Channel support fixing device for water conservancy construction and method thereof

Abstract

The application relates to a channel support fixing device for water conservancy construction and a method thereof, and belongs to the technical field of water conservancy projects. The device comprises a benchmark support seat and a channel bracket. A driving cavity is arranged in the benchmark support seat. A stepping motor is vertically arranged on the inner wall of the driving cavity. The output shaft of the stepping motor is connected with the screw shaft of a precision ball screw. A laser emission port is arranged on 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 precision ball screw. A laser reflection target is arranged on the side surface of the bearing saddle. The nut block of the channel bracket is sleeved on the precision ball screw in the benchmark support seat. The laser reflection target is opposite to the laser emission port. The application ensures the posture stability and engineering quality of the channel section under complex working conditions.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of hydraulic engineering, in particular to a channel support fixing device for water conservancy construction and a method thereof. BACKGROUND

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

[0003] The above status and deficiencies mainly result from the lack of dynamic adjustment and intelligent sensing capability in traditional support technology; the traditional rigid support is static and cannot actively compensate for real-time changes in the construction environment; this makes it impossible for the support system to adjust in time and accurately when external disturbances occur, such as foundation settlement or heavy equipment parking, thus failing to guarantee the installation accuracy of the channel sections.

[0004] The above information disclosed in the background section is only used to enhance the understanding of the background of the present disclosure, and therefore it can include information that does not constitute prior art known to those of ordinary skill in the art. SUMMARY

[0005] The purpose of the present application is to provide a channel support fixing device for water conservancy construction and a method thereof to solve the problems raised in the background technology, and the technical solution of the present application is as follows:

[0006] A channel support fixing device for water conservancy construction, comprising a reference support seat and a channel bracket; the reference support seat is internally provided with a drive chamber, a stepping motor is vertically installed on the inner wall of the drive chamber, the output shaft of the stepping motor is connected with the screw shaft of a precision ball screw, and a laser emission port is formed on the side wall of the drive chamber; the channel bracket comprises a bearing saddle, a nut block matched with the precision ball screw is fixedly connected to the bottom of the bearing saddle, and a laser reflection target is installed on the side surface of the bearing saddle; the nut block of the channel bracket is sleeved on the precision ball screw in the reference support seat, and the laser reflection target is opposite to the laser emission port; the device further comprises a high-precision pressure sensor, a dual-axis inclination sensor, a laser displacement sensor and a data controller; the high-precision pressure sensor is arranged on the vertical force transmission path between the precision ball screw and the channel bracket; the dual-axis inclination sensor is installed on the channel bracket; the laser displacement sensor is installed in the laser emission port; and the data controller is connected with the high-precision pressure sensor, the dual-axis inclination sensor, the laser displacement sensor and the stepping motor, respectively.

[0007] Preferably, a linear guide rail is vertically fixed on the inner wall of the driving chamber, and a sliding block that is in sliding fit with the linear guide rail is fixed on the side wall of the channel bracket.

[0008] Preferably, a thrust bearing is arranged between the top end of the precision ball screw and the high-precision pressure sensor.

[0009] Preferably, the top of the bearing saddle is an arc surface for fitting the channel segment, and the bottom is provided with a sensing platform for mounting the dual-axis inclination sensor.

[0010] A channel supporting and fixing method for water conservancy construction, the method comprising:

[0011] The data controller collects 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 inclination sensor as the initial horizontal inclination, and the real-time measurement value of the laser displacement sensor as the initial lateral offset, and combines the initial vertical load, the initial horizontal inclination and the initial lateral offset to set as the attitude reference data;

[0012] The data controller is used to continuously acquire real-time data of each sensor, and calculate and generate vertical load deviation, plane inclination deviation and lateral displacement deviation based on the attitude reference data, which together constitute a real-time attitude deviation set;

[0013] The data controller is used to determine whether any deviation in the real-time attitude deviation set exceeds a preset trigger threshold, and if it does, enter an observation window period, and according to the change characteristics of the deviation in the observation window period, classify the disturbance source into instantaneous construction disturbance, sudden and continuous heavy load or slowly changing geological disturbance, to obtain a disturbance classification result.

