Channel supporting and fixing device for water conservancy construction and method thereof

Abstract

The invention discloses a channel supporting and fixing device for water conservancy construction and a method thereof, and belongs to the technical field of water conservancy projects. A driving cavity is formed in the reference supporting seat, a stepping motor is vertically mounted on the inner wall of the driving cavity, an output shaft of the stepping motor is connected with a lead screw shaft of a precision ball screw, and a laser emission port is formed in the side wall of the driving cavity; the channel bracket comprises a bearing saddle, the bottom of the bearing saddle is fixedly connected with a nut block matched with the precise ball screw, and a laser reflection target is installed on the side face of the bearing saddle. The nut block of the channel bracket is connected to the precise ball screw in the reference supporting seat in a sleeving mode, the laser reflection target right faces the laser emission port, and the attitude stability and the engineering quality of the channel section under the complex working condition are ensured.

Description

Technical Field

[0001] This invention relates to the field of water conservancy engineering, specifically to a channel support and fixing device and method for water conservancy construction. Background Technology

[0002] In water conservancy construction, the installation accuracy of prefabricated channel sections is a key factor affecting project quality. However, dynamic factors such as ground settlement and equipment vibration at the construction site continuously disturb the installed channel sections, and traditional rigid support structures cannot adapt to such dynamic changes. This limitation makes the installed channel sections prone to deviation in posture, affecting the overall alignment and long-term stability of the channel, thereby reducing project quality.

[0003] The aforementioned situation and shortcomings mainly stem from the lack of dynamic adjustment and intelligent sensing capabilities in traditional support technologies. Traditional rigid supports are static and cannot proactively compensate for changes in the construction environment in real time. This means that when external disturbances occur, such as foundation settlement or the parking of heavy equipment, the support system cannot be adjusted in a timely and accurate manner, thus failing to guarantee the installation accuracy of the channel section.

[0004] The information disclosed in the background section above is only intended to enhance the understanding of the background of this disclosure, and therefore may include information that does not constitute prior art known to those skilled in the art. Summary of the Invention

[0005] The purpose of this invention is to provide a channel support and fixing device and method for water conservancy construction, so as to solve the problems mentioned in the background art. The technical solution of this invention is as follows: A channel support and fixing device for water conservancy construction includes a reference support base and a channel bracket. The reference support base has a drive chamber inside, and a stepper motor is vertically mounted on the inner wall of the drive chamber. The output shaft of the stepper motor is connected to the screw shaft of a precision ball screw. A laser emission port is provided on the side wall of the drive chamber. The channel bracket includes a bearing saddle, and a nut block that mates with the precision ball screw is fixed to the bottom of the bearing saddle. A laser reflector target is mounted on the side of the bearing saddle. The nut block of the channel bracket is fitted into the precision ball screw inside the reference support base. The laser reflector target is positioned directly opposite the laser emission port on the precision ball screw. The device also includes a high-precision pressure sensor, a dual-axis tilt sensor, a laser displacement sensor, and a data controller. The high-precision pressure sensor is positioned on the vertical force transmission path between the precision ball screw and the channel bracket. The dual-axis tilt sensor is mounted on the channel bracket. The laser displacement sensor is installed inside the laser emission port. The data controller is connected to the high-precision pressure sensor, the dual-axis tilt sensor, the laser displacement sensor, and the stepper motor.

[0006] Preferably, a linear guide rail is vertically fixed on the inner wall of the drive chamber, and a slider that slides with the linear guide rail is fixed on the side wall of the channel bracket.

[0007] Preferably, a thrust bearing is provided between the top of the precision ball screw and the high-precision pressure sensor.

[0008] Preferably, the top of the supporting saddle is an arc surface for fitting and placing the channel section, and its bottom is provided with a sensing platform for installing the dual-axis tilt sensor.

