Integrated launching method of truss-type gabion-floating box coordinated rolling airbag staged lifting

Abstract

This invention relates to the field of deep-sea aquaculture facility construction technology, and particularly to an integrated method for launching truss-type net cages and floating boxes using a rolling airbag-stage lifting mechanism. The method includes the following steps: setting up a launching channel on a near-shore slope and deploying rolling airbags; first, inflating the central airbag to achieve initial lifting; then, inflating the side airbags in stages to complete the overall lifting; subsequently, using a winch to traction the main body to roll longitudinally along the channel; after the floating box enters the water, gradually reducing the pressure to allow the load to transition from the airbags to buoyancy; finally, the main body floats and the airbags are retrieved to complete the launching. This invention, through rolling airbag staged lifting, real-time attitude monitoring, and zoned gradient pressure reduction control, enables a smooth transition between airbag support and floating box buoyancy during the longitudinal launching process of the truss-type net cage-floating box main body, thereby improving the stability, safety, and overall efficiency of large net cage launching operations.

Description

Technical Field

[0001] This invention relates to the field of deep-sea aquaculture facility construction technology, and in particular to an integrated method for launching truss-type net cages and floating boxes using a rolling airbag-stage lifting system. Background Technology

[0002] Marine aquaculture equipment is gradually developing towards larger scale and deeper water applications, with truss-type cages being widely used due to their high structural strength and strong resistance to wind and waves. These cages are typically combined with floating structures to form an integrated aquaculture platform, requiring a launching operation to transfer the entire structure to the water area after construction. However, due to the large overall size and heavy weight of truss-type cages, traditional methods of lifting or direct launching via a sliding track often require large lifting equipment or complex auxiliary facilities. This not only results in high construction costs but also increases the risk of uneven structural stress, instability, or impact damage during launching, thus affecting structural safety.

[0003] Existing technologies also employ airbag rolling for launching heavy structures, but these methods mostly involve single airbag support or simple inflation / deflation control. In actual launching processes, it is difficult to make precise adjustments based on changes in structural attitude and buoyancy. Once the front end of the structure enters the water, the load transfer process between airbag support and buoyancy box lacks effective control, which can easily lead to partial unloading, longitudinal impact, or loss of control over movement speed, thereby affecting the stability and safety of launching operations. Summary of the Invention

[0004] Therefore, it is necessary to provide a method for launching a truss-type gabion-floating box coordinated rolling airbag staged lifting system to solve at least one of the above-mentioned technical problems.

[0005] To achieve the above objectives, a method for the integrated launching of a truss-type gabion-floating box with a rolling airbag for staged lifting is provided, the method comprising the following steps:

[0006] Step S1: Set up a water channel on the near-shore slope to rigidly connect the pontoon to the truss-type net cage; arrange multiple sets of rolling airbags at longitudinal intervals at the bottom of the pontoon, and install air pressure regulating device, attitude detection device and traction device.

[0007] Step S2: Start the air compressor to inflate the rolling airbags in the middle, so that the main body of the truss-type net cage-floating box can be initially lifted off the ground, and check the pressure of each rolling airbag and the attitude of the main body;

[0008] Step S3: Continue to inflate the rolling airbags on both sides to lift the main body to the predetermined longitudinal movement height, and correct the posture of the main body by adjusting the air pressure of each rolling airbag;

[0009] Step S4: Using a winch and in conjunction with external pushing equipment, the main body of the truss-type net cage-floating box is rolled longitudinally along the waterway towards the water area under the support of rolling airbags;

[0010] Step S5: After the front end of the pontoon enters the water, gradually reduce the air pressure of the rolling airbag, so that the main body load is gradually converted from the support of the rolling airbag to the buoyancy of the pontoon;

[0011] Step S6: Check whether the main body of the truss-type net cage-floating box is completely floating. If so, disconnect the traction device and extract the rolling airbag from the bottom of the floating box for recovery, thus completing the launching operation.

[0012] The beneficial effects of this invention lie in the fact that multiple sets of rolling airbags are deployed on the drainage channel and combined with the floating box structure to form a collaborative load-bearing system. The main body is initially lifted by preferential inflation of the central section, and then the overall lifting and attitude correction are achieved through staged inflation of the airbags on both sides. This allows the truss-type gabion-floating box main body to achieve stable ground clearance and stable support under controlled attitude conditions. During the longitudinal movement phase, the main body rolls along the drainage channel under the support of the rolling airbags through winch traction and external pushing. Simultaneously, a tail displacement detection sensor monitors the displacement on both sides synchronously, enabling real-time detection of longitudinal movement speed and offset. This allows for safe regulation by closing the exhaust valve and applying reverse braking force when the longitudinal movement speed is abnormal. After the front end of the floating box enters the water area, the draft, longitudinal angle, and transverse angle of the floating box are monitored. By continuously monitoring and determining the timing of depressurization of the rolling airbags based on the buoyancy growth rate, a zoned depressurization strategy is adopted, prioritizing the front end, delaying the middle, and stabilizing the tail end. This allows the main load-bearing structure to gradually and smoothly transition from airbag support to buoyancy support of the floating box. Simultaneously, pressure balance between the airbags is maintained through gradient depressurization, sequential venting, and pressure difference correction, thereby avoiding structural impact or attitude instability caused by local unloading or sudden changes in buoyancy. Therefore, this invention can achieve staged lifting, adaptive attitude adjustment, longitudinal movement safety control, and smooth transition between airbag support and buoyancy support during the launching process of truss-type cages. This not only significantly improves the stability and safety of launching large truss-type cages, but also effectively reduces uneven structural stress and impact risks, improving overall launching efficiency and operational reliability. Attached Figure Description

[0013] Figure 1 A schematic diagram of the steps of a truss-type cage-floating box coordinated rolling airbag staged lifting integrated launching method;

[0014] Figure 2 for Figure 1 A detailed flowchart illustrating the implementation steps of step S5.

[0015] Figure 3This is a schematic diagram of the rolling airbag zoning and the water channel structure of the rolling airbag staged lifting integrated launching method of truss-type net box-floating box coordination in this application.

[0016] Figure 4 This is a schematic diagram of the staged lifting of the integrated rolling airbag staged lifting method for launching a truss-type gabion-floating box coordinated rolling airbag according to this application.

[0017] 1: Truss-type net cage; 2: Floating box; 3: Rolling airbag; 4: Water channel; 5: Pressure detection element; 6: Attitude detection device; 7: Air pressure regulating device.

[0018] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0019] The technical method of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0020] Furthermore, the accompanying drawings are merely illustrative of the invention and are not necessarily drawn to scale. The same reference numerals in the drawings denote the same or similar parts, and therefore repeated descriptions of them will be omitted. Some block diagrams shown in the drawings are functional entities and do not necessarily correspond to physically or logically independent entities. These functional entities can be implemented in software, in one or more hardware modules or integrated circuits, or in different network and / or processor methods and / or microcontroller methods.

[0021] It should be understood that although the terms "first," "second," etc., may be used herein to describe various units, these units should not be limited by these terms. These terms are used merely to distinguish one unit from another. For example, without departing from the scope of the exemplary embodiments, a first unit may be referred to as a second unit, and similarly, a second unit may be referred to as a first unit. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0022] To achieve the above objectives, please refer to Figures 1 to 4 A method for launching a truss-type gabion-floating box combined with a rolling airbag for staged lifting, the method comprising the following steps:

[0023] Step S1: Set up a water channel on the near-shore slope to rigidly connect the pontoon to the truss-type net cage; arrange multiple sets of rolling airbags at longitudinal intervals at the bottom of the pontoon, and install air pressure regulating device, attitude detection device and traction device.