[0014] The data controller is used to drive the step motor to perform a graded compensation adjustment according to the disturbance classification result.

[0015] Preferably, when the disturbance classification result is instantaneous construction disturbance, the graded compensation adjustment specifically is that the data controller does not drive the step motor.

[0016] Preferably, when the disturbance classification result is sudden and continuous heavy load, the graded compensation adjustment specifically is that the data controller drives the step motor to perform one-time compensation to offset the initial deviation, and sets the compensated attitude as a secondary operation reference.

[0017] Preferably, when the disturbance classification result is a slow-varying geological disturbance, the step compensation adjustment specifically comprises that the data controller calculates a compensation amount based on the accumulated rate of the deviation, and drives the stepper motor to perform proportional adjustment.

[0018] Preferably, before performing the proportional adjustment, the method further comprises that the data controller broadcasts the accumulated rate of the deviation and the compensation amount to the adjacent device through a data bus, so as to trigger the adjacent device to perform feedforward fine adjustment.

[0019] The present application provides a channel support fixing device for water conservancy construction and a method thereof by improvement, which has the following improvements and advantages compared with the prior art.

[0020] 1. The device of the present scheme integrates a high-precision pressure sensor, a dual-axis tilt sensor, and a laser displacement sensor. These sensors can monitor the subtle changes of the channel section in three dimensions, including vertical load, plane tilt, and lateral displacement. The data controller processes these data and drives the stepper motor to adjust the position of the channel bracket through a precision ball screw, thereby transforming the device from a passive support structure to a system that can actively perceive and perform precise compensation. This active adjustment capability can effectively respond to dynamic disturbances such as ground subsidence and equipment vibration. For example, when a heavy excavator is parked near the channel section, it may cause the channel to sink and tilt significantly. The data controller of the present scheme will determine this as a sudden and sustained heavy load and immediately drive the stepper motor to perform a one-time compensation, restoring the channel to near the initial attitude reference. After compensation, the system will set the stable attitude under the current heavy load as the new secondary operation reference to adapt to the continuous monitoring in the heavy load environment, thereby ensuring the attitude stability and engineering quality of the channel section under complex working conditions.

[0021] 2. The method of the present scheme also includes a cooperative adjustment mechanism. When dealing with slow-varying geological disturbances, the data controller of a single device calculates the compensation amount and broadcasts its own settlement rate, deviation, and compensation amount to adjacent devices through a data bus. After receiving this information, the adjacent devices will perform predictive fine adjustment even if their own sensors have not detected deviations exceeding the threshold. The causal chain of this feedforward fine adjustment mechanism is as follows: when a single device detects a slow-varying disturbance and calculates the compensation amount, it will broadcast the information to adjacent devices in advance. Based on this information, adjacent devices perform predictive fine adjustment, thereby avoiding lag adjustment after the threshold of their own sensors is triggered, and ultimately preventing height differences or angle mutations caused by independent large-scale adjustment of a single support point, effectively maintaining the linear continuity and smoothness of the entire channel. Through information sharing and pre-fine adjustment, multiple devices can work cooperatively to maintain the macroscopic smoothness of the entire channel line, thereby improving the overall quality and structural safety of the project.

[0022] 3. The method of the present application realizes intelligent hierarchical response by classifying the disturbance source. The data controller can classify the disturbance source into instantaneous construction disturbance, sudden sustained overload or slowly varying geological disturbance. For example, if the deviation value appears rapidly and disappears rapidly, it will be classified as instantaneous construction disturbance. If the deviation value increases rapidly and then maintains at a new high level, it will be classified as sudden sustained overload. If the deviation value increases slowly and continuously, it will be classified as slowly varying geological disturbance. This hierarchical response makes the adjustment behavior more targeted and efficient. For example, when the instantaneous construction disturbance is identified, the system will not perform compensation adjustment. This processing method avoids frequent start and stop and mechanical wear caused by instantaneous disturbance, and improves the operation efficiency and service life of the device. For slowly varying geological disturbance, the device uses proportional adjustment logic based on the deviation accumulation rate to ensure that the compensation behavior can match the actual progress of the geological change, and realizes smooth and dynamic correction of the channel section posture. BRIEF DESCRIPTION OF DRAWINGS