[0009] A method for supporting and fixing channels in water conservancy construction, the method comprising: The data controller acquires the real-time measurement value of the high-precision pressure sensor as the initial vertical load, the real-time measurement value of the dual-axis tilt sensor as the initial horizontal tilt angle, and the real-time measurement value of the laser displacement sensor as the initial lateral offset. The initial vertical load, the initial horizontal tilt angle, and the initial lateral offset are combined and set as attitude reference data. The data controller is used to continuously acquire real-time data from each sensor and calculate and generate vertical load deviation, plane tilt angle deviation and lateral displacement deviation based on the attitude reference data, which together constitute a real-time attitude deviation set. The data controller is used to determine whether any deviation in the real-time attitude deviation set exceeds a preset trigger threshold. If it exceeds the threshold, it enters an observation window period and classifies the disturbance source into instantaneous construction disturbance, sudden continuous heavy load or slowly changing geological disturbance based on the change characteristics of the deviation within the observation window period, thus obtaining the disturbance classification result. The data controller is used to drive the stepper motor to perform graded compensation adjustment based on the disturbance classification result.

[0010] Preferably, when the disturbance classification result is an instantaneous construction disturbance, the graded compensation adjustment specifically means that the data controller does not drive the stepper motor.

[0011] Preferably, when the disturbance classification result is a sudden continuous heavy load, the graded compensation adjustment specifically involves the data controller driving the stepper motor to perform a one-time compensation to offset the initial deviation, and setting the compensated attitude as the secondary operation reference.

[0012] Preferably, when the disturbance classification result is a slowly changing geological disturbance, the graded compensation adjustment specifically involves the data controller calculating the compensation amount based on the cumulative rate of the deviation and driving the stepper motor to perform proportional adjustment.

[0013] Preferably, before performing the proportional adjustment, the method further includes: the data controller broadcasting the cumulative rate of the deviation and the compensation amount to adjacent devices via a data bus, for triggering the adjacent devices to perform feedforward fine-tuning.

[0014] This invention provides an improved channel support and fixing device and method for hydraulic construction, which has the following improvements and advantages compared with the prior art: 1. The device in this solution integrates high-precision pressure sensors, dual-axis tilt sensors, and laser displacement sensors. These sensors can monitor subtle changes in the channel section in three dimensions: vertical load, plane tilt angle, and lateral displacement in real time. The data controller processes this data and drives the stepper motor to adjust the position of the channel bracket through a precision ball screw, transforming the device from a passive support structure into a system that can actively sense and perform precise compensation. This active adjustment capability can effectively cope with dynamic disturbances such as ground settlement and equipment vibration. For example, when a heavy excavator is parked near the channel section, it may cause significant subsidence and tilting of the channel. The data controller of this solution will determine that this is a sudden continuous heavy load and immediately drive the stepper motor to perform one-time compensation, so that the channel returns to the vicinity of the initial attitude reference. After the compensation is completed, the system will also set the stable attitude under the current heavy load as a new secondary operating reference to adapt to continuous monitoring under heavy load environment, thereby ensuring the attitude stability and engineering quality of the channel section under complex working conditions. 2. This method also includes a collaborative adjustment mechanism. When dealing with gradually changing geological disturbances, after calculating the compensation amount, the data controller of a single device broadcasts its own settlement rate, deviation, and compensation amount to adjacent devices via the data bus. Upon receiving this information, even if their own sensors have not yet detected a deviation exceeding the threshold, the adjacent devices will make predictive fine adjustments based on the received data. The causal chain of this feedforward fine-tuning mechanism is as follows: when a single device detects a gradually changing disturbance and calculates the compensation amount, it broadcasts the information to adjacent devices in advance. Adjacent devices make predictive fine adjustments based on this information, thereby avoiding delayed adjustments only when their own sensors trigger the threshold. Ultimately, this prevents sudden changes in height or angle caused by independent large-scale adjustments at a single support point, effectively maintaining the linear continuity and smoothness of the entire channel. Through information sharing and pre-adjustment, multiple devices can work collaboratively to maintain the macroscopic smoothness of the entire channel, improving the overall quality and structural safety of the project. 3. The method in this scheme achieves intelligent hierarchical response by classifying disturbance sources. The data controller can classify disturbance sources into instantaneous construction disturbances, sudden continuous heavy loads, or gradually changing geological disturbances. For example, if the deviation value appears and disappears rapidly, it will be classified as an instantaneous construction disturbance; if the deviation value increases rapidly and then remains at a new high level, it will be classified as a sudden continuous heavy load; if the deviation value increases slowly and continuously, it will be classified as a gradually changing geological disturbance. This hierarchical response makes the adjustment behavior more targeted and efficient. For example, when an instantaneous construction disturbance is identified, the system will not perform compensation adjustment. This approach avoids frequent start-ups and shutdowns and mechanical wear caused by instantaneous disturbances, improving the operating efficiency and service life of the device. For gradually changing geological disturbances, the device adopts proportional adjustment logic based on the deviation accumulation rate to ensure that the compensation behavior can match the actual process of geological changes, achieving smooth and dynamic correction of the channel section attitude. Attached Figure Description