[0024] In one embodiment, reference may be made to Figure 3 In the near-shore construction area, a bank slope or artificial slide with a certain gradient is selected as the launching channel 4, and the surface of the channel is leveled to allow the truss-type net cage 1 and the floating box 2 assembly to move smoothly downwards in the predetermined direction. By setting a rigid connection structure (such as a connecting bracket, connecting plate, or high-strength bolt assembly) between the floating box 2 and the truss-type net cage 1, the floating box 2 can provide buoyancy support for the main body of the net cage and maintain synchronous movement of the structure during the overall launching process, thus forming an integrated structure of truss-type net cage and floating box launching in tandem.

[0025] In some embodiments, multiple sets of rolling airbags 3 are arranged at certain intervals along the longitudinal direction at the bottom of the float box 2. Each set of rolling airbags 3 matches the bearing contact surface at the bottom of the float box 2, forming a rolling support structure during the launching process to reduce the frictional resistance between the overall structure of the net cage and the launching channel. Each rolling airbag 3 is connected to an air pressure regulating device through an air pipe. The air pressure regulating device is used to regulate the air pressure inside the rolling airbag 3, so that each rolling airbag 3 maintains a suitable support height and elastic deformation at different bearing stages, thereby achieving stable lifting of the overall center of gravity of the net cage.

[0026] In some embodiments, the attitude detection device 6 is set at the key stress position of the float box 2 or the truss-type net box 1 to detect the changes in tilt angle, longitudinal displacement and lateral attitude of the net box body in real time during the water launching process, and to feed back the detection results to the operator so that the air pressure regulating device can be adjusted according to the attitude changes, thereby avoiding excessive tilting or displacement of the net box during the water launching process.

[0027] In some embodiments, the traction device is installed at the front end of the launching channel or on a fixed shore structure. The traction device is connected to the truss-type gabion or pontoon via a traction cable, and is used to provide or release controllable traction force during the initial launching phase, enabling the truss-type gabion-pontoon assembly to gradually move into the water along the launching channel at a predetermined speed. Through the coordinated action of the traction device and the rolling airbag, a smooth transition of the entire gabion structure from a static state to a rolling movement state can be achieved, improving the safety and controllability of the launching process.

[0028] Optionally, in some embodiments, the air pressure regulating device can also adjust the inflation or deflation of the rolling airbags at different positions according to the attitude change information output by the attitude detection device, so as to realize the zoned adjustment of the bottom support height of the pontoon, thereby actively correcting the overall attitude of the truss cage and improving the stability during the launching process.

[0029] Step S2: Start the air compressor to inflate the rolling airbags in the middle, so that the main body of the truss-type net cage-floating box can be initially lifted off the ground, and check the pressure of each rolling airbag and the attitude of the main body;

[0030] In some embodiments, an air compressor is activated to deliver compressed air through air pipes to rolling airbags located in the central area of ​​the bottom of the pontoon, causing the central rolling airbags to inflate first. As the internal air pressure of the rolling airbags gradually increases, the outer wall of the rolling airbags forms elastic contact with the surface of the drainage channel, thereby providing upward support to the truss-type gabion-pontoon body. This allows the main structure to gradually rise from its original supported state until a certain gap is formed between the bottom of the main body and the ground, achieving initial lifting off the ground. By prioritizing the lifting of the central rolling airbags, the center of gravity of the gabion body can be stably supported first, thereby reducing localized stress concentration in the overall structure during the lifting phase.

[0031] In some embodiments, during the inflation of the rolling airbags, pressure detection elements 5 installed on each rolling airbag acquire the internal air pressure data of the rolling airbag in real time and feed the pressure data back to the operating terminal to determine the load-bearing status of each rolling airbag. When an abnormal air pressure rise rate or pressure value of a certain rolling airbag is detected, the corresponding rolling airbag can be replenished or its pressure limited by the air pressure regulating device, thereby maintaining a relatively balanced load-bearing status for each rolling airbag.

[0032] In some embodiments, during the gradual lifting of the truss-type gabion-floating box body, an attitude detection device continuously monitors the longitudinal tilt angle, lateral tilt angle, and overall attitude changes of the body, and determines whether the body is in a stable lifting state based on the detection results. When a tendency for the body to tilt is detected, the support height of the body can be locally adjusted by adjusting the inflation speed or inflation volume of the rolling airbags at different positions to correct the attitude and keep the body in a basically horizontal state.

[0033] In some embodiments, after the central rolling airbag completes the initial lifting and reaches the preset support height, the operator can maintain the air pressure of each rolling airbag for a short period of time based on the pressure detection results and attitude detection results, so that the truss-type gabion-floating box body enters a stable support state, providing a stable force foundation for subsequent rolling movement and staged lifting operations.

[0034] Optionally, in some embodiments, the weight distribution of the main body can be determined based on the pressure change rate of the rolling airbag, and the air pressure adjustment strategy can be fine-tuned accordingly, so that the truss-type net cage-floating box main body forms a more balanced support structure in the initial lifting stage, thereby improving the safety and stability of the overall launching process.

[0035] Step S3: Continue to inflate the rolling airbags on both sides to lift the main body to the predetermined longitudinal movement height, and correct the posture of the main body by adjusting the air pressure of each rolling airbag;

[0036] In one embodiment, reference may be made to Figure 4 After the central rolling airbag completes its initial lifting, the air compressor continues to inflate the rolling airbags located on both sides of the bottom of the pontoon, causing them to gradually expand and participate in load-bearing, thus forming a support structure that expands progressively from the center outwards. As the air pressure in the rolling airbags on both sides gradually increases, the overall support height of the truss-type gabion-pontoon structure increases accordingly, further raising the main structure from its initial lifting state and gradually reaching the predetermined longitudinal movement height suitable for longitudinal movement. This method of lifting from the center outwards allows for a gradual transition of force on the main structure, avoiding the impact or abnormal stress on local structures caused by sudden lifting of the overall structure.

[0037] In some embodiments, during the staged lifting process, pressure detection elements 5 installed on each rolling airbag continuously acquire internal air pressure data, and compare and analyze the various air pressure data to determine the load-bearing status of the rolling airbags at different positions. When it is detected that the air pressure of a rolling airbag on one side is significantly higher or lower than that of other rolling airbags, the corresponding rolling airbag can be replenished or slowly deflated by the air pressure regulating device 7 to form a more balanced distribution of support force among the rolling airbags.

[0038] In some embodiments, as the main body is gradually raised to a predetermined longitudinal movement height, the attitude detection device 6 continuously monitors the lateral tilt angle, longitudinal tilt angle, and overall attitude changes of the truss-type gabion-floating body. When tilting or local height inconsistencies are detected in the main body, the air pressure of the rolling airbags at different positions can be adjusted differentially according to the attitude changes. For example, the air pressure of the low-side rolling airbags can be appropriately increased or the air pressure of the high-side rolling airbags can be appropriately decreased to achieve real-time correction of the main body's attitude, so that the main body maintains a basically horizontal attitude or an attitude state that meets the longitudinal movement requirements.