[0023] The application will be further explained below in conjunction with the accompanying drawings and examples:

[0024] Figure 1 is a schematic diagram of the overall external structure of the device;

[0025] Figure 2 is a schematic diagram of the cross-sectional structure of the device;

[0026] Figure 3 is a schematic diagram of the bearing saddle and its overall connection structure;

[0027] Figure 4 is a schematic diagram of the method flow structure of the present application;

[0028] In the figure: 100, reference support seat; 120, drive chamber; 121, stepper motor; 122, precision ball screw; 130, laser emission port; 200, channel bracket; 210, bearing saddle; 220, sensing platform; 230, laser reflection target; 300, high-precision pressure sensor; 400, dual-axis inclination sensor; 500, laser displacement sensor; 600, data controller. DETAILED DESCRIPTION

[0029] To make the purpose, technical scheme and advantages of the present application clearer, the present application will be further described in detail below in conjunction with specific examples.

[0030] Example 1

[0031] Please refer to Figures 1-3The application provides a channel support fixing device for water conservancy construction, which comprises a reference support seat 100 and a channel bracket 200; a driving chamber 120 is arranged in the reference support seat 100, a stepping motor 121 is vertically arranged on the inner wall of the driving chamber 120, the output shaft of the stepping motor 121 is connected with the screw shaft of a precision ball screw 122, and a laser emission port 130 is arranged on the side wall of the driving chamber 120; the channel bracket 200 comprises a bearing saddle 210, the bottom of the bearing saddle 210 is fixedly connected with a nut block matched with the precision ball screw 122, and a laser reflection target 230 is arranged on the side of the bearing saddle 210; the nut block of the channel bracket 200 is sleeved on the precision ball screw 122 in the reference support seat 100, and the laser reflection target 230 faces the laser emission port 130; the device further comprises a high-precision pressure sensor 300, a double-axis inclination sensor 400, a laser displacement sensor 500 and a data controller 600; the high-precision pressure sensor 300 is arranged on the vertical force transmission path between the precision ball screw 122 and the channel bracket 200; the double-axis inclination sensor 400 is arranged on the channel bracket 200; the laser displacement sensor 500 is arranged in the laser emission port 130; and the data controller 600 is connected with the high-precision pressure sensor 300, the double-axis inclination sensor 400, the laser displacement sensor 500 and the stepping motor 121 respectively.

[0032] A channel support fixing device for water conservancy construction, in the water conservancy construction site, the installation precision of the prefabricated channel section directly affects the engineering quality, and factors such as ground subsidence and equipment vibration in the construction process will continuously disturb the installed channel section, and the traditional rigid support cannot adapt to such dynamic changes; the channel support fixing device for water conservancy construction in the embodiment is combined by setting the reference support seat 100 and the channel bracket 200, and constitutes the basic structure of the support. The channel bracket 200 is used for bearing the channel section, and the stability of the posture is the core of realizing the effective fixation of the channel; in order to realize active adjustment, the stepping motor 121 in the reference support seat 100 drives the precision ball screw 122, so that the vertical position of the channel bracket 200 can be accurately changed; at the same time, the integrated setting of the high-precision pressure sensor 300, the double-axis inclination sensor 400 and the laser displacement sensor 500 endows the device with the ability to realize real-time sensing of the slight changes of the channel section in three dimensions of vertical load, plane inclination and lateral displacement; the data controller 600 processes the sensor information and controls the stepping motor 121, so that the whole device is changed from a passive support structure into a system capable of actively sensing the posture change and executing accurate compensation, so as to cope with the dynamic disturbance of the construction site and guarantee the installation precision and long-term stability of the channel section.

