and total station, it is anchored and fixed. The two rear anchors are anchored parallel to the front anchor. The length of each anchor rope can be adjusted appropriately according to the actual situation on site, thereby positioning the water gantry (4); Step 4: The detection robot is launched into the water and started to explore the underwater situation. It then determines whether there are any structures in the installation area based on the control system display parameters to avoid collisions. It then generates a point cloud model of the door slot, compares it with the BIM model to calculate the deviation value, and automatically generates compensation parameters. Step 5: Hoisting the gate: Select a suitable location on the shore and hoist the gate onto the transport ship platform using a car crane. After the transport ship arrives at the construction waters, use the floating crane on the water hoisting platform to directly transfer the gate to the position below the water gantry (4) and hoist the gate. Step 6: Determine the docking conditions. When the gate is lowered to 1m from the top of the gate slot, stop lowering and maintain the position for 5 minutes to ensure that there are no structures or silt. After the underwater detection robot confirms that the gate and the gate slot are aligned, slowly lower the gate until it docks with the gate slot. During this process, the gantry load, travel trajectory, gate underwater status, and lowering depth technical parameters are always monitored; Step 7: After the hoisting and lowering are completed and the gate is docked with the gate slot, the coordinates of the lifting point are checked again through the GPS-RTK system and the total station, and the gantry moving mechanism and the crane beam transverse movement mechanism are locked. When the deviation between the platform lifting point center and the gate slot center is less than 50mm, the gate is lowered. At the same time, the underwater detection robot transmits the underwater docking image to the monitoring end in real time. If the gate is found to be offset or tilted, the lowering is stopped immediately until the gate is installed.

6. The construction method for closing a sluice gate at a high water level according to claim 5, characterized in that: During the underwater dredging, the suction cup dredging pipeline switches between different working modes. In the coarse dredging stage, negative pressure adsorption is adopted with a vacuum degree of -85kPa. In the fine dredging stage, jet disturbance is combined with siphon dredging. A double-layer filter screen prevents the diffusion of fine particles. The water transparency is monitored in real time by the turbidity sensor carried by the underwater robot.

7. The construction method for closing a sluice gate at a high water level according to claim 5, characterized in that: During the positioning of the above-water platform, a total station is placed at a known coordinate point on the shore and in an open area of ​​the upstream cofferdam. Measuring stations are set at the two corners of the above-water platform near the downstream side to place prisms. The position and direction of the above-water platform are controlled according to the angle and distance parameters displayed by the total station.

8. The method for constructing a high water level sluice platform according to claim 5, characterized in that: During the gate hoisting process, the GPS-RTK system and the total station are used to verify the platform coordinates. The center of the lifting point is kept in coincidence with the center of the underwater gate slot by adjusting the longitudinal movement mechanism of the gate crane and the crane. The underwater detection robot is started to explore the underwater situation. Combined with the control system display parameters, it is determined whether there are any structures in the installation area to avoid collisions.

9. The construction method for closing a sluice gate at a high water level according to claim 5, characterized in that: During the underwater measurement and positioning process, a Leica TS60 total station is used to conduct joint measurement between the base station and the construction control network, and the third-class traverse measurement standard is implemented. The dynamic coordinate system conversion parameters based on the BIM model are established, and the coordinate system conversion model is set: X = K·R·x+T, where K is the scale factor, R is the rotation matrix, and T is the translation vector. The base station stability is monitored daily, and the plane displacement is required to be ≤3mm and the elevation change is required to be ≤5mm.

10. The construction method for closing a sluice gate at a high water level according to claim 5, characterized in that: During the underwater exploration process, the detection robot adopts a Bluefin-12 underwater robot equipped with a 128-line laser scanner and a 2-megapixel high-definition camera system, a MicroSeisM underwater sonar array, and real-time 3D modeling software, with a point cloud density of ≥500 points / m 2 .

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