[0015] The present invention will be further explained below with reference to the accompanying drawings and embodiments: Figure 1 This is a schematic diagram of the overall external structure of the device; Figure 2 This is a cross-sectional structural diagram of the device; Figure 3 This is a schematic diagram of the load-bearing saddle and its overall connection structure; Figure 4 This is a schematic diagram of the process flow of the method of the present invention; In the diagram: 100, reference support; 120, drive chamber; 121, stepper motor; 122, precision ball screw; 130, laser emission port; 200, channel bracket; 210, load-bearing saddle; 220, sensing platform; 230, laser reflector target; 300, high-precision pressure sensor; 400, dual-axis tilt sensor; 500, laser displacement sensor; 600, data controller. Detailed Implementation

[0016] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to specific embodiments.

[0017] Example 1 Please see Figure 1-3This invention provides a channel support and fixing device for water conservancy construction, including a reference support base 100 and a channel bracket 200. The reference support base 100 has a drive chamber 120 inside, and a stepper motor 121 is vertically mounted on the inner wall of the drive chamber 120. The output shaft of the stepper motor 121 is connected to the screw shaft of a precision ball screw 122. A laser emission port 130 is opened on the side wall of the drive chamber 120. The channel bracket 200 includes a bearing saddle 210, with a nut block fixed to the bottom of the bearing saddle 210 to cooperate with the precision ball screw 122. A laser reflector target 230 is mounted on the side of the bearing saddle 210. The nut block of the channel bracket 200 is sleeved on the reference support base. The laser reflector target 230 is positioned on the precision ball screw 122 within the 100, facing the laser emission port 130. The device also includes a high-precision pressure sensor 300, a dual-axis tilt sensor 400, a laser displacement sensor 500, and a data controller 600. The high-precision pressure sensor 300 is positioned on the vertical force transmission path between the precision ball screw 122 and the channel bracket 200. The dual-axis tilt sensor 400 is mounted on the channel bracket 200. The laser displacement sensor 500 is mounted inside the laser emission port 130. The data controller 600 is connected to the high-precision pressure sensor 300, the dual-axis tilt sensor 400, the laser displacement sensor 500, and the stepper motor 121.

[0018] A channel support and fixing device for water conservancy construction is provided. In water conservancy construction sites, the installation accuracy of prefabricated channel sections directly affects the project quality. However, factors such as ground settlement and equipment vibration during construction will cause continuous disturbance to the installed channel sections. Traditional rigid supports cannot adapt to such dynamic changes. In this embodiment, the channel support and fixing device for water conservancy construction forms the basic support structure by setting a combination of a reference support seat 100 and a channel bracket 200. The channel bracket 200 is used to support the channel section, and ensuring the stability of its posture is the core of achieving effective channel fixation. In order to achieve active adjustment, the stepper motor 121 inside the reference support 100 drives the precision ball screw 122 to precisely change the vertical position of the channel bracket 200. At the same time, the integrated setting of the high-precision pressure sensor 300, the dual-axis tilt sensor 400 and the laser displacement sensor 500 gives the device the ability to sense subtle changes in the channel section in three dimensions: vertical load, plane tilt angle and lateral displacement in real time. The data controller 600 processes the sensor information and controls the stepper motor 121, so that the entire device is transformed from a passive support structure into a system that can actively sense posture changes and perform precise compensation, thereby dealing with dynamic disturbances at the construction site and ensuring the installation accuracy and long-term stability of the channel section.