[0033] A linear guide rail is vertically fixed on the inner wall of the driving chamber 120, and a sliding block matched with the linear guide rail is fixed on the side wall of the channel bracket 200.

[0034] The connection relationship of the linear guide rail and the slider in the embodiment is to realize the limitation of the movement direction; as long as it can ensure that the channel bracket 200 can only move vertically in a single direction in the reference support seat 100 without rotation or deviation in other directions, the functional requirements can be met. For example, a dovetail groove type guide rail and slider can be used, or two or more parallel cylindrical guide rails can be used to cooperate with the corresponding linear bearings. In the embodiment, the linear guide rail and the slider provide clear guidance for the lifting movement of the channel bracket 200. When the precision ball screw 122 rotates, it applies a rotating torque and an axial thrust to the nut block. Without additional constraints, the channel bracket 200 will rotate with the screw instead of smoothly lifting. The cooperation of the linear guide rail and the slider limits the movement degree of freedom of the channel bracket 200 to the vertical direction, effectively converting the rotating movement of the precision ball screw 122 into the pure linear lifting movement of the channel bracket 200, which is the premise of realizing accurate height compensation and avoiding attitude adjustment errors caused by the rotation of the bracket.

[0035] A thrust bearing is arranged between the top end of the precision ball screw 122 and the high-precision pressure sensor 300.

[0036] The thrust bearing in the embodiment acts to isolate forces of different natures and ensure the purity of the measurement data. During the process of driving the channel bracket 200 to lift by rotating the precision ball screw 122, the top end of the screw not only transmits the vertical axial support force, but also generates shear force caused by rotating friction; the design purpose of the high-precision pressure sensor 300 is to accurately measure the change of the vertical load; the setting of the thrust bearing forms 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 caused by rotation is absorbed by the rolling body inside the thrust bearing and cannot be transmitted to the pressure sensor, so that the data collected by the pressure sensor only reflects the pure vertical force caused by the weight of the channel section and the change of the external construction load, eliminating the interference of the movement of the driving mechanism itself and improving the accuracy of vertical load monitoring.

[0037] The top of the bearing saddle 210 is an arc surface for fitting and placing the channel section, and the bottom is provided with a sensing platform 220 for installing a dual-axis inclination sensor 400.

[0038] The arc surface structure at the top of the bearing saddle 210 in this embodiment is to better match the shape of the prefabricated channel section. Compared with planar contact, the arc surface can increase the contact area, so that the weight of the channel section is evenly distributed on the bearing saddle 210, avoiding damage to the channel section structure caused by local stress concentration, and providing more stable lateral limiting; the sensing platform 220 at the bottom provides a standardized installation reference for the dual-axis inclination sensor 400. The platform is designed as a horizontal plane, ensuring that the measurement coordinate system of the dual-axis inclination sensor 400 is consistent with the reference coordinate system of the device when installed; this design enables the inclination data measured by the sensor to directly and accurately reflect the true inclination posture of the channel bracket 200 and even the channel section thereon, providing a reliable data source for subsequent data controller 600 to perform accurate inclination deviation calculation and compensation adjustment.

[0039] Embodiment 2

[0040] Please refer to Figure 4 A channel support fixing method for water conservancy construction, the method comprising:

[0041] 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 inclination sensor 400 as the initial horizontal inclination, and the real-time measurement value of the laser displacement sensor 500 as the initial lateral offset, which are combined to set the initial vertical load, the initial horizontal inclination and the initial lateral offset as the posture reference data;

[0042] The data controller 600 is used to continuously acquire real-time data of each sensor, and calculate and generate vertical load deviation, plane inclination deviation and lateral displacement deviation based on the posture reference data, which together constitute a real-time posture deviation set;

[0043] The data controller 600 is used to determine whether any deviation in the real-time posture deviation set exceeds the preset trigger threshold, and if it does, it enters the observation window period, and according to the change characteristics of the deviation in the observation window period, the disturbance source is classified into instantaneous construction disturbance, sudden and continuous heavy load or slowly changing geological disturbance, and the disturbance classification result is obtained;

[0044] The data controller 600 is used to drive the step motor 121 to perform graded compensation adjustment according to the disturbance classification result.

