High precision self-adjusting apparatus and method for steel casing installation in turbulent water flow

Abstract

The application belongs to the technical field of bridge construction, and discloses a high-precision self-adjusting device and method for installation of a steel casing in turbulent water flow, which comprises a support seat, a center detection device, multiple sets of initial positioners and multiple sets of fine positioners, each initial positioner comprising a sliding plate; the support seat is provided with guide grooves, and the sliding plate of each initial positioner extends into one guide groove; each fine positioner comprises a motor, a lead screw mechanism and a contact; an upper computer is connected with the center detection device and each motor to adjust the actual position of the center line of the steel casing, so that the deviation between the actual position and the design position of the center line of the steel casing is within a set threshold range. Through the double positioning mechanism of initial positioning and fine positioning, the application effectively avoids the inclination and deviation of the steel casing caused by installation deviation, reduces the engineering quality and structural safety hazards that may be caused by installation deviation, and improves the overall safety of bridge construction.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of bridge construction, and more particularly relates to a high-precision self-adjusting device and method for installation of a steel casing in turbulent water flow. BACKGROUND

[0002] Casing piles composed of multiple steel casings play a crucial role in bridge construction. Especially in complex underwater pile operations, casing piles have the following functions: pile hole positioning, forming a closed water environment, preventing hole collapse, providing necessary conditions for punching and concrete pouring, protecting pile foundation concrete, and resisting erosion. In modern bridge construction, with the continuous progress of technology and the increasing requirements of construction, the installation technology of casing piles also needs to be innovated. In particular, in some large bridge projects such as cross-sea bridges, deep water area bridges, and turbulent river bridges, the installation precision of casing piles directly affects the construction quality and service life of the entire bridge.

[0003] In the construction environment under turbulent water flow, the installation precision of casing piles directly affects the quality and construction efficiency of bridge pile foundations. However, due to the complexity of turbulent water flow, such as large changes in water flow speed, unstable geological conditions, and frequent water level fluctuations, traditional casing pile installation methods often fail to meet the high-precision installation requirements.

[0004] In the traditional casing pile installation process, manual measurement and adjustment of the center line are usually used. This method not only has low efficiency, but is also easily affected by human and environmental factors. For example, in areas with turbulent water flow, the casing pile may deviate and tilt during installation, causing difficulties in subsequent construction. In addition, the precision of manual measurement is limited, and only the center line of the water surface part of the casing pile can be measured and adjusted, making it difficult to ensure the alignment of the center line of the water surface and underwater parts of the casing pile with the design position. Moreover, manual measurement is tedious and time-consuming. Once the casing pile installation deviates, it may cause problems such as pile foundation inclination, poor quality of bored piles, and even affect the structural safety of the entire bridge.

[0005] In the prior art, although some patent documents disclose positioning devices for casing pile installation, these devices mostly only focus on the initial positioning of the casing pile. However, in the complex environment of turbulent water flow, they cannot monitor the position deviation of the casing pile in real time and make dynamic adjustments, and there is a lack of effective solutions for precise positioning and dynamic adjustment of the position of the casing pile. SUMMARY

[0006] In view of the above-mentioned defects or improvement needs of the prior art, the present invention provides a high-precision self-adjusting device and its adjustment method for installing steel casings in turbulent water flow. Through the dual mechanism of initial positioning and fine positioning, the centerline of the steel casing can be precisely adjusted to the deviation from the design position within a set threshold range, thereby improving the installation accuracy and construction efficiency of the steel casing.

[0007] To achieve the above objectives, according to one aspect of the present invention, a high-precision self-adjusting device for installing steel casings in turbulent water flow is provided, comprising a support base, a center detection device, multiple sets of initial positioners, and multiple sets of fine positioners, wherein:

[0008] The support base has a receiving space for accommodating the steel casing;

[0009] Multiple sets of the aforementioned initial positioner groups are arranged on the support base from top to bottom. Each set of the aforementioned initial positioner groups includes multiple initial positioners. Each initial positioner includes a horizontal sliding plate for receiving the limiting plate welded on the outer wall of the steel casing. Multiple sliding plates cooperate to receive the steel casing within the accommodating space.

[0010] The support base is provided with a horizontal guide groove at the position corresponding to each slide. Each slide extends into a guide groove and is supported by the support base for horizontal movement. Each guide groove has a groove top wall for contacting the upper surface of the slide to limit the slide.

[0011] Multiple sets of the aforementioned precision positioner groups are arranged on the support base from top to bottom. Each set of the precision positioner groups includes multiple precision positioners. Each precision positioner includes a motor, a lead screw mechanism, and a contact. The motor is connected to the contact through the lead screw mechanism to drive the contact to move, thereby allowing the contact to push the steel casing.

[0012] The center detection device is installed on a support base or steel support structure, which is a steel trestle or steel platform. The host computer is connected to the center detection device and each motor respectively, so as to obtain the actual position of the center line of the steel casing through the center detection device, and control the motor to rotate to drive the contact to move based on the deviation between the actual position of the center line of the steel casing and the designed position of the center line of the steel casing, thereby adjusting the actual position of the center line of the steel casing, so that the deviation between the actual position of the center line of the steel casing and the designed position of the center line of the steel casing is within a set threshold range.

[0013] Preferably, the system also includes a total station for obtaining the design position of the centerline of the steel casing, the total station being connected to a host computer to transmit the design position of the centerline of the steel casing to the host computer.

[0014] Preferably, the center detection device comprises a total station and / or a laser tracker for obtaining the coordinates of a plurality of marking points on the outer lateral wall of the steel casing and transmitting to the host computer so that the host computer obtains the positions of the centers of a plurality of cross sections of the steel casing through these marking points, and further obtains the actual position of the center line of the steel casing, wherein the center detection device is placed on the steel support structure.

[0015] Preferably, the center detection device comprises a plurality of laser measurement groups, and the plurality of laser measurement groups are arranged on the support seat from top to bottom, each laser measurement group contains at least three laser measurement devices, and all laser measurement devices of each laser measurement group are distributed on the same circle, and each laser measurement device is calibrated in position, so that the host computer obtains the center position of the cross section of the steel casing through each laser measurement group, and further obtains the actual position of the center line of the steel casing, wherein the laser measurement device is a laser range finder or a laser line profiler.

[0016] Preferably, each of the preliminary positioners further comprises a laser distance sensor and a slide driving mechanism connected with the host computer respectively, the slide driving mechanism is connected with the slide to drive the slide to move horizontally, and the laser distance sensor is installed on the slide to detect the distance between the slide and the steel casing and send a signal to the host computer when the slide and the steel casing reach a set distance, so that the slide driving mechanism pauses to drive the slide to move, and the limiting plate on the steel casing is placed on the slide.

[0017] Preferably, four electric hoists are further arranged around the center line of the steel casing in a rectangular distribution.

[0018] The steel support structure has a plurality of steel support pipe piles inserted into the bottom of the water.