[0039] In some embodiments, when all rolling airbags participate in bearing and the main body reaches a predetermined longitudinal movement height, the air pressure of each rolling airbag is stabilized to form a continuous rolling support structure between the bottom of the pontoon and the drainage channel, thereby providing stable support conditions for the subsequent longitudinal movement of the main body along the drainage channel by a traction device or gravity.

[0040] Optionally, in some embodiments, after the staged lifting is completed, the air pressure of each rolling airbag can be cyclically fine-tuned for a short time to eliminate attitude deviations caused by minor unevenness of the ground or changes in structural stress, so that the truss-type gabion-floating box body maintains a stable and balanced stress state before entering the longitudinal movement stage.

[0041] Step S4: Using a winch and in conjunction with external pushing equipment, the main body of the truss-type net cage-floating box is rolled longitudinally along the waterway towards the water area under the support of rolling airbags;

[0042] In some embodiments, after the truss-type net box / floating box body has completed its staged lifting and reached a predetermined longitudinal movement height, a winch is positioned at the front end of the drainage channel or on a fixed shore structure, and connected to the floating box or truss-type net box body via a traction cable. The winch is started to slowly tighten the traction cable, causing the body to begin moving along the drainage channel under traction. Because the multiple sets of rolling airbags at the bottom of the floating box are in an inflated and supported state, rolling contact is formed between the body and the drainage channel, thereby converting the original sliding friction into rolling friction, reducing the overall movement resistance, and enabling the body to move smoothly longitudinally towards the water area.

[0043] In some embodiments, while the winch pulls the main body to move, an external pushing device, such as a hydraulic or mechanical pushing device, is installed at the tail or side of the truss-type cage to provide auxiliary thrust to the main body. Through the synergistic effect of the winch's traction force and the pushing force of the pushing device, the main body can smoothly overcome static friction resistance in the initial stage of launching and maintain a stable longitudinal movement speed, thereby avoiding jamming or local displacement of the main body due to uneven force.

[0044] In some embodiments, during the rolling longitudinal movement of the main body, the lateral tilt angle, longitudinal tilt angle, and displacement state of the truss-type gabion-floating body are continuously monitored by an attitude detection device, and the air pressure of the rolling airbags is appropriately adjusted according to the detection results. For example, when a slight sinking is detected on one side of the main body, the air pressure regulating device can replenish the airbag on that side to restore the overall attitude balance of the main body, thereby ensuring that the main body moves stably along the direction of the drainage channel.

[0045] In some embodiments, as the main body gradually moves toward the water area, the rolling airbags located at the rear can be gradually depressurized after completing their load-bearing tasks, allowing the rolling airbags to gradually detach from the load-bearing state. Depending on the position of the main body, the rolling airbags can be redeployed forward or continue to participate in the support, thereby forming a continuous rolling support structure that enables the main body to move forward steadily along the drainage channel.

[0046] Optionally, in some embodiments, the traction speed of the winch can be controlled in stages to gradually reduce the moving speed of the truss-type net cage-floating box body as it approaches the edge of the water area, thereby reducing the impact generated when the body enters the water area and improving the safety and controllability of the overall launching process.

[0047] Step S5: After the front end of the pontoon enters the water, gradually reduce the air pressure of the rolling airbag, so that the main body load is gradually converted from the support of the rolling airbag to the buoyancy of the pontoon;

[0048] In some embodiments, when the truss-type gabion-pontoon body moves along the drainage channel to the edge of the water area under the traction of a winch, the front end of the pontoon first contacts the water surface and gradually enters the water area. As the volume of the pontoon submerged in water gradually increases, it begins to generate upward buoyancy and gradually bears part of the weight of the main structure. During this stage, the rolling airbags on the side closest to the water area are slowly deflated by an air pressure regulating device, gradually reducing the support height of the rolling airbags, thereby gradually transitioning the load-bearing method of the main structure from airbag support to pontoon buoyancy support.

[0049] In some embodiments, during the gradual decompression of the rolling airbags, the longitudinal tilt angle, lateral tilt angle, and overall stability of the truss-type gabion-floating body are continuously monitored by an attitude detection device. When an attitude shift is detected due to changes in buoyancy, the deflation rate of the rolling airbags at different positions can be adjusted differentially. For example, a certain air pressure support can be maintained for the rolling airbags on the side that has not yet entered the water area to avoid excessive forward tilting or side tilting of the body, thereby achieving a smooth transition from land support to buoyancy support on water.

[0050] In some embodiments, as the pontoon gradually enters the water and assumes more buoyancy, the rolling airbags on the land side can continue to maintain moderate air pressure to ensure that the rear of the main body remains in a stable supported state. When the buoyancy of the pontoon submerged in water gradually approaches the weight of the main structure, the rolling airbags on the land side are further depressurized, allowing the main structure to slowly transition towards the water.

[0051] In some embodiments, during the deflation of the rolling airbags, the deflation rate is controlled in stages by detecting the pressure changes of each rolling airbag and the displacement changes of the main body. This ensures that the decrease in the airbag support force matches the increase in the buoyancy of the float box, thereby preventing the main body from suddenly sinking or experiencing impact during the change of load-bearing mode.

[0052] Optionally, in some embodiments, when the front of the pontoon has fully entered the water and can stably provide buoyancy, the front rolling airbag can be completely deflated first, so that it gradually leaves the load-bearing state, while retaining part of the supporting function of the rear rolling airbag, thereby forming a gradual load-bearing conversion process from front to back, improving the stability and safety of the overall launching process.

[0053] Step S6: Check whether the main body of the truss-type net cage-floating box is completely floating. If so, disconnect the traction device and extract the rolling airbag from the bottom of the floating box for recovery, thus completing the launching operation.

[0054] Once the pontoon gradually enters the water and assumes the main buoyancy of the main structure, the floating state of the truss-type gabion-pontoon body is monitored using attitude and displacement detection devices to determine whether the main body has completely detached from the support of the drainage channel. The monitoring includes the pontoon's draft, changes in the main body's longitudinal displacement, and the contact state between the pontoon's bottom and the drainage channel. When the monitoring results indicate that the pontoon is floating stably and the bottom of the main body no longer has significant load-bearing contact with the rolling airbags, the truss-type gabion-pontoon body can be considered to be in a fully floating state.

[0055] In some embodiments, once it is confirmed that the main body is completely afloat, the winch traction operation is stopped, and the traction cable is gradually loosened to ensure that the connection between the traction device and the truss-type cage or pontoon is unloaded. Subsequently, the connection between the traction cable and the main body is released, thereby allowing the main body to remain freely afloat in the water. By releasing the traction force before releasing the connection, sudden displacement or impact during the disconnection can be avoided.

[0056] In some embodiments, after the traction device is disconnected, the remaining rolling airbags are completely deflated using a pressure regulating device, causing the rolling airbags to gradually lose their support height and relax to the bottom of the pontoon. Subsequently, workers or an auxiliary traction device extract the rolling airbags one by one along the bottom of the pontoon and collect them in the shore area for subsequent inspection, maintenance, or reuse.

[0057] In some embodiments, during the extraction and recovery of the rolling airbags, an attitude detection device continuously monitors the attitude changes of the truss-type gabion-floating body in the water to confirm that the body is in a stable floating state. When all the rolling airbags are recovered and the body remains stably floating, the launching operation can be considered complete.