[0045] A channel support fixing method for water conservancy construction, the core lies in that through identification of a disturbance source, intelligent hierarchical response is realized, after the channel section is placed and accurately positioned, a data controller 600, for example, a Siemens S7-200 SMART series PLC, records readings of a high-precision pressure sensor 300, for example, a Mettler-Toledo MTX series pressure sensor, a two-axis tilt sensor 400, for example, a SKE-SCA128T model, and a laser displacement sensor 500, for example, a Keyence LK-G5000 series laser displacement sensor, and the data set defines an ideal state of the channel section, namely, attitude reference data. After construction starts, the data controller 600 continuously collects data of the three sensors at a fixed frequency, for example, 10 times per second, and calculates deviation amounts of vertical load, plane tilt angle and lateral displacement by comparing with the attitude reference data, to form a real-time attitude deviation set; when any deviation amount exceeds a preset trigger threshold, for example, the lateral displacement exceeds 2 mm, the system does not immediately act, but enters a continuous observation window period.

[0046] The trigger threshold and the observation window period are both parameters that can be calibrated according to the site conditions, the setting logic of the trigger threshold is to comprehensively consider the engineering tolerance allowed for the channel line type in the relevant water conservancy construction specification, the measurement accuracy of the sensor itself and the expected final installation accuracy to determine a reasonable range, to ensure the necessity of response; the length of the observation window period is mainly empirically calibrated according to the duration of typical instantaneous construction disturbance, for example, the duration of a construction worker walking empty-handed, temporary placement and removal of a small tool, and the purpose is to ensure that the window length is sufficient to completely cover the whole process of such instantaneous events, so as to be able to effectively distinguish from persistent heavy load or settlement events, and the length is usually set in the interval of 2 to 10 seconds;

[0047] The trigger threshold represents the tolerance limit of the system to the channel attitude deviation, and its physical meaning is to filter out insignificant small disturbances, to ensure that only the deviations that have a substantial impact on the engineering quality will trigger the subsequent response process; the observation window period represents the time period for the system to analyze the nature of the disturbance source after the deviation trigger threshold, and its physical meaning is to provide sufficient time to observe the dynamic changes of the deviation, so as to distinguish different types of disturbances such as instantaneous, sudden or slow changes;

[0048] The setting of the trigger threshold is based on multiple considerations, including the engineering tolerance allowed in the relevant water conservancy construction specification, the measurement accuracy of the sensor itself and the expected final installation accuracy. The length of the observation window period is mainly empirically calibrated according to the duration of typical instantaneous construction disturbance;

[0049] When any deviation value in the real-time attitude deviation set exceeds the preset trigger threshold, the state will serve as a logical trigger signal, causing the controller to immediately start timing and enter the observation window period. During the window period, the system continuously analyzes the deviation data and makes the next disturbance classification decision based on its change characteristics.

[0050] During the window period, the data controller 600 analyzes the change curve of the deviation data: if the deviation value appears and disappears quickly, it usually corresponds to the passage of construction personnel or the temporary placement of small tools, and is classified as transient construction disturbance; if the deviation value increases rapidly and then maintains at a new high level, it usually corresponds to the parking of heavy construction equipment nearby, and is classified as sudden and sustained heavy load; if the deviation value does not jump sharply, but grows slowly and continuously, it is often a manifestation of uneven settlement of the foundation, and is classified as slow geological disturbance. According to this disturbance classification result, the data controller 600 drives the stepper motor 121, for example, uses the stepper motor 121 drive kit of Raysee Intelligence to execute corresponding staged compensation adjustment, so that the adjustment behavior is more targeted and efficient, and the blindness of using a single mode to respond to all disturbances is avoided.