[0019] Each of the electric hoists is installed on one of the steel support pipe piles respectively, and each of the electric hoists has a steel wire rope fixedly connected with a limiting plate welded to the outer lateral wall of the steel casing, so as to exert a pulling force on the casing pile to limit the casing pile, thereby preventing the center line of the casing pile from being displaced due to the turbulent water flow; wherein the casing pile comprises a plurality of steel casings welded together, and the limiting plate fixedly connected with the steel wire rope is provided with a connecting hole, and the steel wire rope of each electric hoist is hooked on the limiting plate through a hook, so that the steel wire rope moves downward with the casing pile.

[0020] Preferably, each of the electric hoists has a self-locking device to prevent the casing pile from shaking due to the pulling of the steel wire rope by the turbulent water flow.

[0021] Preferably, a plurality of inclination sensors and a plurality of underwater cameras are further included.

[0022] An encoder is installed on the rotating shaft of the driving motor of each electric hoist.

[0023] An inclination sensor is installed on each steel wire rope to obtain the inclination angle of the steel wire rope.

[0024] Each underwater camera is installed on a steel support pipe pile to obtain the three-dimensional topography of the underwater part of the steel casing pile and send it to the upper computer, so that the upper computer obtains the actual position of the center line of the underwater part of the steel casing pile, and based on the deviation of the actual position of the center line of the underwater part of the steel casing pile from the designed position of the center line of the underwater part of the steel casing pile, the electric hoist is controlled to rotate to move the underwater part of the steel casing pile by the steel wire rope, so as to adjust the actual position of the center line of the underwater part of the steel casing pile, and finally make the deviation of the actual position of the center line of the underwater part of the steel casing pile from the designed position of the center line of the underwater part of the steel casing pile within a set threshold range.

[0025] Preferably, a pressure sensor connected to the upper computer is installed on the sliding plate to detect the pressure of the limiting plate on the steel casing on the sliding plate and transmit it to the upper computer, and the upper computer controls the lifting of the lifting tool of the crane for hoisting the steel casing to ensure that the pressure of the limiting plate on the sliding plate is not greater than a set value.

[0026] According to another aspect of the present application, a self-adjusting method for the high-precision self-adjusting equipment for installing steel casings in turbulent water streams is also provided, comprising the following steps:

[0027] 1) Obtain the designed position of the center line of the steel casing pile by a total station, and the total station sends the designed position of the center line of the steel casing to the upper computer, wherein the steel casing pile is welded by a plurality of steel casings;

[0028] 2) A limiting plate is welded on the outer side wall of each steel casing, and the limiting plate of one of the steel casings has a connecting hole for connecting a steel wire rope;

[0029] 3) The support seat is inserted into the reserved opening of the steel support structure and fixed on the steel support structure, and then the lifting tool of the crane lifts a section of the steel casing into the accommodating space of the support seat;

[0030] 4) The limiting plate on the outer side wall of the steel casing is received by the sliding plate of the plurality of primary positioners, and the steel casing is kept vertical, and then the lifting tool of the crane is separated from the steel casing;

[0031] 5) The crane lifts another section of the steel casing above the steel casing received by the primary positioner, and then the two sections of the steel casing are welded together;

[0032] 6) the hoist of the crane hoists the uppermost steel casing, the steel casing received by the primary positioner is separated from the primary positioner, and then the hoist of the crane continues to hoist the uppermost steel casing and lower the steel casing;

[0033] 7) steps 4) to 6) are repeated until the limiting plates with connecting holes on the outer wall of the steel casing are moved below the support seats, the steel wires of the electric hoists installed on the steel support structure are fixedly connected with the limiting plates with connecting holes, and the steel wires are lowered together with the steel casing;

[0034] 8) steps 4) to 6) are continuously repeated until the bottom of the lowermost steel casing contacts the underwater cover layer, and then the assembly of the steel casings is completed, and all the steel casings jointly form a casing pile;

[0035] 9) the crane hoists the uppermost steel casing, the center line of the steel casing is adjusted by the cooperation of the fine positioner, the center detection device and the electric hoist, and finally the deviation between the actual position of the center line of the steel casing and the design position of the center line of the steel casing is within a set threshold range, and then the casing pile is embedded into the underwater cover layer by using a vibration hammer.

[0036] Overall, compared with the prior art, the above technical solutions conceived by the present application can achieve the following beneficial effects:

[0037] 1) The high-precision self-adjusting device for installation of a steel casing in water can realize high-precision assembly of multiple steel casings into a casing pile in a complex underwater environment through the cooperation of the support seat, the primary positioner group and the fine positioner group. The support seat provides a structural basis for the entire high-precision self-adjusting device, accommodates the steel casing and bears other components. The primary positioner group receives the limiting plates of the steel casing through the sliding plate, preliminarily ensures the vertical state of the steel casing and provides a basis for subsequent accurate positioning. The fine positioner group accurately adjusts the position of the center line of the steel casing by using the combination of the motor, the lead screw mechanism and the contact, so that the center line of the steel casing is consistent with the design position. The upper computer serves as the control center and controls the motor action in real time according to the information fed back by the center detection device, thereby realizing the dynamic adjustment function of the center line of the steel casing.

[0038] 2) The high-precision self-adjusting device for installation of a steel casing in water significantly improves the installation precision: through the double positioning mechanism of primary positioning and fine positioning, the center line of the steel casing can be accurately adjusted to be within a set threshold range from the design position, overcoming the problem of insufficient precision of traditional manual measurement and mechanical adjustment methods, effectively avoiding the inclination and deviation of the steel casing caused by installation deviation, reducing the structural safety hazards that may be caused by installation deviation, improving the overall safety of bridge construction and providing a strong guarantee for high-quality construction of bridge pile foundations.

[0039] 3) The high-precision self-adjusting device for the installation of a steel casing in water can maintain the position accuracy of the steel casing in complex underwater environments, such as strong water flow, unstable geological conditions, and frequent water level fluctuations, through real-time monitoring and dynamic adjustment functions, solving the problems of positioning drift and inability to adjust the position in real time of existing devices, and ensuring the stability and reliability of the construction process.

[0040] 4) The high-precision self-adjusting device for the installation of a steel casing in water reduces the tedious manual operation through automatic control, and the cooperative work of the primary positioner group, the fine positioner group, and the center detection device can quickly complete the positioning and adjustment of the steel casing, shorten the construction time, improve the construction efficiency, and reduce the construction cost.