[0058] Optionally, in some embodiments, after the rolling airbag recovery is completed, the connection between the truss-type cage and the pontoon, as well as the sealing status of the pontoon, can be inspected to confirm the overall stability of the main structure in the water, providing a reliable foundation for subsequent cage deployment or offshore operations.

[0059] As an example of the present invention, reference is made to Figure 2 As shown, step S5 in this example includes:

[0060] Step S51: After the front end of the pontoon enters the water area, the attitude monitoring component is activated to continuously sample the pontoon's draft, pitch angle and roll angle, and generate attitude monitoring data.

[0061] Step S52: Calculate the buoyancy growth rate of the float box based on the attitude monitoring data and compare it with the preset buoyancy replacement rate range;

[0062] Step S53: When the buoyancy growth rate of the float box reaches the preset buoyancy replacement rate range, perform zoned depressurization control on the rolling airbags, so that the front airbags depressurize first and the middle airbags depressurize later.

[0063] Step S54: During the depressurization process, the longitudinal movement speed of the cage is monitored synchronously. When the longitudinal movement speed of the cage exceeds the set safe speed, the depressurization is paused and the current air pressure is maintained.

[0064] Step S55: Once the draft of the pontoon reaches the preset stable value, release the front airbag load, allowing buoyancy to gradually replace the airbag support.

[0065] In one specific embodiment, the truss-type gabion-floating box body moves towards the water area along the drainage channel under the traction of a winch. When the front end of the floating box enters the water area by approximately 0.5m to 1.5m, the attitude monitoring component installed on the floating box structure is activated to continuously sample the floating box's draft, pitch angle, and roll angle. The sampling period of the attitude monitoring component can be set to 0.5s to 2s to generate continuously updated attitude monitoring data. For example, when the front end of the floating box enters the water area by approximately 1m, the monitored draft is 0.25m to 0.35m, the pitch angle is approximately 1° to 3°, and the roll angle is less than 2°, indicating that the floating box has begun to stably generate buoyancy.

[0066] Based on continuously collected data on draft changes, the change in draft of the pontoon within adjacent sampling periods can be calculated, thus obtaining the rate of change of the pontoon's immersion in the water, which can then be converted into the buoyancy growth rate. For example, if the pontoon's draft increases from 0.30m to 0.45m within a monitoring period of 5s to 10s, the corresponding buoyancy growth rate falls within the range of 3% to 8% / s. When the calculated buoyancy growth rate falls within the pre-set buoyancy replacement rate range of 2% / s to 10% / s, it indicates that the buoyancy growth process of the pontoon is relatively stable. At this point, the rolling airbag support can be gradually reduced, allowing buoyancy to gradually replace the airbag's load-bearing capacity.

[0067] When the buoyancy increase rate reaches the aforementioned range, the rolling airbags are subjected to zoned depressurization control via an air pressure regulating device. For example, the rolling airbags located at the front end of the pontoon are first depressurized, gradually reducing the airbag pressure from 0.20MPa to 0.30MPa to 0.05MPa to 0.10MPa, thereby reducing their support height and allowing the front end of the pontoon to gradually bear the main weight through water buoyancy. At the same time, the rolling airbags in the middle maintain their original air pressure for about 10s to 30s before being depressurized again, thus forming a gradually load-bearing transition structure from front to back.

[0068] During the depressurization process of the rolling airbag, the longitudinal movement speed of the truss-type gabion-floating box body is monitored simultaneously. Displacement detection devices installed at the stern of the gabion or on the floating box structure continuously detect the longitudinal displacement of the body and calculate its longitudinal speed. For example, when the detected longitudinal speed is within the safe movement range of 0.05 m / s to 0.15 m / s, the airbag depressurization operation can continue; when the detected longitudinal speed exceeds 0.20 m / s, further depressurization of the rolling airbag is paused, and the current airbag pressure is maintained, allowing the body to maintain stable movement using existing support forces. The depressurization operation resumes only when the movement speed drops below 0.15 m / s.

[0069] As the pontoon gradually enters the water, its draft increases continuously. When attitude monitoring data indicates that the pontoon's draft reaches the preset stable value of 0.80m to 1.20m, and the change in pitch angle is less than 1° and the change in roll angle is less than 1° for 10s to 20s, it can be determined that the pontoon has achieved stable buoyancy. In this state, the front rolling airbag is completely deflated using the air pressure regulating device, reducing its air pressure to below 0.01MPa to 0.03MPa. This releases the front airbag from its load, allowing the pontoon's buoyancy to gradually replace the airbag's support, while the middle and rear airbags still maintain a certain supporting function to ensure that the truss-type gabion-pontoon body maintains a stable attitude during the transition from land support to water buoyancy support.

[0070] Preferably, step S53, which involves performing zoned depressurization control on the rolling airbag, includes:

[0071] The rolling airbag is divided longitudinally into a front depressurization zone, a middle transition zone, and a rear stabilization zone.

[0072] The pressure is gradually reduced by the air pressure regulating valve in the front depressurization zone of the rolling airbag, with a single depressurization range of 0.003-0.005 MPa;

[0073] Maintain constant pressure in the rolling airbag in the middle transition zone;

[0074] The tail stabilization zone roll airbags maintain the initial lifting pressure;

[0075] When the buoyancy of the float reaches 60%-70% of the main body weight, the pressure of the rolling airbag in the middle transition zone is reduced simultaneously.

[0076] In one embodiment, to allow the buoyancy of the floating box to gradually replace the support of the rolling airbag, the rolling airbag at the bottom of the floating box is divided longitudinally along the main body into a front depressurization zone, a middle transition zone, and a tail stabilization zone. For example, when the main body length of the truss-type gabion-floating box is 20m to 40m, 20% to 30% of the area closest to the water surface can be designated as the front depressurization zone, 30% to 40% of the middle area as the middle transition zone, and 30% to 40% of the tail area as the tail stabilization zone.

[0077] Once the buoyancy growth rate of the pontoon meets the preset conditions, the pressure is gradually reduced by the air pressure regulating valve to the rolling airbag in the front depressurization zone. Each depressurization is controlled between 0.003MPa and 0.005MPa, with a depressurization interval of 5s to 15s, so that the front of the pontoon gradually bears the weight of the main body by the buoyancy of the water.

[0078] During this stage, the rolling airbag pressure in the middle transition zone remains unchanged, for example, maintained at 0.18MPa to 0.25MPa, to ensure that the main body still has stable support; while the rolling airbag in the tail stabilization zone maintains the initial lifting pressure of 0.20MPa to 0.30MPa to stabilize the tail structure of the main body.

[0079] As the pontoon continues to enter the water, when the buoyancy of the pontoon reaches 60% to 70% of the main body weight, the rolling airbag in the middle transition zone is simultaneously depressurized in a gradient manner, so that the airbag support is gradually reduced, thereby achieving a smooth transfer of buoyancy to the rolling airbag support.

[0080] Preferably, the gradient depressurization of the rolling airbag in the front depressurization zone via the air pressure regulating valve further includes:

[0081] Obtain the real-time air pressure values ​​of each rolling airbag in the front depressurization zone;

[0082] Based on the real-time air pressure value, the exhaust regulating valves of the corresponding rolling airbags are opened sequentially according to the longitudinal arrangement of the net cages, so that the rolling airbags on the side closer to the water area are depressurized first.

[0083] After a single rolling airbag completes one deflation cycle, the pressure remains stable, and changes in the longitudinal tilt attitude of the cage are detected.