[0051] The purpose of this disturbance classification model is to accurately identify and classify the external disturbance sources that cause the channel attitude to change in the complex dynamic environment of the construction site; the core of this model is to perform pattern matching based on the change curve of the deviation data during the observation window period; it compares the input real-time deviation data stream with three preset typical disturbance patterns; if the data curve rises quickly and then falls quickly, the model identifies it as a transient disturbance; if the data curve rises quickly and remains at a new stable high level at the end of the window period, the model identifies it as a sudden and sustained heavy load; if the data curve grows continuously in one direction with a relatively flat slope, the model identifies it as a slow geological disturbance; this model abstracts the structural response characteristics caused by different physical disturbance sources, and by analyzing these dynamic change curves, it represents the physical causal relationship between external disturbance and internal structure response.

[0052] When the disturbance classification result is transient construction disturbance, the staged compensation adjustment is specifically that the data controller 600 does not drive the stepper motor 121.

[0053] The hierarchical compensation adjustment in this embodiment does not respond when facing instantaneous construction disturbance. After identifying the disturbance source as instantaneous construction disturbance, the data controller 600 intentionally ignores the deviation. The purpose of this processing method is to maintain the overall stability of the system and reduce unnecessary mechanical wear. Because the instantaneous disturbance itself is short in duration and has little effect on the final position and attitude of the channel section, and the structure will recover itself after the disturbance disappears. If compensation adjustment is made for such disturbance, it will not only cause the stepper motor 121 and the transmission mechanism to start and stop frequently, increasing energy consumption and wear, but also may cause new minor disturbance to the channel section due to the lag of the adjustment action when the disturbance has disappeared. Therefore, by setting the adjustment blind area, filtering out such high-frequency and low-impact disturbances, the running efficiency and service life of the device are improved.

[0054] When the disturbance classification result is sudden and sustained overload, the hierarchical compensation adjustment specifically includes that the data controller 600 drives the stepper motor 121 to perform one-time compensation to offset the initial deviation, and sets the compensated attitude as the secondary operation reference.

[0055] No matter in the initial attitude reference or in the secondary operation reference after the sudden overload, the system will continuously monitor the possible slow-changing geological disturbance;

[0056] The hierarchical compensation adjustment in this embodiment adopts an adaptive compensation strategy when responding to sudden and sustained overload. When the data controller 600 determines that the disturbance source is sudden and sustained overload, for example, a excavator stops next to the channel section, causing the channel section to sink and tilt obviously; at this time, the data controller 600 will immediately drive the stepper motor 121 to perform one-time and sufficient compensation adjustment, so that the channel bracket 200 rises by a corresponding height until the readings of each sensor return to the vicinity of the initial attitude reference data, thereby offsetting the attitude deviation caused by the overload. After completing the compensation, the controller does not simply end the task, but defines the stable attitude under the current overload as a temporary secondary operation reference. The significance of this is that the system recognizes that the current overload is a working state that will exist for a period of time, and the subsequent attitude monitoring will be based on this new reference. This enables the device to continue to monitor and respond to more subtle slow-changing settlement caused by the further compaction of the foundation caused by the overload in the overload environment, demonstrating the adaptability of the system in complex working conditions.

[0057] When the disturbance classification result is slow-changing geological disturbance, the hierarchical compensation adjustment specifically includes that the data controller 600 calculates the compensation amount based on the accumulation rate of the deviation, and drives the stepper motor 121 to perform proportional adjustment.

[0058] The proportional adjustment in this embodiment is a proportional adjustment logic based on the rate of change when dealing with slow geological disturbance. When the ground base slowly subsides, the data controller 600 continuously records the cumulative process of the deviation value and calculates the rate of change of the deviation, i.e. the subsidence speed. The calculation of the compensation amount is directly related to this rate: if the subsidence speed is fast, the data controller 600 will calculate a larger single compensation step or increase the compensation frequency to drive the stepper motor 121 to quickly follow up to offset the subsidence; on the contrary, if the subsidence speed is very slow, the single compensation step will be small and the adjustment action will be more gentle.