[0019] A linear guide rail is vertically fixed on the inner wall of the drive chamber 120, and a slider that slides with the linear guide rail is fixed on the side wall of the channel bracket 200.

[0020] In this embodiment, the connection between the linear guide and the slider is to limit the direction of motion. As long as the channel bracket 200 can only perform vertical linear movement in a single direction within the reference support 100, without rotation or deviation in other directions, the functional requirements are met. For example, a dovetail guide and slider can be used, or two or more parallel cylindrical guides can be used with corresponding linear bearings. In this embodiment, the linear guide and slider configuration provides clear guidance for the lifting and lowering movement of the channel bracket 200. When the precision ball screw 122 rotates, it applies rotational torque and axial thrust to the nut block. Without additional constraints, the channel bracket 200 would rotate with the screw instead of lifting and lowering smoothly. The cooperation of the linear guide and slider restricts the degree of freedom of the channel bracket 200 to the vertical direction, effectively converting the rotational motion of the precision ball screw 122 into a purely linear lifting and lowering motion of the channel bracket 200. This is a prerequisite for achieving precise height compensation and avoids attitude adjustment errors caused by bracket rotation.

[0021] A thrust bearing is provided between the top of the precision ball screw 122 and the high-precision pressure sensor 300.

[0022] In this embodiment, the thrust bearing serves to isolate forces of different natures, ensuring the purity of the measurement data. During the rotation of the precision ball screw 122 driving the channel bracket 200 to rise and fall, the top of the screw not only transmits the vertical axial support force but also the shear force generated by rotational friction. The high-precision pressure sensor 300 is designed to accurately measure changes in the vertical load. The thrust bearing creates a mechanical isolation layer between the screw and the sensor, allowing the screw to rotate freely while transmitting the vertical axial force to the sensor without attenuation. In this way, the shear force generated by rotation is absorbed by the rolling elements inside the thrust bearing and is not transmitted to the pressure sensor. This ensures that the data collected by the pressure sensor only reflects the pure vertical force caused by changes in the weight of the channel section and external construction loads, eliminating interference from the movement of the drive mechanism itself and improving the accuracy of vertical load monitoring.

[0023] The top of the support saddle 210 is an arc surface for fitting and placing the channel section, and the bottom of it is provided with a sensing platform 220 for installing the dual-axis tilt sensor 400.

[0024] In this embodiment, the bearing saddle 210 features an arc-shaped top structure designed for better matching with the shape of the prefabricated channel section. Compared to planar contact, this arc increases the contact area, allowing the weight of the channel section to be evenly distributed on the bearing saddle 210, avoiding potential damage to the channel section structure caused by localized stress concentration, and providing more stable lateral restraint. The sensing platform 220 at its bottom provides a standardized installation reference for the dual-axis tilt sensor 400. This platform is designed as a horizontal plane, ensuring that the measurement coordinate system of the dual-axis tilt sensor 400 remains consistent with the reference coordinate system of the device during installation. This design allows the tilt angle data measured by the sensor to directly and accurately reflect the true tilt posture of the channel bracket 200 and even the channel section on it, providing a reliable data source for the subsequent data controller 600 to perform precise tilt angle deviation calculations and compensation adjustments.

[0025] Example 2 Please see Figure 4 A method for supporting and fixing channels in water conservancy construction, the method comprising: The data controller 600 acquires the real-time measurement value of the high-precision pressure sensor 300 as the initial vertical load, acquires the real-time measurement value of the dual-axis tilt sensor 400 as the initial horizontal tilt angle, and acquires the real-time measurement value of the laser displacement sensor 500 as the initial lateral offset. The initial vertical load, initial horizontal tilt angle and initial lateral offset are combined and set as attitude reference data. The data controller 600 is used to continuously acquire real-time data from each sensor and calculate and generate vertical load deviation, plane tilt angle deviation and lateral displacement deviation based on attitude reference data, which together constitute a real-time attitude deviation set. The data controller 600 is used to determine whether any deviation in the real-time attitude deviation set exceeds the preset trigger threshold. If it exceeds the threshold, it enters the observation window period and classifies the disturbance source into instantaneous construction disturbance, sudden continuous heavy load or slowly changing geological disturbance based on the change characteristics of the deviation within the observation window period, and obtains the disturbance classification result. The data controller 600 is used to drive the stepper motor 121 to perform graded compensation adjustment based on the disturbance classification results.