[0041] 5) The high-precision self-adjusting device for the installation of a steel casing in water not only has a supporting effect to ensure the verticality and stability of the steel casing during assembly through cooperation with the sliding plate in the primary positioner, but also has the function of connecting the steel wire rope, eliminating the need for additional ear plates to connect the steel wire rope on the steel casing. Specifically, when the steel casing is received by the sliding plate of the primary positioner, the limiting plate can limit the steel casing and bear the weight of the steel casing. When the limiting plate with a connecting hole on the steel casing is lowered below the support seat, the connecting hole on the limiting plate can be connected with the steel wire rope of the electric winch, allowing the steel casing to be accurately adjusted in position by the electric winch in turbulent water flow, while preventing the steel casing from deviating or tilting. This design optimization not only reduces material waste and construction complexity caused by additional ear plates, but also improves construction efficiency. BRIEF DESCRIPTION OF DRAWINGS

[0042] Figure 1 is a schematic view of the high-precision self-adjusting device of the present application placed on the steel support structure for adjusting the center line of the casing pile;

[0043] Figure 2 is a front view of the high-precision self-adjusting device of the present application;

[0044] Figure 3 is a schematic view of the primary positioner of the high-precision self-adjusting device of the present application receiving the steel casing at the top;

[0045] Figure 4 is Figure 1 a schematic view along line A-A;

[0046] Figure 5 is a schematic view of the fine positioner in the present application;

[0047] Figure 6 is a schematic view of the four electric winches on the steel support structure of the present application connecting the limiting plates of the steel casing;

[0048] Figure 7 This is a schematic diagram of the limiting plate connecting the four electric winches to the steel casing of the present invention;

[0049] Figure 8 A schematic diagram of multiple steel casings assembled into a casing pile;

[0050] Figure 9 This is a schematic diagram of the construction process of the casing pile of the present invention.

[0051] In all the accompanying drawings, the same reference numerals denote the same technical features, specifically:

[0052] 1. Support base; 2. Initial positioner; 21. Slide plate; 22. Slide plate drive mechanism; 100. Steel casing; 101. Limiting plate; 3. Precision positioner; 31. Motor; 32. Lead screw mechanism; 33. Contact; 11. Suspension frame; 12. Ladder; 200. Steel support structure; 201. Steel support pipe pile; 300. Water surface; 400. Covering layer; 500. Casing pile; 4. Laser measuring instrument; 5. Electric winch; 51. Steel wire rope; 6. Underwater camera. Detailed Implementation

[0053] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention. Furthermore, the technical features involved in the various embodiments of this invention described below can be combined with each other as long as they do not conflict with each other.

[0054] Reference Figures 1-8 A high-precision self-adjusting device for installing steel casings in turbulent water flow includes a support base 1, multiple sets of initial positioners and multiple sets of fine positioners.

[0055] Reference Figures 2-4 The support base 1 has a receiving space for accommodating the steel casing 100. The support base 1 is made of high-strength steel, which is connected together by welding and high-strength bolts. The high strength and high rigidity of the support base 1 and the sliding plate 21 must ensure that they can bear the load. Preferably, the support base 1 has a telescopic function, and its vertical length can be adjusted. This allows for a wider range of protection for the steel casing 100, adapting to different water flow conditions and improving the steel casing 100's ability to resist the impact of turbulent water flow.

[0056] Figures 3-5 The diagram shows how the initial positioning device group, the fine positioning device group, and the steel casing 100 work together to limit and support the upper part of the casing pile 500 composed of multiple steel casings 100 and adjust the center line position. The following is a detailed description.

[0057] Each set of initial positioners includes multiple initial positioners 2, and each initial positioner 2 includes a horizontal sliding plate 21 for receiving the limiting plate 101 welded to the outer wall of the steel casing 100. The limiting plate 101 welded to each steel casing 100 can be multiple spaced pieces, or the limiting plate 101 can be a single ring structure. Each sliding plate 21 receives the limiting plate 101, and the multiple sliding plates 21 cooperate to receive the steel casing 100 in the receiving space, keeping the steel casing 100 in the receiving space vertical, which facilitates the welding of multiple vertical steel casings 100 together to assemble them into a casing pile 500 and then driving it into the underwater cover layer.

[0058] If the weight of one or more steel casing sections 100 assembled together is not large, the sliding plate 21 can be used directly to support it. If the weight of one or more steel casing sections 100 assembled together is relatively large, a crane can be used to mainly support the steel casing section 100. The weight of the steel casing section 100 is mainly supported by the crane, and the sliding plate 21 does not bear much force. The sliding plate 21 supports the limiting plate 101 and mainly serves to limit the movement of the limiting plate 101. Therefore, it is necessary to ensure that the pressure exerted by the steel casing section 100 on the sliding plate 21 is not too large, so as not to damage the sliding plate 21 and the support base 1. The sliding plate 21 can be in direct contact with the limiting plate 101 or indirect contact with the limiting plate 101.

[0059] After the two sections of steel casing 100 are welded, a crane is needed to separate the sliding plate 21 from the limiting plate 101 so that the steel casing 100 can be lowered. The crane can be connected to the steel casing 100 and slightly lifted to separate the limiting plate 101 from the sliding plate 21, or the limiting plate 101 can remain in contact but the pressure applied to the sliding plate 21 should be minimal. Then, the sliding plate 21 can be moved away from the steel casing 100 to avoid the limiting plate 101, allowing the steel casing 100 to be lowered. With the sliding plate 21 of the initial positioning device 2 supporting the steel casing 100, after the steel casing 100 is supported by the initial positioning device 2, the lifting device at the top of the steel casing 100 can be separated from the steel casing 100 to lift the other section of steel casing 100 above the section supported by the sliding plate 21. The crane's lifting device will not interfere with the welding of the upper and lower sections of steel casing 100. If the initial positioner 2 does not support the steel casing 100, the steel casing 100 in the accommodating space of the support base 1 will need to be constantly suspended by the lifting equipment of the crane, which will affect the welding of the upper and lower sections of the steel casing 100.

[0060] The support base 1 is provided with a horizontal guide groove at the position corresponding to each of the slide plates 21. Each slide plate 21 extends into one of the guide grooves and is supported by the support base 1 for horizontal movement. Each guide groove has a groove top wall for contacting the upper surface of the slide plate 21 to limit its movement. When the slide plate 21 bears the weight of the steel casing 100, it tends to tilt upwards. The support base 1 and the slide plate 21 cooperate to bear the weight of the steel casing 100. The end of the slide plate 21 can contact the outer wall of the steel casing 100 to limit its radial movement and prevent the turbulent water flow from causing the steel casing 100 to shift or tilt horizontally.

[0061] Multiple sets of the precision locators are arranged from top to bottom on the support base 1, and each set of the precision locators includes multiple precision locators 3, as shown in the figure. Figure 5 Each of the precision positioners 3 includes a motor 31, a lead screw mechanism 32, and a contact 33. The motor 31 is connected to the contact 33 via the lead screw mechanism 32 to drive the contact 33 to move and push the steel casing 100. If each group of precision positioners has four precision positioners 3, the four precision positioners 3 are preferably arranged in a square, that is, they are distributed at the four vertices of a square. An encoder is mounted on the shaft of the motor 31. The motor 31 is preferably a servo motor or a stepper motor. These two types of motors 31 have the characteristics of high precision, high response speed, and good control performance, which can meet the requirements of the precision positioner group to accurately adjust the steel casing 100. The servo motor and the stepper motor can accurately control the horizontal movement distance of the contact 33, ensuring that the deviation between the actual position and the design position of the center line of the steel casing 100 is within a set threshold range, thus achieving high-precision positioning adjustment.