[0059] The calculation logic of the proportional adjustment is that the data controller 600 first calculates the rate of change of the deviation with time, i.e. the subsidence speed, by differentiating the continuously collected deviation data, and calculates the number of steps or angle that the stepper motor 121 needs to rotate according to the rate, thereby converting it 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:

[0060] ;

[0061] Wherein:

[0062] represents the single calculated vertical compensation amount;

[0063] represents the rate of accumulation of the deviation calculated by the data controller 600 in real time, i.e. the subsidence speed;

[0064] represents the preset proportional gain coefficient, which is in units of time, for example, seconds, and the value of the coefficient is mainly calibrated according to the mechanical transmission characteristics of the device and the expected system response sensitivity; in order to ensure dimensional consistency, when is in units of millimeters / second, the unit should be set to seconds, so that the compensation amount calculated is in units of millimeters ; a larger value means a more rapid response to the change in subsidence rate and more aggressive compensation adjustment;

[0065] This proportional adjustment method enables the compensation behavior of the device to match the actual progress of geological changes, achieving smooth and dynamic correction of the attitude of the channel section, effectively avoiding the over-adjustment or lag problem that may be caused by fixed compensation amount, and ensuring the smoothness of the channel section in the entire geological change process;

[0066] The input of this calculation logic is the real-time data of the sensors continuously collected by the data controller 600, and the process includes:

[0067] Step one: data acquisition and smoothing processing, the data controller 600 continuously acquires real-time data of the sensor at a fixed frequency, and performs digital filtering processing;

[0068] Step two: deviation calculation, compare the smoothed data with the attitude reference data, and calculate the real-time deviation;

[0069] Step three: rate calculation, difference operation is performed on the deviation values of multiple consecutive time points to obtain the change rate of the deviation with time;

[0070] Step four: compensation amount calculation, according to the preset proportional adjustment logic, the calculated deviation accumulation rate is multiplied by a proportional gain coefficient to obtain the final vertical direction compensation amount. The final result generated by the process is the compensation amount, which will be passed to the stepping motor 121 to drive it to perform the corresponding proportional adjustment.

[0071] Before performing the proportional adjustment, the method further includes: the data controller 600 broadcasts the deviation accumulation rate and the compensation amount to the adjacent devices through the data bus, to trigger the adjacent devices to perform feedforward fine adjustment.

[0072] The feedforward fine adjustment in the embodiment is a cooperative adjustment mechanism. When the data controller 600 of a single support fixing device calculates the compensation amount for responding to the slowly changing geological disturbance, it does not immediately execute, but first broadcasts its settlement rate, deviation amount, and planned compensation adjustment amount, etc. information to the adjacent other support fixing devices in the line through the data bus, such as CAN bus or RS485 bus; after receiving these information, the adjacent devices will make a small amplitude, predictive fine adjustment according to the received data, even if their own sensors have not detected a deviation exceeding the threshold; the purpose of this feedforward adjustment is to maintain the linear continuity and smoothness of the entire channel; avoid the single support point to independently make large amplitude adjustment, which leads to the height difference or angle mutation between this point and the adjacent area, forming a stress concentration point; through this information sharing and pre-fine adjustment, multiple devices change from independent adjustment units to cooperative network, and jointly maintain the macro smoothness of the entire channel line, improving the overall quality and structural safety of the project;

[0073] The data bus can be a CAN bus or a RS485 bus, which is used to realize bidirectional communication and data sharing among multiple devices; after receiving the broadcast information from the adjacent device, the data controller 600 of the device calculates the predictive fine adjustment amount of itself according to the received deviation accumulation rate and compensation amount, and uses a preset cooperative algorithm, such as an algorithm based on distance attenuation or linear interpolation; for example, if the received information indicates that the adjacent device is sinking at a speed of 1 mm / h, the device will make an advance fine adjustment of rising at a smaller, proportional rate, such as 0.2 mm / h, so as to maintain the relative flatness between the two channels as a whole; the cooperative fine adjustment is made before the deviation of the device itself reaches the trigger threshold, which ensures the macroscopic smoothness of the entire channel line;

[0074] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, not to limit the present application. Although the present application has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present application can be modified or replaced equivalently without departing from the spirit and scope of the technical solutions of the present application.