[0084] When the longitudinal tilt angle of the cage is detected to be within a stable range, the exhaust regulating valve of the next rolling airbag is opened to carry out the next round of depressurization;

[0085] After completing one round of depressurization, the pressure difference of each rolling airbag is re-detected, and the rolling airbags are adjusted by slightly replenishing or venting air according to the pressure difference.

[0086] In one embodiment, when performing gradient depressurization on the rolling airbags in the front depressurization zone, the depressurization process of the rolling airbags is controlled sequentially by a pressure regulating valve. First, the real-time air pressure value of each rolling airbag in the front depressurization zone is obtained, for example, the air pressure is in the range of 0.18MPa to 0.25MPa, and the air pressure data of each airbag is recorded.

[0087] Subsequently, according to the arrangement order of the rolling airbags in the longitudinal direction of the net cage, the exhaust regulating valves of the corresponding rolling airbags are opened sequentially, so that the rolling airbags closer to the water area are depressurized first. The pressure reduction of each rolling airbag during a single exhaust is controlled within 0.003MPa to 0.005MPa. After a single rolling airbag completes one exhaust, its exhaust regulating valve is temporarily closed and the current air pressure is kept stable. At the same time, the change in the longitudinal tilt angle of the truss net cage-floating box body is detected by the attitude monitoring component, for example, kept within a stable range of ±1° to ±2°.

[0088] When the longitudinal tilt angle of the cage is detected to be within a stable range, the exhaust regulating valve of the next rolling airbag is opened to carry out the next round of depressurization, so that the supporting force of the rolling airbag is gradually released in the order from front to back.

[0089] After completing one round of depressurization, the air pressure difference between each rolling airbag is checked again. When the air pressure difference exceeds 0.01MPa to 0.02MPa, the corresponding rolling airbag can be slightly replenished or depressurized through the air pressure regulating valve to keep the air pressure of each rolling airbag basically balanced, thereby ensuring that the truss-type gabion-floating box body maintains a stable attitude as buoyancy gradually increases.

[0090] Preferably, the exhaust regulating valves of the corresponding rolling airbags are opened sequentially according to the longitudinal arrangement of the net cages based on real-time air pressure values, including:

[0091] The current pressure distribution of the rolling airbags in the front depressurization zone is determined based on the real-time air pressure values ​​of each rolling airbag.

[0092] The corresponding exhaust regulating valves are numbered sequentially according to the installation order of the rolling airbags along the longitudinal direction of the cage.

[0093] The exhaust regulating valve on the side with the control number closest to the water area is opened first, causing the corresponding rolling airbag to exhaust and reduce pressure.

[0094] After the rolling airbag completes one deflation cycle, the corresponding deflation regulating valve is closed, and the real-time air pressure value of the rolling airbag is read again.

[0095] The updated real-time air pressure value is compared with the air pressure status of the adjacent rolling airbags, and the next numbered exhaust regulating valve is opened to continue exhausting and reducing pressure based on the comparison result.

[0096] In one embodiment, when performing sequential depressurization control of the front depressurization zone rolling airbags, the real-time air pressure value of each rolling airbag is first obtained by the pressure detection element 5 set on each rolling airbag. For example, the pressure of each airbag is in the range of 0.18MPa to 0.25MPa, and the current pressure distribution state of the front depressurization zone rolling airbags is determined accordingly.

[0097] Subsequently, following the installation sequence of the rolling airbags along the longitudinal direction of the truss-type cage, the corresponding exhaust regulating valves are sequentially numbered, for example, from the side closest to the water to the side closest to the shore, as V1, V2, V3...Vn. During depressurization, the exhaust regulating valve V1, numbered closest to the water, is opened first, causing the corresponding rolling airbag to depressurize by venting air. The depressurization range for each operation is controlled between 0.003 MPa and 0.005 MPa.

[0098] After the rolling airbag completes one deflation cycle, the corresponding deflation regulating valve is closed, and the real-time air pressure value of the rolling airbag is read again, for example, the depressurized air pressure is 0.175MPa to 0.195MPa. Then, the updated real-time air pressure value is compared with the air pressure status of adjacent rolling airbags to determine whether the air pressure difference between the airbags is within the allowable range, for example, the air pressure difference is controlled within 0.01MPa to 0.02MPa.

[0099] When it is determined that the current air pressure difference meets the stability condition, the next numbered exhaust regulating valve V2 is opened to perform the exhaust and depressurization operation of the next rolling airbag, so that the rolling airbag in the front depressurization zone gradually releases the support force in the order from front to back, realizing the smooth transition of the truss-type cage-floating box body from airbag support to buoyancy support.

[0100] Preferably, comparing the updated real-time air pressure value with the air pressure status of adjacent rolling airbags, and opening the next numbered exhaust regulating valve to continue exhausting and depressurizing based on the comparison result includes:

[0101] Get the updated first real-time air pressure value of the currently deflated rolling airbag;

[0102] Read the second real-time air pressure value of the rolling airbag arranged adjacent to the rolling airbag;

[0103] Calculate the pressure difference between the first real-time air pressure value and the second real-time air pressure value to determine the degree of pressure balance between the rolling airbags in the front depressurization zone;

[0104] The next numbered exhaust regulating valve is opened according to the pressure balance, so that the corresponding rolling airbag can exhaust and reduce pressure.

[0105] After the next rolling airbag begins to deflate, the exhaust valve of the previous rolling airbag remains closed to maintain the current air pressure stability.

[0106] In one embodiment, after a rolling airbag completes one depressurization, it is necessary to determine whether to open the next depressurization regulating valve based on the pressure status of the adjacent airbags. Specifically, the updated first real-time air pressure value of the currently depressurized rolling airbag is first obtained, for example, the depressurized air pressure value is in the range of 0.175MPa to 0.195MPa.

[0107] Then, the second real-time air pressure value of another rolling airbag arranged adjacent to the first rolling airbag is read. For example, the adjacent rolling airbag maintains a air pressure state of 0.18MPa to 0.22MPa. Based on the above two air pressure values, the pressure difference between them is calculated to determine the degree of pressure balance between the rolling airbags in the front depressurization zone. For example, when the calculated air pressure difference is within the allowable range of 0.01MPa to 0.02MPa, it can be considered that the pressure distribution between the airbags remains stable.

[0108] When the pressure equalization meets the above requirements, the control system opens the next numbered exhaust regulating valve, causing the corresponding rolling airbag to begin exhaust and depressurization operations. The single depressurization range is still controlled within 0.003MPa to 0.005MPa. After the next rolling airbag begins to exhaust, the exhaust regulating valve of the previous rolling airbag remains closed to maintain its current air pressure stability, thereby allowing the supporting force of the rolling airbags to be released gradually from front to back.

[0109] Preferably, in step S54, synchronously monitoring the longitudinal movement speed of the cage during the voltage reduction process includes:

[0110] A displacement detection sensor is installed at the tail of the cage to detect the longitudinal displacement of the main body in real time;

[0111] The longitudinal velocity is calculated based on continuous displacement data, and then compared with the set safe velocity.

[0112] When the longitudinal movement speed exceeds the safe speed, the airbag exhaust valve is automatically closed and the current air pressure is locked. At the same time, the main winch is controlled to apply reverse braking force to suppress the longitudinal movement speed of the main body.

[0113] Once the longitudinal movement speed returns to a safe level, restart the airbag depressurization process.