[0062] The center detection device is installed on the support base 1 or the steel support structure 200, which is a steel trestle or steel platform. Multiple center detection devices can be arranged vertically to obtain the center of multiple parts of the steel casing 100.

[0063] The host computer is connected to the center detection device and each motor 31 respectively. The center detection device obtains the actual position of the centerline of the steel casing 100. Based on the deviation between the actual position and the designed position of the centerline of the steel casing 100, the host computer controls the motor 31 to rotate, driving the contact 33 to move, thereby adjusting the actual position of the centerline of the steel casing 100. Ultimately, the deviation between the actual position and the designed position of the centerline of the steel casing 100 is within a set threshold range. The center detection device can obtain the centers of multiple cross-sections of the steel casing 100 in real time. The host computer fits a straight line using these centers and uses this fitted line as the actual position of the centerline of the steel casing 100.

[0064] This invention requires ensuring that the actual position of the centerline of the steel casing 100 is within a predetermined cylindrical surface and does not exceed this surface. This ensures that deviations between the actual and designed positions of the centerline of the steel casing 100, such as angular deviations and horizontal displacement deviations, are within a predetermined threshold range. A center detection device detects the outer wall of the steel casing 100 and transmits the detection data to a host computer. The host computer can then fit the coordinates of the centers of multiple cross-sections of the steel casing 100 based on this detection data, and further fit the actual position of the centerline of the steel casing 100.

[0065] During construction, the support base 1 is fixed on the steel support structure 200, with the entire support base 1 positioned above the water surface 300. The steel support structure 200 has a reserved opening for accommodating the support base 1. This opening, as well as the accommodating space on the support base 1, is larger than the outer diameter of the steel casing 100. Therefore, during the installation of the steel casing 100, there may be a significant deviation between the actual centerline and the design centerline. Consequently, a preliminary locator 2 and a fine locator 3 are required for positioning.

[0066] Furthermore, it also includes a total station for obtaining the design position of the center of the steel casing 100, the total station being connected to the host computer to transmit the design position of the center of the steel casing 100 to the host computer.

[0067] The total station provides an accurate positioning reference for the entire self-adjusting equipment, enabling the host computer to make precise adjustments and controls based on the deviation between the designed and actual positions. The high-precision measurement function of the total station ensures the accuracy of the designed centerline position of the steel casing 100, providing reliable basic data for subsequent precise positioning and adjustment, further improving the installation accuracy of the steel casing 100. Accurate design position information of the steel casing 100 centerline allows the host computer to control the precision positioning unit more quickly and accurately for adjustments, reducing repetitive operations during the adjustment process, further shortening construction time and improving construction efficiency. Using a total station to determine the designed centerline position of the steel casing 100, as well as to locate and mark other marker points, is a standard measurement method for total stations and will not be elaborated upon here.

[0068] It is important to note that the host computer uses the data from the outer wall of the steel casing 100 returned by the center detection device to fit and obtain the center of the cross-section of the steel casing 100. The conventional fitting method for the host computer of the cross-section of the steel casing 100 is to fit it into a circle, and then obtain the coordinates of the center of the cross-section through the fitted circle. However, if the cross-section of the steel casing 100 is determined to be elliptical by visual inspection or simple inspection tools such as a caliper, the fitting method of the host computer is modified. The host computer then fits an ellipse to the cross-section of the steel casing 100 and then obtains the coordinates of the center.

[0069] Furthermore, the center detection device includes a total station and / or a laser tracker, used to obtain the coordinates of multiple marker points on the outer wall of the steel casing 100 and transmit them to a host computer. This allows the host computer to obtain the positions of the centers of multiple cross-sections of the steel casing 100 through these marker points, thereby obtaining the actual position of the centerline of the steel casing 100. The total station and laser tracker can be used individually or in combination, or individually or in combination. The host computer can fit the coordinates of the centers of multiple cross-sections of the steel casing 100 using the coordinates of the multiple marker points on the outer wall of the steel casing 100, and then fit the actual position of the centerline of the steel casing 100 using these center coordinates. The total station and laser tracker are generally placed on a steel platform or steel trestle, which is convenient for measuring the exposed parts of the steel casing 100.

[0070] Furthermore, refer to Figures 2-4 The center detection device includes multiple sets of laser measuring instruments arranged from top to bottom on the support base 1. Each set contains at least three laser measuring instruments 4, all of which are distributed on the same circle. Each laser measuring instrument 4 is calibrated so that the host computer can obtain the center position of the cross-section of the steel casing 100 through each set of laser measuring instruments, thereby obtaining the actual position of the centerline of the steel casing 100. The laser measuring instrument 4 is a laser rangefinder or a laser line profiler. The marker point at the top of the support base 1 can be calibrated using a total station and / or a laser tracker and sent to the host computer. The host computer stores the coordinates of the marker point. Then, based on the position of the marker point at the top of the support base 1 and the distance between the laser measuring instrument 4 and the marker point, the host computer obtains the position or coordinates of the laser measuring instrument 4, thus calibrating the laser measuring instrument 4 as well. The laser measuring instrument 4 is a laser rangefinder or a laser line profiler. The laser measuring device set is convenient for measuring the portion of the steel casing 100 that extends into the support base 1. It can be used in conjunction with a total station and / or a laser tracker to measure multiple cross-sections of the steel casing 100, obtain the centers of the multiple cross-sections, fit a straight line, and obtain the actual position of the centerline of the steel casing 100. The host computer can obtain the actual centerline of the steel casing 100 above the water surface by using the detection data from multiple sets of laser measuring devices.

[0071] If a laser rangefinder is selected as the laser measuring device 4, the host computer can fit the position (or coordinates) of the center of the cross-section on the steel casing 100 corresponding to the laser rangefinder based on the distance measured by the laser rangefinder to the outer wall of the steel casing 100. Through the data fed back by all the laser rangefinders arranged above and below, the host computer can fit the data of the center of multiple cross-sections of the steel casing 100. The host computer fits the actual position of the center line of the steel casing 100 based on the center of these cross-sections.

[0072] If the laser measuring device 4 is a line profiler, the host computer can obtain the profile data of the outer wall of the steel casing 100 based on the line profiler. The host computer can obtain the position (or coordinates) of the center of the cross-section on the steel casing 100 corresponding to the line profiler. Based on the data fed back by all the line profilers arranged above and below, the host computer can fit the data of the center of multiple cross-sections of the steel casing 100. The host computer can obtain (fit) the actual position of the center line of the steel casing 100 based on the center of these cross-sections.

[0073] Furthermore, the support base 1 has multiple first rollers at the bottom of the guide groove, and these first rollers support the slide plate 21. Each slide plate 21 has multiple second rollers on its upper surface, and the limiting plate 101 of the steel casing 100 is covered with mirror-finished stainless steel that contacts these second rollers. This structural design reduces the friction between the slide plate 21 and the support base 1 and the limiting plate 101, making the slide plate 21 move more smoothly during horizontal movement. The combination of rollers and mirror-finished stainless steel effectively reduces the frictional resistance of the slide plate 21 during movement, allowing the slide plate 21 to still separate from the limiting plate 101 even when the crane has lifted the steel casing 100 and the steel casing 100 still exerts significant pressure on the slide plate 21.