[0026] A method for supporting and fixing channels in hydraulic construction, the core of which lies in achieving intelligent hierarchical response through the identification of disturbance sources. After the channel section is placed and precisely aligned, the data controller 600, for example using a Siemens S7-200 SMART series PLC, records the readings of the high-precision pressure sensor 300 (e.g., a Mettler Toledo MTX series pressure sensor), the dual-axis tilt sensor 400 (e.g., an SKE-SCA128T model), and the laser displacement sensor 500 (e.g., a Keyence LK-G5000 series laser displacement sensor). This set of data defines the ideal state of the channel section, i.e., the attitude reference data. After construction begins, the data controller 600 continuously collects data from these three sensors at a fixed frequency, for example, 10 times per second, and calculates the deviations of vertical load, plane tilt angle, and lateral displacement in real time by comparing them with the attitude reference data, forming a real-time attitude deviation set. When any deviation exceeds a preset trigger threshold, for example, lateral displacement exceeding 2 mm, the system will not act immediately, but will enter an observation window lasting several seconds.

[0027] Both the trigger threshold and the observation window are parameters that can be calibrated according to the site conditions. The logic for setting the trigger threshold is to comprehensively consider the engineering tolerances allowed for channel alignment in relevant water conservancy construction specifications, the measurement accuracy of the sensor itself, and the expected final installation accuracy to determine a reasonable range, ensuring the necessity of the response. The duration of the observation window is mainly based on empirical calibration of typical instantaneous construction disturbances, such as the duration of construction workers walking through empty-handed or the temporary placement and removal of small tools. The purpose is to ensure that the window duration is sufficient to fully cover the entire process of such instantaneous events, so as to effectively distinguish them from continuous heavy loads or settlement events. This duration is usually set in the range of 2 to 10 seconds. The trigger threshold represents the system's tolerance limit for channel attitude deviations. Its physical meaning is to filter out insignificant minor disturbances and ensure that only deviations that have a substantial impact on engineering quality will trigger subsequent response processes. The observation window represents the time period during which the system performs disturbance source nature analysis after the deviation trigger threshold. Its physical meaning is to provide sufficient time to observe the dynamic changes of the deviation, thereby distinguishing different types of disturbances such as instantaneous, sudden, or gradual changes. The trigger threshold was set based on multiple considerations, including the engineering tolerances allowed in relevant water conservancy construction specifications, the measurement accuracy of the sensor itself, and the expected final installation accuracy. The duration of the observation window was mainly determined empirically based on the duration of typical instantaneous construction disturbances. When any deviation value in the real-time attitude deviation set exceeds the preset trigger threshold, this state will serve as a logical trigger signal, causing the controller to immediately start timing and enter the observation window. During the window, the system continuously analyzes the deviation data and makes the next disturbance classification decision based on its changing characteristics.

[0028] During the window period, the data controller 600 analyzes the change curve of the deviation data: if the deviation value appears and disappears rapidly, it usually corresponds to construction workers walking by or the temporary placement of small tools, and is classified as an instantaneous construction disturbance; if the deviation value increases rapidly and then remains at a new high level, it usually corresponds to heavy construction equipment parked nearby, and is classified as a sudden and continuous heavy load; if the deviation value does not change drastically but increases slowly and continuously, it is often a manifestation of uneven foundation settlement, and is classified as a gradual geological disturbance. Based on this disturbance classification result, the data controller 600 drives the stepper motor 121, for example, using a stepper motor 121 drive kit from Leadshine Intelligent, to perform corresponding graded compensation adjustments, making the adjustment behavior more targeted and efficient, and avoiding the blindness of using a single mode to respond to all disturbances; The purpose of this disturbance classification model is to accurately identify and classify external disturbance sources that cause channel attitude changes in the complex dynamic environment of a construction site. The core of the model is pattern matching based on the change curves of deviation data within an observation window. It compares the input real-time deviation data stream with three preset typical disturbance patterns. If the data curve rises rapidly and then falls rapidly, the model identifies it as a transient disturbance; if the data curve rises rapidly and remains at a new stable high level at the end of the window, the model identifies it as a sudden, sustained heavy load; if the data curve continues to increase unidirectionally with a relatively gentle slope, the model identifies it as a slowly changing geological disturbance. This model abstracts the structural response characteristics caused by different physical disturbance sources, and by analyzing these dynamic change curves, it characterizes the physical causal relationship between external disturbances and internal structural responses.