[0114] In one embodiment, to ensure the stability of the truss-type gabion-floating box body during the depressurization process, the longitudinal movement speed of the body can be monitored synchronously. Specifically, a displacement detection sensor is installed at the tail of the gabion to detect the longitudinal displacement of the body along the direction of the drainage channel in real time, and the displacement data is continuously acquired according to a sampling period of 0.5s to 2s.

[0115] The longitudinal velocity of the main body is calculated based on continuously collected displacement data, and then compared with the set safe velocity. For example, when the longitudinal velocity of the main body is within the range of 0.05 m / s to 0.15 m / s, it can be determined as a normal movement state, and the graded depressurization operation of the rolling airbag can continue. When the longitudinal velocity is detected to exceed the set safe velocity of 0.18 m / s to 0.20 m / s, it is determined that the main body is moving too fast.

[0116] When the above situation occurs, the control system automatically closes the exhaust regulating valve of the rolling airbags to maintain the current air pressure state of each rolling airbag. At the same time, it controls the main winch to apply reverse braking force to suppress the longitudinal movement speed of the truss-type net cage-floating box body, thereby preventing the body from accelerating and slipping due to the reduction of support force.

[0117] Once the longitudinal speed of the main body is detected to gradually decrease and return to a safe speed range (e.g., ≤0.15m / s), the graded depressurization control of the rolling airbag is restarted, so that the buoyancy of the float box continues to gradually replace the support of the rolling airbag.

[0118] It is important to note that by linking the longitudinal movement speed of the main body with the depressurization process of the airbag, the main body of the truss-type net cage-floating box can maintain a stable movement during the launching process, thereby avoiding the occurrence of instability of the main body posture or excessive impact during launching due to excessive depressurization or excessive movement speed.

[0119] Preferably, installing a displacement detection sensor at the tail of the cage to detect the longitudinal displacement of the main body in real time also includes:

[0120] Displacement detection sensors are installed at the truss nodes on both sides of the tail of the cage, and the two sensors are arranged symmetrically along the longitudinal direction of the cage.

[0121] A reference reflector or calibration reference point is fixedly installed at the end of the sewer channel so that the displacement detection sensor uses the reference reflector or calibration reference point as a measurement reference.

[0122] Before the main body begins longitudinal movement, the displacement detection sensor is calibrated to zero position to record the displacement reference value corresponding to the initial position of the cage.

[0123] During the longitudinal movement of the main body, displacement data is synchronously output by displacement detection sensors on both sides, and the two sets of displacement data are compared to detect the longitudinal displacement of the main body in real time.

[0124] In one embodiment, to improve the accuracy and stability of displacement detection during the longitudinal movement of the truss-type gabion-floating box body, a double-sided displacement detection structure is installed at the tail of the gabion. Specifically, displacement detection sensors are installed at the truss nodes on both sides of the tail of the gabion. The two sensors are symmetrically arranged along the longitudinal movement direction of the gabion, so that their measurement direction is basically consistent with the longitudinal movement direction of the main body, thereby enabling the acquisition of longitudinal displacement change data on the left and right sides of the main body. Through the double-sided arrangement, the system can simultaneously detect longitudinal displacement and assist in determining whether the main body has shifted or tilted.

[0125] Meanwhile, a reference reflector or calibration point is fixedly installed at the end of the drainage channel, and the displacement detection sensor always uses this reference reflector or calibration point as its measurement reference, thereby establishing a stable displacement measurement reference relationship. For example, the reference reflector can be fixedly installed on a concrete or steel structure support at the end of the drainage channel, keeping it in a fixed position throughout the drainage process, thus ensuring the reliability of the displacement detection data.

[0126] Before the main body of the truss-type cage-floating box begins to move longitudinally, the displacement detection sensors on both sides are calibrated to zero position so that the system records the displacement reference value corresponding to the current position of the cage. For example, this position is set as the initial reference displacement of 0m so that the actual longitudinal movement distance of the main body can be accurately calculated during the subsequent movement.

[0127] As the main body moves along the drainage channel towards the water area, displacement detection sensors on both sides synchronously output displacement data with a sampling period of 0.5s to 2s. The two sets of displacement data are compared in real time to obtain the overall longitudinal displacement of the main body. For example, when the displacement difference detected by the sensors on both sides remains within the range of 0.01m to 0.03m, it can be determined that the main body is maintaining a basically straight-line movement. When the displacement difference exceeds this range, it indicates that the main body may have slight deviation or attitude change during the movement. At this time, the traction force of the winch or the air pressure of the rolling airbag can be adjusted appropriately according to the detection results to restore the stable movement of the main body.

[0128] Preferably, the displacement detection sensor is calibrated to zero position before the main body begins longitudinal movement, in order to record the displacement reference value corresponding to the initial position of the cage, including:

[0129] The central rolling airbag is depressurized to cause the truss-type cage-floating box body to sink slightly and form a stable contact with the surface of the drainage channel;

[0130] The current output displacement value of the displacement detection sensor is read when the main body is in a stable contact state;

[0131] The current output displacement value is used as the contact reference position of the main body on the sewer channel and recorded as the displacement reference value;

[0132] Restore the original air pressure of the central rolling airbag to put the main body back into the airbag support state, and record the displacement reference value corresponding to the initial position of the cage.

[0133] In one embodiment, the displacement detection sensor needs to be zero-calibrated before the main body begins longitudinal movement to ensure the accuracy of subsequent longitudinal displacement detection. Specifically, firstly, the rolling airbag deployed at the center of the bottom of the pontoon is moderately depressurized, causing the truss-type gabion-pontoon main body to sink slightly, for example, by 0.01m to 0.03m, thereby creating a stable contact between the bottom of the main body and the surface of the drainage channel. This method can eliminate the influence of the elastic deformation of the airbag on displacement measurement.

[0134] When the main body is in a stable contact state, the current output displacement value of the displacement detection sensors on both sides is read and used as the contact reference position of the main body on the drainage channel. Subsequently, this position data is recorded as the displacement reference value for displacement detection, which serves as the reference starting point for subsequent longitudinal displacement calculation.

[0135] After the baseline recording is completed, the original air pressure of the central rolling airbag is restored through the air pressure regulating device, so that the rolling airbag can once again provide support for the truss-type gabion-floating box body, thereby restoring the body to the airbag-supported state. At this time, the system retains the previously recorded displacement baseline value as the reference displacement value corresponding to the initial position of the gabion, so as to accurately calculate its actual moving distance and moving speed after the body begins to move longitudinally.

[0136] Preferably, during the longitudinal movement of the main body, displacement detection sensors on both sides simultaneously output displacement data, and the two sets of displacement data are compared to detect the longitudinal displacement of the main body in real time, including:

[0137] Displacement signals from both displacement detection sensors are read simultaneously at the same sampling time interval;

[0138] Record the displacement values ​​of the displacement detection sensors on both sides at the same sampling time;

[0139] The displacement values ​​output by the displacement detection sensors on both sides at the same time are paired and marked.

[0140] The difference between the two sets of displacement values ​​after pairing is calculated to obtain the difference in displacement changes on both sides.

[0141] The difference is used to determine the lateral offset trend of the main body during the longitudinal movement, thereby obtaining the longitudinal displacement of the main body.