[0074] Furthermore, refer to Figure 3 , Figure 4 Each of the initial positioning devices 2 further includes a laser rangefinder and a slide plate drive mechanism 22, both connected to the host computer. The slide plate drive mechanism 22 is connected to the slide plate 21 to drive the slide plate 21 to move horizontally. The laser rangefinder is located at the end of the slide plate 21 near the steel casing 100 to detect the distance between the slide plate 21 and the steel casing 100. After the slide plate 21 and the steel casing 100 reach a set distance, the laser rangefinder sends a signal to the slide plate drive mechanism 22, causing the slide plate drive mechanism 22 to stop driving the slide plate 21 to move, so that the limiting plate 101 on the steel casing 100 can be placed on the slide plate 21. The slide plate drive mechanism 22 can be a pneumatic cylinder, a hydraulic cylinder, or an electric cylinder. The laser rangefinder can detect the distance between the slide plate 21 and the steel casing 100. When the set distance is reached, it sends a signal to the slide plate drive mechanism 22 to stop driving the slide plate 21 to move, so that the limiting plate 101 of the steel casing 100 can be accurately placed on the slide plate 21. The combination of the laser rangefinder and the sliding plate drive mechanism 22 enables automated control of the sliding plate 21's movement, reducing manual operation and improving the efficiency and accuracy of initial positioning. The automated initial positioning process reduces operator time, accelerates the installation of the steel casing 100, and improves construction efficiency. The addition of the laser rangefinder and the sliding plate drive mechanism 22 further enhances the intelligence of the entire self-adjusting device, enabling it to better adapt to the automated construction needs in complex environments.

[0075] Furthermore, refer toFigure 1 , Figure 2 The support base 1 has a suspension frame 11 at its top. After the support base 1 extends into the pre-reserved opening in the steel support structure 200 to accommodate it, the suspension frame 11 is placed on the steel support structure 200, thus suspending the entire support base 1 on the steel support structure 200. The suspension frame 11 is fixedly connected to the steel support structure 200, which is a steel trestle or steel platform. This connection method between the support base 1 and the steel support structure 200 ensures the stability and reliability of the support base 1, providing a solid support foundation for the installation of the steel casing 100. The cooperation between the suspension frame 11 and the pre-reserved opening ensures the rapid installation of the support base 1 on the steel support structure 200, and can withstand the weight of the steel casing 100 and various forces generated during construction, ensuring the normal operation of the entire self-adjusting equipment. The stable support base 1 provides a reliable installation foundation for the initial positioning unit and the fine positioning unit, reducing the positional deviation of the steel casing 100 caused by the instability of the support base 1, and improving the stability of the entire system. This connection method simplifies the installation process of the support base 1, making it easier for construction workers to quickly fix the support base 1 onto the steel support structure 200, thus improving construction efficiency.

[0076] Furthermore, the present invention also includes four electric winches 5 arranged circumferentially around the center line of the steel casing 100, and these four electric winches 5 are distributed in a rectangular pattern. Figure 6 , Figure 7 The diagram shows four electric winches working together to limit the position of the steel casing 100 and adjust the lower part of the casing pile 500, so that the center line of the lower part of the casing pile 500 also meets the design requirements. The following is a detailed description.

[0077] The steel support structure has multiple steel support pipe piles 201 inserted into the seabed.

[0078] Each of the electric winches 5 is mounted on one of the steel-supported steel pipe piles 201, and each electric winch 5 has a wire rope 51 fixedly connected to a limiting plate 101 welded to the outer wall of the steel casing 100. This wire rope applies tension to the casing pile 500 to limit its position, thereby preventing the casing pile 500 from being swayed by turbulent water flow and causing displacement of its centerline. The limiting plate 101 on the outer wall of the steel casing 100 can be welded on-site. See also... Figure 8The casing pile 500 includes multiple steel casings 100 welded together. Multiple limiting plates 101 are circumferentially arranged on the outer wall of the steel casings 100. After the limiting plates 101 on the steel casings 100 move below the support base 1, the wire rope 51 is connected to the limiting plate 101, so that the support base 1 and the wire rope 51 will not affect the normal lowering of the steel casing 100. The limiting plates 101 for fixed connection with the wire rope 51 are provided with connection holes. Each wire rope 51 of the electric winch 5 hooks onto one of the limiting plates 101 through a hook, allowing the wire rope 51 to move downwards with the casing pile 500. The hooks on the wire rope 51 are preferably automatic release devices (commonly used in lifting operations) to facilitate the separation of the hooks from the limiting plates 101, allowing the electric winch 5 to retrieve the wire rope 51. If an automatic release device is not used, manual or underwater robot unhooking is possible. A ladder 12 can be installed on the support base 1 to facilitate workers to hook the hook on the wire rope 51 of the electric winch 5 onto the limit plate 101.

[0079] The electric winch 5 significantly enhances the anti-drift capability of the steel casing 100 in water. In actual construction, turbulent water currents can exert enormous lateral forces on the steel casing 100, potentially causing it to tilt or shift. The electric winch 5's pulling force can adjust and counteract these lateral forces in real time, keeping the steel casing 100 consistently near its designed position. For example, during the construction of a cross-sea bridge, ocean currents can reach speeds of several meters per second, making traditional fixing methods difficult to withstand such water flow impacts, while the electric winch 5 of this invention can effectively address this challenge.

[0080] The circumferential arrangement of the electric winches 5 enables all-around positioning of the steel casing 100. The four electric winches 5 are evenly distributed around the centerline of the steel casing 100, ensuring that the steel casing 100 receives uniform tension in all directions. This uniform tension distribution improves the stability of the steel casing 100 and effectively prevents violent swaying of the steel casing 100 in turbulent water flow.

[0081] During the assembly of the steel casing 100, as new steel casing 100 segments are continuously added, the upper precision locator continuously monitors and adjusts the verticality and centerline position of the steel casing 100 to ensure accurate alignment between the new segments and the already installed parts. The lower electric winch dynamically adjusts the tension and wire rope length based on changes in the overall center of gravity of the steel casing 100 and the impact of water flow, maintaining the stability and designed position of the bottom of the steel casing 100. The upper computer integrates data from all sensors and coordinates the actions of the precision locator and the electric winch to achieve precise control of the casing pile 500 throughout its entire height range.

[0082] Once the bottom of one of the lower steel casings 100 of the casing pile 500 contacts the underwater cover layer 400, a crane lifts the uppermost steel casing 100. The precision locator, center detection device, and electric winch then work together to make final fine adjustments to the centerline of the steel casing 100. After adjustment, a vibratory hammer is used to embed the casing pile 500 into the cover layer 400, completing the installation of the casing pile 500.