[0029] When the disturbance classification result is instantaneous construction disturbance, the specific graded compensation adjustment is that the data controller 600 does not drive the stepper motor 121.

[0030] In this embodiment, the graded compensation adjustment does not respond to transient construction disturbances. The data controller 600, after identifying the disturbance source as a transient construction disturbance, intentionally ignores the deviation. This approach aims to maintain the overall stability of the system and reduce unnecessary mechanical wear. Transient disturbances are short-lived and have minimal impact on the final position and orientation of the channel segment. Furthermore, the structure recovers automatically after the disturbance disappears. Compensating for such disturbances would not only cause frequent starts and stops of the stepper motor 121 and transmission mechanism, increasing energy consumption and wear, but also potentially create new minor disturbances in the channel segment after the initial disturbance has disappeared due to the lag in the adjustment action. Therefore, by setting an adjustment blind zone, such high-frequency, low-impact disturbances are filtered out, improving the operating efficiency and service life of the device.

[0031] When the disturbance classification result is a sudden continuous heavy load, the graded compensation adjustment is as follows: the data controller 600 drives the stepper motor 121 to perform a one-time compensation to offset the initial deviation, and sets the compensated attitude as the secondary operation reference.

[0032] Whether at the initial attitude reference or at the secondary operation reference after a sudden heavy load, the system will continuously monitor possible gradual geological disturbances; In this embodiment, the graded compensation adjustment adopts an adaptive compensation strategy to cope with sudden and continuous heavy loads. When the data controller 600 determines that the disturbance source is a sudden and continuous heavy load, such as an excavator parked next to a channel section, causing significant subsidence and tilting of the channel section, the data controller 600 will immediately drive the stepper motor 121 to perform a one-time, sufficient compensation adjustment, raising the channel bracket 200 to the corresponding height until the readings of each sensor return to near the initial attitude reference data, thereby offsetting the attitude deviation caused by the heavy load. After completing this compensation, the controller does not simply end the task, but defines the stable attitude under the current heavy load as a temporary secondary operating reference. The significance of doing so is that the system acknowledges that the current heavy load is an operating state that will continue for a period of time, and subsequent attitude monitoring will be based on this new reference. This allows the device to continue monitoring and responding to more subtle factors, such as gradual settlement caused by further compaction of the foundation due to the heavy load, under heavy load conditions, demonstrating the system's adaptability under complex working conditions.

[0033] When the disturbance classification result is a slowly changing geological disturbance, the graded compensation adjustment specifically involves the data controller 600 calculating the compensation amount based on the cumulative rate of the deviation and driving the stepper motor 121 to perform proportional adjustment.

[0034] In this embodiment, the graded compensation adjustment employs a proportional adjustment logic based on the rate of change when dealing with slowly changing geological disturbances. When the foundation settles slowly, the data controller 600 continuously records the accumulation of deviation values ​​and calculates the rate of change of the deviation, i.e., the settlement velocity. The calculation of the compensation amount is directly related to this rate: if the settlement velocity is detected to be relatively fast, the data controller 600 will calculate a larger single compensation step size or increase the compensation frequency, driving the stepper motor 121 to quickly follow up in order to counteract the settlement; conversely, if the settlement velocity is very slow, the single compensation step size will be very small, and the adjustment action will be more gradual.