[0142] In one embodiment, as the main body of the truss-type gabion-floating box moves longitudinally along the drainage channel, displacement sensors deployed on both sides of the gabion's stern synchronously detect the main body's displacement. Specifically, displacement signals from the displacement sensors on both sides are read simultaneously at the same sampling time interval, for example, with a sampling period of 0.5s to 2s to acquire displacement data.

[0143] At each sampling moment, the displacement values ​​output by the left and right displacement detection sensors are recorded separately. The displacement data corresponding to the same sampling moment from both sensors are paired and marked to form a displacement data group for the corresponding moment. For example, at each sampling moment, the displacement values ​​output by the left and right displacement detection sensors are recorded separately, and the displacement values ​​corresponding to the same sampling moment from both sides are associated according to the sampling sequence to generate corresponding displacement pairing data.

[0144] Subsequently, the difference between the two sets of displacement values ​​after pairing is calculated to obtain the difference between the displacement changes on both sides. For example, the absolute difference between the left and right displacement values ​​in each displacement pairing is calculated to generate the corresponding displacement deviation data. When the calculated difference is within the range of 0.01m to 0.03m, it can be determined that the main body is in a basically straight longitudinal movement state; if the difference exceeds this range, it indicates that the main body may have a lateral displacement trend during the longitudinal movement.

[0145] Based on the above difference, the lateral displacement trend of the main body during the longitudinal movement is determined, and the actual longitudinal displacement of the main body is calculated by combining the average value of the displacement values ​​output by the displacement detection sensors on both sides, thereby realizing real-time monitoring of the longitudinal movement status of the truss-type cage-floating box main body.

[0146] Of particular importance is the detection of whether the truss-type gabion-floating body is completely floating, including:

[0147] Record whether each rolling airbag still maintains supporting contact with the surface of the drainage channel based on the contact status between the rolling airbag and the drainage channel surface;

[0148] Read the changes in the draft of the pontoon to determine whether the pontoon is continuously rising.

[0149] Check the gap between the bottom of the gabion pile legs and the surface of the drainage channel to confirm whether the pile legs have detached from the channel surface.

[0150] When the rolling airbag gradually loses its load-bearing function and a stable gap is formed between the pile legs and the drainage channel, it is determined that the main body is in a floating state.

[0151] In one embodiment, to determine whether the main body of the truss-type gabion-floating box has fully entered the water area and is floating, a comprehensive inspection of the contact state between the main body and the drainage channel can be performed. Specifically, firstly, the contact state between the rolling airbags and the surface of the drainage channel is recorded to determine whether each rolling airbag is still in supporting contact with the channel surface. For example, the pressure state of the airbags or changes in contact pressure can be observed to determine whether the airbags are still bearing the weight of the main body. When the rolling airbags gradually deflate and show obvious relaxation, it indicates that their load-bearing capacity is weakening.

[0152] Simultaneously, the draft changes of the pontoon are read to determine whether the pontoon continues to rise. For example, when the draft of the pontoon gradually stabilizes in the range of 0.8m to 1.2m, and the change is small in a short period of time (e.g., ≤0.02m), it can be considered that the pontoon has formed stable buoyancy.

[0153] In addition, the gap between the bottom of the gabion pile legs and the surface of the drainage channel is checked to confirm whether the pile legs have detached from the channel surface. For example, when a stable gap of 0.02m to 0.05m is formed between the bottom of the pile legs and the channel surface, it indicates that the main body is no longer supported by the channel.

[0154] When it is detected that the rolling airbag gradually loses its load-bearing capacity, and a stable gap is formed between the pile legs and the water channel, while the draft of the pontoon remains stable, it can be determined that the main body of the truss-type gabion-pontoon is in a completely floating state, thus entering the subsequent operation stage of releasing the traction device and recovering the rolling airbag.

[0155] Of particular importance is reading the changes in the draft of the pontoon to determine whether it is continuously trending upwards, including:

[0156] Water level markers are set at different heights on the outer walls of both sides of the pontoon.

[0157] Observe the relative positional changes between the sea surface and each water level marker line during the launching process of the main body;

[0158] Record the change in seawater level between two adjacent water level markers to obtain the change in the draft of the pontoon.

[0159] By comparing the changes in draft over consecutive time periods, it can be determined whether the draft of the pontoon is gradually decreasing.

[0160] When the draft changes at multiple consecutive moments show a decreasing trend, it is determined that the pontoon is in a state of continuous buoyancy.

[0161] In one embodiment, the change in the draft of the pontoon is read to determine whether the pontoon is continuously rising. This can be observed and recorded by setting water level markers. Specifically, multiple water level markers are set at different vertical heights on the outer walls of both sides of the pontoon. The spacing between adjacent water level markers can be set to 0.10 m to 0.20 m, and they are distinguished by color or scale to facilitate visual identification during launching.

[0162] During the launching process, the relative positional changes between the seawater surface and each water level marker are observed by on-site personnel or auxiliary observation devices. The corresponding time is recorded when the seawater surface passes two adjacent water level markers, thereby determining the change in the height of the seawater surface between two adjacent markers and obtaining the change in the draft of the pontoon.

[0163] Then, the changes in draft recorded at consecutive times are compared. For example, a record is made at a time interval of 10s to 30s. When the draft values ​​corresponding to multiple consecutive recording times (such as 3 to 5 times) gradually decrease, it can be determined that the overall buoyancy of the pontoon is gradually increasing.

[0164] When the draft changes at multiple consecutive moments show a stable decreasing trend, and the decrease ranges from 0.02m to 0.10m, it can be determined that the pontoon is in a continuous floating state, and this can be used as the basis for judging that the main body of the truss-type gabion-pontoon is gradually approaching a fully floating state.

[0165] Therefore, the embodiments should be considered as exemplary and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of the equivalents of the application are intended to be included within the invention.

[0166] The above description is merely a specific embodiment of the present invention, enabling those skilled in the art to understand or implement the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the present invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features of the invention herein.

Claims

1. A method for the integrated launching of a truss-type gabion-floating box co-operating rolling airbag staged lifting system, characterized in that, Includes the following steps: Step S1: Set up a water channel on the near-shore slope to rigidly connect the pontoon to the truss-type net cage; arrange multiple sets of rolling airbags at longitudinal intervals at the bottom of the pontoon, and install air pressure regulating device, attitude detection device and traction device. Step S2: Start the air compressor to inflate the rolling airbags in the middle, so that the main body of the truss-type net cage-floating box can be initially lifted off the ground, and check the pressure of each rolling airbag and the attitude of the main body; Step S3: Continue to inflate the rolling airbags on both sides to lift the main body to the predetermined longitudinal movement height, and correct the posture of the main body by adjusting the air pressure of each rolling airbag; Step S4: Using a winch and in conjunction with external pushing equipment, the main body of the truss-type net cage-floating box is rolled longitudinally along the waterway towards the water area under the support of rolling airbags; Step S5: After the front end of the pontoon enters the water area, gradually reduce the air pressure of the rolling airbag, so that the main body load is gradually converted from the support of the rolling airbag to the buoyancy of the pontoon; Step S6: Check whether the main body of the truss-type net cage-floating box is completely floating; if so, disconnect the traction device and extract the rolling airbag from the bottom of the floating box for recovery, thus completing the launching operation.