[0083] During the installation of the steel casing 100, the upper precision locator 3 and the lower electric winch 5 work together to accurately adjust the centerline of the casing pile 500. By precisely controlling multiple positions of the casing pile 500 in the vertical direction, the installation accuracy is ensured to meet design requirements. Specifically, the precision locator 3 is mainly responsible for the precise positioning of the portion of the casing pile 500 above the water surface, while the electric winch 5 controls the position of the casing pile 500 below the water surface. The two work together to ensure that the deviation of the centerline of the entire casing pile 500 from the design position is within a set threshold range. This is because if the length of the casing pile 500 is relatively large, the center detection device above the water surface will only detect the center of one segment of the casing pile 500. As the length of the casing pile 500 extends downwards, the center line of the casing pile 500 above the water surface may be within the deviation range, while the center line of the underwater part of the casing pile 500 may exceed the deviation. Therefore, the underwater part of the casing pile 500 also needs to be adjusted by combining electric winches, tilt sensors, and encoders to adjust the center line of the underwater part of the casing pile 500.

[0084] Furthermore, each of the electric winches 5 has a self-locking device to prevent the casing pile 500 from shaking due to the pulling of the wire rope 51 under turbulent water flow.

[0085] The self-locking device significantly improves the stability of the casing pile 500. In actual construction, turbulent water flow may suddenly increase the lateral force on the steel casing 100, causing the wire rope 51 to loosen or the casing pile 500 to shift. The self-locking device can quickly lock the wire rope 51 when it detects such an anomaly, ensuring that the position of the casing pile 500 remains unchanged.

[0086] The self-locking device improves construction safety. During the sinking of the steel casing 100, if the wire rope 51 of the electric winch accidentally loosens, the casing pile 500 may shake violently, endangering the safety of construction personnel and equipment. The self-locking device can effectively prevent this from happening.

[0087] The self-locking device also extends the service life of the equipment. Frequent water flow impacts and loosening of the wire rope 51 can cause accelerated wear on the mechanical parts of the electric winch and other related equipment. The self-locking device reduces this unnecessary movement, thus reducing equipment wear.

[0088] Furthermore, it also includes multiple tilt sensors and multiple underwater cameras.

[0089] An encoder is installed on the shaft of the drive motor of each of the electric winches 5.

[0090] Each of the steel wire ropes 51 is equipped with a tilt sensor to obtain the tilt angle of the steel wire rope 51.

[0091] Each of the underwater cameras 6 is mounted on a steel support pipe pile 201 to obtain the three-dimensional shape of the underwater portion of the casing pile 500 and send it to the host computer. The host computer then obtains the actual position of the centerline of the underwater portion of the casing pile 500. Based on the deviation between the actual position and the designed position of the underwater centerline of the casing pile 500, the host computer controls the rotation of the electric winch to move the underwater portion of the casing pile 500 using the wire rope 51, thereby adjusting the actual position of the underwater centerline of the casing pile 500. Ultimately, the deviation between the actual position and the designed position of the underwater centerline of the casing pile 500 is kept within a set threshold range. The underwater cameras 6 can use high-precision cameras to obtain high-definition images. Preferably, a lidar system can be used in conjunction with the underwater cameras 6 to obtain a more accurate centerline position. Multiple sets of underwater cameras 6 can be set vertically, with each set arranged circumferentially.

[0092] The combination of tilt sensor, encoder, and underwater camera 6 provides comprehensive monitoring and control functions for the underwater portion of the steel casing 100. This design allows construction personnel to monitor the underwater status of the casing pile 500 in real time and make precise adjustments. The combination of tilt sensor and encoder can accurately measure the tilt angle and length changes of the wire rope 51. The application of underwater camera 6 provides construction personnel with intuitive visual feedback. Through the images transmitted by the camera, the host computer can obtain the three-dimensional shape of the underwater portion of the casing pile 500, including its deviation from the design position.

[0093] Specifically, the process of adjusting the extension length of the wire rope 51, thereby adjusting the centerline of the steel casing 100, by coordinating the encoder, tilt sensor, and camera is as follows:

[0094] 1) The encoder is installed on the drive motor shaft of the electric winch 5. When the wire rope 51 is wound up or down, the motor rotates and drives the encoder to operate, which generates pulse signals that are transmitted to the host computer. The host computer accurately calculates the extension length of the wire rope 51 based on the encoder pulse count and the parameters of the wire rope 51 (such as the pitch of the wire rope 51 wound on the drum of the electric winch).

[0095] 2) The tilt sensor is mounted on the wire rope 51, which can measure the tilt angle of the wire rope 51 in real time and transmit the data to the host computer. Combined with the encoder data, the host computer accurately calculates the spatial position of the wire rope 51.

[0096] 3) The underwater camera 6 is mounted on the steel support steel pipe pile 201 to capture images of the underwater portion of the casing pile 500 from all angles, transmitting the images and video data to the host computer in real time. The host computer uses image processing algorithms to construct the underwater three-dimensional shape of the casing pile 500, and combines the encoder and tilt sensor data to accurately determine the actual position of the centerline of the casing pile 500.

[0097] 4) The host computer receives data from the encoder, tilt sensor, and camera, and compares the actual and designed positions of the center line of the casing pile 500. Based on the deviation, the host computer runs the control algorithm to calculate the extension length of the adjustment wire rope 51, and precisely controls the adjustment length of the electric winch 5, thereby achieving high-precision adjustment of the center line of the casing pile 500.

[0098] Furthermore, a pressure sensor connected to a host computer is installed on the slide plate 21 to detect the pressure exerted on the slide plate 21 by the limiting plate 101 on the steel casing 100 and transmit it to the host computer. The host computer then controls the crane suspending the steel casing 100 to operate, ensuring that the pressure exerted on the slide plate 21 by the limiting plate 101 is less than a set threshold, thereby protecting the slide plate 21 and the limiting plate 101 from damage. By monitoring the pressure value in real time and controlling the crane, the pressure exerted on the slide plate 21 by the limiting plate 101 is ensured to be within a safe range, preventing deformation of the slide plate 21 or damage to the limiting plate 101 due to excessive pressure, thus extending the service life of the equipment and the steel casing 100. The addition of the pressure sensor enables the host computer to precisely control the lifting force of the crane, achieving refined construction control and further improving construction quality. Through pressure monitoring and control, construction interruptions caused by equipment damage are reduced, enhancing the reliability of the entire self-regulating equipment.

[0099] Furthermore, the sliding plate 21 is a side plate of an I-beam, wherein the I-beam has two side plates and an intermediate connecting plate connecting the two side plates, and the support base 1 is provided with an I-beam groove to facilitate the movement of the I-beam, and the guide groove is a channel of the I-beam groove.

[0100] This structural design improves the load-bearing capacity and movement stability of the sliding plate 21, while simplifying the structural design of the support base 1. The structural characteristics of the I-beam give it high strength and load-bearing capacity, enabling it to better withstand the weight of the steel casing 100 and various forces generated during construction, ensuring the stability and reliability of the sliding plate 21. The I-beam groove design provides stable guidance for the movement of the sliding plate 21, reducing swaying and offset during movement, and improving the movement accuracy and stability of the sliding plate 21. The use of the I-beam and I-beam groove structural design simplifies the structure of the support base 1, reduces manufacturing costs and installation difficulty, and improves the economy and practicality of the entire self-adjusting device. The high load-bearing capacity and movement stability of the sliding plate 21 further enhance the performance of the entire self-adjusting device, enabling it to better adapt to the installation requirements of the steel casing 100 in complex construction environments.