[0035] The calculation logic for this proportional adjustment is as follows: The data controller 600 first performs differential calculation on the continuously collected deviation data to obtain the rate of change of the deviation over time, i.e., the settling velocity. Based on this rate, it calculates the number of steps or angles required to drive the stepper motor 121, which is then converted into the vertical displacement compensation amount of the precision ball screw 122. In the calculation implementation, the compensation amount can be determined by the following proportional relationship: ; in: This represents the vertical compensation amount calculated in a single operation. The representative data controller 600 calculates the cumulative rate of deviation, i.e., the settling velocity, from real-time data. This represents the preset proportional gain coefficient, the unit of which is time, for example, seconds. Its value is set primarily based on the mechanical transmission characteristics of the device and the desired system response sensitivity. To ensure dimensional consistency, when... When the unit is millimeters per second, The unit should be set to seconds, so that the compensation amount can be calculated in millimeters. Larger This value indicates a more rapid response to changes in settlement rate and a more proactive compensation adjustment; This proportional adjustment method enables the device's compensation behavior to match the actual process of geological changes, achieving smooth and dynamic correction of the channel section's posture. It effectively avoids over-adjustment or lag problems that may be caused by fixed compensation amounts, ensuring the smoothness of the channel section's alignment throughout the entire geological change process. The input to this calculation logic is real-time sensor data continuously acquired by the data controller 600, and the process includes: Step 1: Data Acquisition and Smoothing Processing. The data controller 600 continuously acquires real-time data from the sensor at a fixed frequency and performs digital filtering processing. Step 2: Deviation calculation. The smoothed data is compared with the attitude reference data to calculate the real-time deviation. Step 3: Rate calculation. Perform differential calculation on the deviation values ​​at multiple consecutive time points to obtain the rate of change of the deviation over time. Step 4: Compensation Calculation. Based on the preset proportional adjustment logic, the calculated cumulative deviation rate is multiplied by a proportional gain coefficient to obtain the final vertical compensation amount. The final result generated by the process is the compensation amount, which will be transmitted to the stepper motor 121 to drive it to perform the corresponding proportional adjustment.

[0036] Before performing proportional adjustment, the method further includes: the data controller 600 broadcasts the cumulative rate of deviation and the amount of compensation to adjacent devices via a data bus to trigger the adjacent devices to perform feedforward fine-tuning.

[0037] In this embodiment, the feedforward fine-tuning is a collaborative adjustment mechanism. When the data controller 600 of a single support and fixing device calculates the compensation amount to cope with gradually changing geological disturbances, it does not execute it immediately. Instead, it first broadcasts its own settlement rate, deviation, and planned compensation adjustment amount to other adjacent support and fixing devices in the line via a data bus, such as a CAN bus or RS485 bus. Upon receiving this information, even if its own sensors have not yet detected a deviation exceeding a threshold, the adjacent devices will perform a small, predictive fine-tuning based on the received data. The purpose of this feedforward adjustment is to maintain the linear continuity and smoothness of the entire channel. It avoids large-scale adjustments by a single support point, which could lead to height differences or abrupt angle changes between that point and adjacent areas, forming stress concentration points. Through this information sharing and pre-adjustment, multiple devices transform from independent adjustment units into a collaborative network, jointly maintaining the macroscopic smoothness of the entire channel line and improving the overall quality and structural safety of the project. The data bus can be a CAN bus or an RS485 bus, used to realize bidirectional communication and data sharing between multiple devices. When a neighboring device receives broadcast information, its data controller 600 will use a preset cooperative algorithm, such as an algorithm based on distance attenuation or linear interpolation, to calculate its own predictive fine-tuning amount based on the received deviation accumulation rate and compensation amount. For example, if the received information indicates that a neighboring device is sinking at a speed of 1 mm / h, the device will make a small, proportional upward fine-tuning in advance, such as 0.2 mm / h, thereby maintaining the relative flatness between the two channels as a whole. This cooperative fine-tuning is performed before its own deviation reaches the trigger threshold, ensuring the macroscopic smoothness of the entire channel line. It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention.