Claims

1. A channel support fixing method for water conservancy construction, applied to a channel support fixing device for water conservancy construction, characterized in that, The device comprises a reference support seat (100) and a channel bracket (200); the reference support seat (100) is internally provided with a driving cavity (120), a step motor (121) is vertically installed on the inner wall of the driving cavity (120), the output shaft of the step motor (121) is connected with the screw shaft of a precision ball screw (122), and a laser emission port (130) is formed in the side wall of the driving cavity (120); the channel bracket (200) comprises a bearing saddle (210), the bottom of the bearing saddle (210) is fixedly connected with a nut block matched with the precision ball screw (122), and a laser reflection target (230) is installed on the side of the bearing saddle (210); the nut block of the channel bracket (200) is sleeved on the precision ball screw (122) in the reference support seat (100), and the laser reflection target (230) faces the laser emission port (130); the device further comprises a high-precision pressure sensor (300), a double-axis inclination sensor (400), a laser displacement sensor (500) and a data controller (600); the high-precision pressure sensor (300) is arranged on the vertical force transmission path between the precision ball screw (122) and the channel bracket (200); the double-axis inclination sensor (400) is installed on the channel bracket (200); the laser displacement sensor (500) is installed in the laser emission port (130); and the data controller (600) is connected with the high-precision pressure sensor (300), the double-axis inclination sensor (400), the laser displacement sensor (500) and the step motor (121) respectively. A linear guide rail is vertically fixed on the inner wall of the driving cavity (120), and a sliding block matched with the linear guide rail is fixed on the side wall of the channel bracket (200); A thrust bearing is arranged between the top end of the precision ball screw (122) and the high-precision pressure sensor (300); The top of the bearing saddle (210) is an arc surface for abutting and placing a channel section, and the bottom is provided with a sensing platform (220) for installing the double-axis inclination sensor (400); The method comprises: The data controller (600) collects the real-time measurement value of the high-precision pressure sensor (300) as an initial vertical load, collects the real-time measurement value of the double-axis inclination sensor (400) as an initial horizontal inclination, and collects the real-time measurement value of the laser displacement sensor (500) as an initial lateral offset, which are combined to set as attitude reference data; The data controller (600) is used for continuously acquiring real-time data of each sensor, and calculating and generating vertical load deviation, plane inclination deviation and lateral displacement deviation based on the attitude reference data, to jointly constitute a real-time attitude deviation set. The data controller (600) is configured to determine whether any deviation in the set of real-time attitude deviations exceeds a preset triggering threshold, and if so, enter an observation window period, and classify the disturbance source as a transient construction disturbance, a sudden and sustained heavy load, or a slow-changing geological disturbance according to the variation characteristics of the deviation in the observation window period, to obtain a disturbance classification result. The data controller (600) is configured to drive the stepper motor (121) to perform a staged compensation adjustment according to the disturbance classification result.

2. The method of claim 1, wherein When the disturbance classification result is the transient construction disturbance, the staged compensation adjustment specifically refers to that the data controller (600) does not drive the stepper motor (121).

3. The method of claim 1, wherein the method further comprises: When the disturbance classification result is the sudden and sustained heavy load, the staged compensation adjustment specifically refers to that 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 a secondary operation reference.

4. The method of claim 1, wherein the method is used for a water conservancy construction. When the disturbance classification result is the slow-changing geological disturbance, the staged compensation adjustment specifically refers to that the data controller (600) calculates a compensation amount based on the accumulation rate of the deviation, and drives the stepper motor (121) to perform a proportional adjustment.

5. The method of claim 4, wherein the method further comprises: Before performing the proportional adjustment, the method further includes that the data controller (600) broadcasts the accumulation rate of the deviation and the compensation amount to adjacent devices through a data bus, to trigger the adjacent devices to perform a feedforward fine adjustment.

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