[0101] Reference Figure 9 According to another aspect of the present invention, a self-adjustment method for a high-precision self-adjusting device for installation in a steel casing in turbulent water flow is also provided, comprising the following steps:

[0102] 1) The design position of the centerline of the casing pile 500 is obtained using a total station, and the total station sends the design position of the centerline of the casing pile 500 to the host computer. Specifically, according to the design drawings, the surveyor uses a total station to lay out the lines on the steel support structure 200, and uses the total station to measure and locate the pile position of the casing pile 500. At the same time, workers assemble the support seat 1 on the steel support structure 200. The assembled support seat 1 is shown in [reference needed]. Figure 2 Multiple sets of initial positioning devices and multiple sets of fine positioning devices are fixedly installed on the support base 1. The multiple sets of initial positioning devices are arranged vertically on the support base 1, and the multiple sets of fine positioning devices are also arranged vertically on the support base 1.

[0103] 2) Weld a limiting plate 101 to the outer side wall of each steel casing 100, and the limiting plate 101 on the outer side wall of one of the steel casings 100 has a connecting hole for connecting the wire rope 51.

[0104] 3) See Figure 3 , Figure 4 The support seat 1 is inserted into the reserved opening of the steel support structure 200 and fixed to the steel support structure 200. Then, the crane operator uses the crane to lift a section of steel casing 100 into the receiving space of the support seat 1. Some support rods can be welded to the inner cavity of one end of the steel casing 100 so that the crane's lifting device can hold these support rods, or some lifting lugs can be welded to the outer wall of the steel casing 100 so that the crane's lifting device can hold these lifting lugs. The only requirement is that the crane's lifting device can hold the steel casing 100.

[0105] 4) See Figure 3 , Figure 4The limit plate 101 on the outer wall of the steel casing 100 is supported by the sliding plate 21 of the multiple initial positioners 2, and the steel casing 100 is kept vertical. Then the lifting device of the crane is separated from the steel casing 100 supported by the initial positioner 2.

[0106] 5) The crane operator uses the crane to lift another section of steel casing 100 above the steel casing 100 supported by the initial positioning device 2. Then, the worker stands on the steel support structure 200 and assembles the two sections of steel casing 100 together by welding.

[0107] 6) After the two steel casings 100 are welded, the crane's lifting device lifts the steel casing 100, allowing the steel casing 100, which is supported by the initial positioner 2, to separate from the initial positioner 2. Then, the crane's lifting device continues to lift the steel casing 100 and lowers it. Subsequently, the initial positioner 2 supports the limiting plate 101 on the outer wall of the uppermost steel casing 100.

[0108] 7) Repeat steps 4) to 6) until the limiting plate 101 with the connection hole on the outer wall of the steel casing 100 moves below the support base 1. Then connect the wire rope 51 of the electric winch 5 installed on the steel support steel pipe pile 201 to the limiting plate 101 with the connection hole on the outer wall of the steel casing 100, and let each wire rope 51 descend with the steel casing 100.

[0109] 8) Repeat steps 4) to 6) until the bottom of one of the steel casings 100 at the bottom of the casing pile 500 contacts the underwater cover layer 400. Then the assembly of the steel casings 100 is complete. All the steel casings 100 together form a casing pile 500. See [link / reference]. Figure 8 Multiple steel casings, each 100mm long, form a casing pile of 500mm.

[0110] 9) Use a crane to lift the casing pile 500. Adjust the centerline position of the steel casing 100 using the precision locator 3, center detection device, and electric winch 5. Ensure the deviation between the actual position and the designed centerline position of the steel casing 100 is within a set threshold range. Then, use a vibratory hammer to embed the casing pile 500 into the overburden layer 400. (See below) Figure 1Through the coordination of the precision locator 3, the center detection device, and the electric winch 5, the bottom end of the casing pile 500 is finally embedded into the covering layer 400. Then, the wire rope 51 of the electric winch is separated from the steel casing 100. If the casing pile 500 is embedded too deeply into the covering layer 400, a vibratory hammer can be used to drive the casing pile 500 to the set depth after the wire rope 51 is separated from the steel casing 100. It should be noted that the vibratory hammer exerts considerable force during actual operation. When encountering boulders or large boulders, the casing pile 500 may tilt. Therefore, during and after the vibratory sinking process, the verticality should be checked again. If deviation or tilting occurs, appropriate measures must be taken. Minor deviations can be adjusted by the equipment; larger deviations require the casing pile 500 to be pulled out, the boulders removed, and the casing pile 500 re-sinked for re-checking. This method is particularly suitable for applications involving high steel platforms or deep water.

[0111] Furthermore, the welds between any two adjacent steel casing sections 100 are fully welded using a double-bevel joint, and the weld joints are reinforced with steel plates. Additionally, the cutting edge and top of the steel casing 100 are also reinforced with steel plates. This welding method improves the strength and quality of the weld, enhancing the overall structural stability of the steel casing 100. The double-bevel full weld ensures the quality of the weld filling, giving the weld sufficient strength and toughness to withstand various forces generated during construction and reducing the risk of weld cracking. The steel plate reinforcement further enhances the weld's load-bearing capacity, improves the overall structural stability of the steel casing 100, and ensures its stability in complex underwater environments, providing reliable guidance for subsequent pile construction. High-quality welds effectively prevent damage to the steel casing 100 due to weld corrosion or cracking, extending its service life and reducing construction costs.

[0112] Those skilled in the art will readily understand that the above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A high-precision self-adjusting device for installation of a steel casing in turbulent water flows, characterized in that, The high-precision self-adjusting equipment comprises a support base, a center point detection device, a plurality of sets of initial positioner groups and a plurality of sets of fine positioner groups, wherein: The support base has a containing space for containing the steel casing; The plurality of sets of initial positioner groups are arranged on the support base from top to bottom, each set of initial positioner groups comprises a plurality of initial positioners, each initial positioner comprises a horizontal sliding plate for receiving a limiting plate welded on the outer lateral wall of the steel casing, and a plurality of sliding plates cooperate to receive the steel casing in the containing space; The support base is provided with a horizontal guide groove corresponding to the position of each sliding plate, each sliding plate extends into a guide groove and is supported by the support base for horizontal movement, and each guide groove has a groove top wall for contacting the upper surface of the sliding plate to limit the sliding plate; The plurality of sets of fine positioner groups are arranged on the support base from top to bottom, each set of fine positioner groups comprises a plurality of fine positioners, each fine positioner comprises a motor, a lead screw mechanism and a contact head, and the motor is connected to the contact head through the lead screw mechanism to drive the contact head to move and push the steel casing; The center point detection device is installed on the support base or a steel support structure, the steel support structure is a steel trestle or a steel platform, and an upper computer is connected to the center point detection device and each motor respectively to obtain the actual position of the center line of the steel casing through the center point detection device, control the motor to rotate to drive the contact head to move based on the deviation between the actual position of the center line of the steel casing and the designed position of the center line of the steel casing, and adjust the actual position of the center line of the steel casing, so that the deviation between the actual position of the center line of the steel casing and the designed position of the center line of the steel casing is within a set threshold range; The high-precision self-adjusting equipment further comprises four electric hoists arranged circumferentially around the center line of the steel casing and distributed in a rectangular shape; The steel support structure has a plurality of steel support pipe piles inserted into the water bottom; Each electric hoist is installed on a steel support pipe pile, and each electric hoist has a steel wire rope fixedly connected with a limiting plate welded on the outer lateral wall of the steel casing to exert a pulling force on the casing pile to limit the casing pile, thereby preventing the center line of the casing pile from being displaced due to the turbulent water flow; wherein the casing pile comprises a plurality of steel casings welded together, the limiting plate fixedly connected with the steel wire rope is provided with a connecting hole, and the steel wire rope of each electric hoist is hooked on the limiting plate through a hook to allow the steel wire rope to move downward with the casing pile.