Claims

1. A channel support and fixing device for water conservancy construction, characterized in that, The system includes a reference support base (100) and a channel bracket (200). The reference support base (100) has a drive chamber (120) inside, and a stepper motor (121) is vertically mounted on the inner wall of the drive chamber (120). The output shaft of the stepper motor (121) is connected to the screw shaft of a precision ball screw (122). A laser emission port (130) is provided on the side wall of the drive chamber (120). The channel bracket (200) includes a support saddle (210), and a nut block that mates with the precision ball screw (122) is fixedly connected to the bottom of the support saddle (210). A laser reflector target (230) is mounted on the side of the support saddle (210). The nut block of the channel bracket (200) is fitted onto the precision ball screw (122) inside the reference support base (100). The laser reflector target (230) is directly opposite the laser emission port (130); the device also includes a high-precision pressure sensor (300), a dual-axis tilt sensor (400), a laser displacement sensor (500), and a data controller (600); the high-precision pressure sensor (300) is disposed on the vertical force transmission path between the precision ball screw (122) and the channel bracket (200); the dual-axis tilt sensor (400) is mounted on the channel bracket (200); the laser displacement sensor (500) is mounted inside the laser emission port (130); the data controller (600) is connected to the high-precision pressure sensor (300), the dual-axis tilt sensor (400), the laser displacement sensor (500), and the stepper motor (121), respectively.

2. The channel support and fixing device for water conservancy construction according to claim 1, characterized in that, A linear guide rail is vertically fixed on the inner wall of the drive chamber (120), and a slider that slides with the linear guide rail is fixed on the side wall of the channel bracket (200).

3. The channel support and fixing device for water conservancy construction according to claim 1, characterized in that, A thrust bearing is provided between the top of the precision ball screw (122) and the high-precision pressure sensor (300).

4. The channel support and fixing device for water conservancy construction according to claim 1, characterized in that, The top of the bearing saddle (210) is an arc surface for fitting the channel section, and the bottom is provided with a sensing platform (220) for installing the dual-axis tilt sensor (400).

5. A method for supporting and fixing channels in water conservancy construction, applied to the channel support and fixing device for water conservancy construction as described in claim 1, characterized in that, The method includes: The data controller (600) collects the real-time measurement value of the high-precision pressure sensor (300) as the initial vertical load, the real-time measurement value of the dual-axis tilt sensor (400) as the initial horizontal tilt angle, and the real-time measurement value of the laser displacement sensor (500) as the initial lateral offset, and combines the initial vertical load, the initial horizontal tilt angle and the initial lateral offset to set the attitude reference data. The data controller (600) is used to continuously acquire real-time data from each sensor and calculate and generate vertical load deviation, plane tilt angle deviation and lateral displacement deviation based on the attitude reference data, which together constitute a real-time attitude deviation set. The data controller (600) is used to determine whether any deviation in the real-time attitude deviation set exceeds a preset trigger threshold. If it exceeds the threshold, it enters the observation window period and classifies the disturbance source into instantaneous construction disturbance, sudden continuous heavy load or slowly changing geological disturbance according to the change characteristics of the deviation in the observation window period, and obtains the disturbance classification result. The data controller (600) is used to drive the stepper motor (121) to perform graded compensation adjustment based on the disturbance classification result.

6. The method for supporting and fixing channels in water conservancy construction according to claim 5, characterized in that, When the disturbance classification result is instantaneous construction disturbance, the graded compensation adjustment specifically means that the data controller (600) does not drive the stepper motor (121).

7. The method for supporting and fixing channels in water conservancy construction according to claim 5, characterized in that, When the disturbance classification result is a sudden continuous heavy load, the graded compensation adjustment specifically involves the data controller (600) driving the stepper motor (121) to perform a one-time compensation to offset the initial deviation, and setting the compensated attitude as the secondary operation reference.

8. A method for supporting and fixing channels in water conservancy construction according to claim 5, characterized in that, When the disturbance classification result is a slowly changing geological disturbance, the graded compensation adjustment specifically involves the data controller (600) calculating the compensation amount based on the cumulative rate of the deviation and driving the stepper motor (121) to perform proportional adjustment.

9. A method for supporting and fixing channels in water conservancy construction according to claim 8, characterized in that, Before performing the proportional adjustment, the method further includes: the data controller (600) broadcasting the cumulative rate of the deviation and the compensation amount to adjacent devices via a data bus to trigger the adjacent devices to perform feedforward fine-tuning.

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