2. The integrated launching method for truss-type gabion-floating box coordinated rolling airbag staged lifting according to claim 1, characterized in that, Step S5 includes the following steps: Step S51: After the front end of the pontoon enters the water area, the attitude monitoring component is activated to continuously sample the pontoon's draft, pitch angle and roll angle, and generate attitude monitoring data. Step S52: Calculate the buoyancy growth rate of the float box based on the attitude monitoring data and compare it with the preset buoyancy replacement rate range; Step S53: When the buoyancy increase rate of the float reaches the preset buoyancy replacement rate range, perform zoned depressurization control on the rolling airbags, so that the front airbags depressurize first and the middle airbags depressurize later. Step S54: During the depressurization process, the longitudinal movement speed of the cage is monitored synchronously. When the longitudinal movement speed of the cage exceeds the set safe speed, the depressurization is paused and the current air pressure is maintained. Step S55: Once the draft of the pontoon reaches the preset stable value, release the front airbag load, allowing buoyancy to gradually replace the airbag support.

3. The integrated launching method for truss-type gabion-floating box coordinated rolling airbag staged lifting according to claim 2, characterized in that, Step S53, which involves performing zoned depressurization control on the rolling airbag, includes: The rolling airbag is divided longitudinally into a front depressurization zone, a middle transition zone, and a rear stabilization zone. The pressure is gradually reduced by the air pressure regulating valve in the front depressurization zone of the rolling airbag, with a single depressurization range of 0.003-0.005 MPa; Maintain constant pressure in the rolling airbag in the middle transition zone; The tail stabilization zone roll airbags maintain the initial lifting pressure; When the buoyancy of the float reaches 60%-70% of the main body weight, the pressure of the rolling airbag in the middle transition zone is reduced simultaneously.

4. The integrated launching method for truss-type gabion-floating box coordinated rolling airbag staged lifting according to claim 3, characterized in that, The gradient depressurization of the rolling airbag in the front depressurization zone via the air pressure regulating valve also includes: Obtain the real-time air pressure values ​​of each rolling airbag in the front depressurization zone; Based on the real-time air pressure value, the exhaust regulating valves of the corresponding rolling airbags are opened sequentially according to the longitudinal arrangement of the net cages, so that the rolling airbags on the side closer to the water area are depressurized first. After a single rolling airbag completes one deflation cycle, the pressure remains stable, and changes in the longitudinal tilt attitude of the cage are detected. When the longitudinal tilt angle of the cage is detected to be within a stable range, the exhaust regulating valve of the next rolling airbag is opened to carry out the next round of depressurization; After completing one round of depressurization, the pressure difference of each rolling airbag is re-detected, and the rolling airbags are adjusted by slightly replenishing or venting air according to the pressure difference.

5. The integrated launching method for truss-type gabion-floating box coordinated rolling airbag staged lifting according to claim 4, characterized in that, Based on real-time air pressure values, the exhaust regulating valves of the corresponding rolling airbags are opened sequentially according to the longitudinal arrangement of the cages, including: The current pressure distribution of the rolling airbags in the front depressurization zone is determined based on the real-time air pressure values ​​of each rolling airbag. The corresponding exhaust regulating valves are numbered sequentially according to the installation order of the rolling airbags along the longitudinal direction of the cage. The exhaust regulating valve on the side with the control number closest to the water area is opened first, causing the corresponding rolling airbag to exhaust and reduce pressure. After the rolling airbag completes one deflation cycle, the corresponding deflation regulating valve is closed, and the real-time air pressure value of the rolling airbag is read again. The updated real-time air pressure value is compared with the air pressure status of the adjacent rolling airbags, and the next numbered exhaust regulating valve is opened to continue exhausting and reducing pressure based on the comparison result.

6. The integrated launching method for truss-type gabion-floating box coordinated rolling airbag staged lifting according to claim 5, characterized in that, The updated real-time air pressure value is compared with the air pressure status of adjacent rolling airbags, and based on the comparison result, the next numbered exhaust regulating valve is opened to continue exhausting and depressurizing, including: Get the updated first real-time air pressure value of the currently deflated rolling airbag; Read the second real-time air pressure value of the rolling airbag arranged adjacent to the rolling airbag; Calculate the pressure difference between the first real-time air pressure value and the second real-time air pressure value to determine the degree of pressure balance between the rolling airbags in the front depressurization zone; The next numbered exhaust regulating valve is opened according to the pressure balance, so that the corresponding rolling airbag can exhaust and reduce pressure. After the next rolling airbag begins to deflate, the exhaust valve of the previous rolling airbag remains closed to maintain the current air pressure stability.

7. The integrated launching method for truss-type gabion-floating box coordinated rolling airbag staged lifting according to claim 2, characterized in that, Step S54, which involves synchronously monitoring the longitudinal movement speed of the cage during the voltage reduction process, includes: A displacement detection sensor is installed at the tail of the cage to detect the longitudinal displacement of the main body in real time; The longitudinal velocity is calculated based on continuous displacement data, and then compared with the set safe velocity. When the longitudinal movement speed exceeds the safe speed, the airbag exhaust valve is automatically closed and the current air pressure is locked. At the same time, the main winch is controlled to apply reverse braking force to suppress the longitudinal movement speed of the main body. Once the longitudinal movement speed returns to a safe level, restart the airbag depressurization process.

8. The integrated launching method for truss-type gabion-floating box coordinated rolling airbag staged lifting according to claim 7, characterized in that, Installing a displacement detection sensor at the tail of the cage to detect the longitudinal displacement of the main body in real time also includes: Displacement detection sensors are installed at the truss nodes on both sides of the tail of the cage, and the two sensors are arranged symmetrically along the longitudinal direction of the cage. A reference reflector or calibration reference point is fixedly installed at the end of the sewer channel so that the displacement detection sensor uses the reference reflector or calibration reference point as a measurement reference. Before the main body begins longitudinal movement, the displacement detection sensor is calibrated to zero position to record the displacement reference value corresponding to the initial position of the cage. During the longitudinal movement of the main body, displacement data is synchronously output by displacement detection sensors on both sides, and the two sets of displacement data are compared to detect the longitudinal displacement of the main body in real time.

9. The integrated launching method for truss-type gabion-floating box coordinated rolling airbag staged lifting according to claim 8, characterized in that, Before the main body begins longitudinal movement, the displacement detection sensor is calibrated to zero position to record the displacement reference value corresponding to the initial position of the cage, including: The central rolling airbag is depressurized to cause the truss-type cage-floating box body to sink slightly and form a stable contact with the surface of the drainage channel; The current output displacement value of the displacement detection sensor is read when the main body is in a stable contact state; The current output displacement value is used as the contact reference position of the main body on the sewer channel and recorded as the displacement reference value; Restore the original air pressure of the central rolling airbag to put the main body back into the airbag support state, and record the displacement reference value corresponding to the initial position of the cage.

10. The integrated launching method for truss-type gabion-floating box coordinated rolling airbag staged lifting according to claim 8, characterized in that, During the longitudinal movement of the main body, displacement data is synchronously output by displacement detection sensors on both sides, and the two sets of displacement data are compared to detect the longitudinal displacement of the main body in real time, including: Displacement signals from both displacement detection sensors are read simultaneously at the same sampling time interval; Record the displacement values ​​of the displacement detection sensors on both sides at the same sampling time; The displacement values ​​output by the displacement detection sensors on both sides at the same time are paired and marked. The difference between the two sets of displacement values ​​after pairing is calculated to obtain the difference in displacement changes on both sides. The difference is used to determine the lateral offset trend of the main body during the longitudinal movement, thereby obtaining the longitudinal displacement of the main body.

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