2. A high precision self-adjusting apparatus for steel casing installation in turbulent water currents according to claim 1, characterized in that, A total station instrument for obtaining the designed position of the center line of the steel casing is further included, and the total station instrument is connected to the upper computer to transmit the designed position of the center line of the steel casing to the upper computer.

3. A high precision self-adjusting apparatus for steel casing installation in turbulent water currents according to claim 1, characterized in that, The center point detection device comprises a total station instrument and / or a laser tracker for obtaining the coordinates of a plurality of marking points on the outer lateral wall of the steel casing and transmitting the coordinates to the upper computer, so that the upper computer obtains the positions of the center points of a plurality of cross sections of the steel casing through the marking points, and further obtains the actual position of the center line of the steel casing, wherein the center point detection device is placed on the steel support structure.

4. A high precision self-adjusting apparatus for steel casing installation in turbulent water currents according to claim 1, characterized in that, The center detection device comprises multiple groups of laser measuring devices, and the multiple groups of laser measuring devices are arranged on the support seat from top to bottom, each group of laser measuring devices comprises at least three laser measuring devices, all the laser measuring devices of each group of laser measuring devices are distributed on the same circle, and each laser measuring device is calibrated in position, so that the upper computer obtains the center position of the cross section of the steel casing through each group of laser measuring devices, and then obtains the actual position of the center line of the steel casing, wherein the laser measuring device is a laser range finder or a laser line profiler.

5. A high precision self-adjusting apparatus for steel casing installation in turbulent water current as claimed in claim 1 wherein, Each of the initial positioners further comprises a laser distance sensor and a slide plate driving mechanism connected with the upper computer respectively, the slide plate driving mechanism is connected with the slide plate to drive the slide plate to move horizontally, and the laser distance sensor is installed on the slide plate to detect the distance between the slide plate and the steel casing and send a signal to the upper computer when the slide plate and the steel casing reach a set distance, so that the slide plate driving mechanism stops driving the slide plate to move, and the limiting plate on the steel casing is placed on the slide plate.

6. A high precision self-adjusting apparatus for steel casing installation in turbulent water currents according to claim 1, characterized in that, Each of the electric hoists is provided with a self-locking device to prevent the steel casing pile from shaking due to the pulling of the steel wire rope under turbulent water flow.

7. A high precision self-adjusting apparatus for steel casing installation in turbulent water currents according to claim 1, characterized in that, Further comprising multiple inclination sensors and multiple underwater cameras; An encoder is installed on the rotating shaft of the driving motor of each electric hoist respectively; One inclination sensor is installed on each steel wire rope to obtain the inclination angle of the steel wire rope; Each underwater camera is installed on a steel support pipe pile respectively to obtain the three-dimensional topography of the underwater part of the steel casing pile and send it to the upper computer, so that the upper computer obtains the actual position of the center line of the underwater part of the steel casing pile, and based on the deviation between the actual position of the center line of the underwater part of the steel casing pile and the designed position of the center line of the underwater part of the steel casing pile, the upper computer controls the rotation of the electric hoist to drive the underwater part of the steel casing pile to move to adjust the actual position of the center line of the underwater part of the steel casing pile, and finally the deviation between the actual position of the center line of the underwater part of the steel casing pile and the designed position of the center line of the underwater part of the steel casing pile is within a set threshold range.

8. A high precision self-adjusting apparatus for steel casing installation in turbulent water currents according to claim 1, characterized in that, A pressure sensor connected with the upper computer is installed on the slide plate to detect the pressure applied by the limiting plate on the steel casing on the slide plate and send it to the upper computer, and the upper computer controls the lifting of the lifting tool of the crane hoisting the steel casing to ensure that the pressure applied by the limiting plate on the slide plate is not greater than a set value.

9. A self-adjusting method for a high-precision self-adjusting device for installation of a steel casing in a turbulent water flow according to any one of claims 1 to 8, characterized in that, The method comprises the following steps: 1) obtaining the designed position of the center line of the steel casing pile by a total station, and the total station sends the designed position of the center line of the steel casing pile to the upper computer, wherein the steel casing pile is welded by multiple steel casings; 2) welding limiting plates on the outer side walls of the steel casings respectively, and the limiting plate of one of the steel casings has a connecting hole for connecting the steel wire rope; 3) extending the support seat into the reserved hole of the steel support structure and fixing the support seat on the steel support structure, and then lifting a section of the steel casing into the accommodating space of the support seat by the lifting tool of the crane; 4) supporting the limiting plates on the outer side walls of the steel casings by the slides of the multiple initial positioners and keeping the steel casings vertical, and then separating the lifting tool of the crane from the steel casings. 5) the crane hoists another section of the steel casing above the steel casing received by the initial positioner, and then the two sections of the steel casing are assembled together by welding; 6) the hoist of the crane hoists the uppermost steel casing, the steel casing received by the initial positioner is separated from the initial positioner, and then the hoist of the crane continues to hoist the uppermost steel casing and lowers the steel casing; 7) steps 4) to 6) are repeated until the limiting plate with the connecting hole on the outer wall of the steel casing moves below the support seat, the steel wire ropes of the electric hoists installed on the steel support structure are fixedly connected with the limiting plate with the connecting hole, and the steel wire ropes are lowered together with the steel casing; 8) steps 4) to 6) are continuously repeated until the bottom of the lowermost steel casing contacts the underwater cover layer, and then the assembly of the steel casing is completed, and all the steel casings jointly form a casing pile; 9) the crane hoists the uppermost steel casing, the position of the center line of the steel casing is adjusted by cooperation of the fine positioner, the center detection device and the electric hoist, and finally the deviation between the actual position of the center line of the steel casing and the design position of the center line of the steel casing is within the set threshold range, and then the casing pile is embedded into the underwater cover layer by using a vibration hammer.

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