An underwater installation device and method for Reno mattresses

Abstract

This invention discloses an underwater laying device and method for Reno mattresses, relating to the field of underwater slope protection construction technology. The device includes a stone loading system, a floating platform, a movement and positioning system, and a comprehensive control system. The stone loading system precisely supplies stones, the movement and positioning system prevents construction deviation, the floating platform completes the underwater laying, and the comprehensive control system is electrically connected to all electrical components of the stone loading system, the floating platform, and the movement and positioning system, achieving closed-loop coordinated control. This invention solves problems such as easy positioning deviation, mattress damage, discontinuous construction, environmental disturbance caused by dry-land cofferdams, and high stone transportation costs during underwater construction of Reno mattresses in deep water areas, achieving integrated continuous construction throughout the entire process and improving construction quality and efficiency.

Description

Technical Field

[0001] This invention relates to the field of underwater slope protection construction technology, specifically to a Reno mattress underwater laying construction device and method. Background Technology

[0002] In the fields of water conservancy projects, river regulation, and ecological protection of reservoir banks, Reno mattresses are widely used in waterfront slope protection and reinforcement projects due to their advantages such as excellent flexibility, strong erosion resistance, and good ecological compatibility. For reservoirs, deep-water rivers, and other areas with consistently high water levels, slope protection construction is carried out entirely in an underwater environment, making direct dry-land operations impossible. Currently, the mainstream underwater Reno mattress construction methods in the industry are mainly divided into three categories: First, conventional barges are modified to complete mattress splicing and stone filling on the hull, and then towed underwater using a winch; second, after completing mattress prefabrication, stone filling, and sealing on land, the entire mattress is lifted and transported underwater using hoisting equipment; third, after constructing an earth-rock cofferdam and completing foundation pit drainage and seepage prevention, dry-land construction is carried out using land-based techniques.

[0003] Existing mainstream construction techniques have revealed several shortcomings in practical applications: First, relying solely on anchoring for positioning, modified barges are prone to displacement due to water flow impacts, resulting in significant deviations in the placement of the retaining mats and easy deformation and damage to the netting during loading and towing. Second, the method of prefabrication on land followed by hoisting causes the retaining mats to be compressed and the stones to become loose, making it difficult to conform to the designed slope alignment. Third, cofferdam construction is not only time-consuming and costly, but also reduces the cross-sectional area of ​​the river channel, disturbs the aquatic ecosystem, and faces significant flood control pressure during the flood season, making normal operations impossible. Fourth, traditional techniques mainly involve intermittent single-piece operations, making continuous construction impossible. In addition, the use of water transport for stones also results in high transshipment costs and low material loading efficiency, making it difficult to meet the overall construction quality, efficiency, and economic requirements for large-scale underwater slope protection projects in deep water areas.

[0004] Therefore, there is an urgent need for an underwater laying device and method for Reno mattresses to solve the above-mentioned problems in the existing technology. Summary of the Invention

[0005] To address these issues, this invention provides an underwater laying device and method for Reno mattresses, which solves problems such as easy positioning deviation, easy damage to the mattresses, discontinuous construction, environmental disturbance caused by dry cofferdams, and high cost of stone transportation during underwater construction of Reno mattresses in deep water areas. It achieves integrated continuous construction throughout the entire process, improving construction quality and efficiency.

[0006] To achieve the above objectives, the present invention provides the following technical solution: an underwater laying construction device for Reno mattresses, comprising a stone filling system, a floating work platform, a movement and positioning system, and an integrated control system; the stone filling system is used to supply stone, the movement and positioning system is used to prevent construction deviation, the floating work platform completes underwater laying, and the movement and positioning system and the integrated control system are both mounted on the floating work platform; the integrated control system is electrically connected to all electrical components of the stone filling system, the floating work platform, and the movement and positioning system, and realizes closed-loop coordinated control; The stone loading system includes a stone dump truck; the starting end of the stone dump truck's hopper overlaps with the unloading steel plate; the ending end of the unloading steel plate overlaps with the starting end of the belt conveyor; the bottom of the belt conveyor is fixed to the ground by a belt conveyor fixing steel plate; the ending end of the belt conveyor is located above the bottom of a steel cable support frame; the steel cable support frame is fixed to the bank slope by screws driven into screw holes; the steel cable support crossbar is rotatably connected to the steel cable support frame through a support crossbar connecting gear; steel cables are tied to the steel cable support crossbar, and a support crossbar rotating gear is provided at the end; the steel cable... The middle end of the cable is sequentially connected to the hopper-steel rope fixing component, the hopper connecting steel plate, the hopper connecting rod, and the hopper connecting bolts, and then connected to the stone conveying hopper; the winch traction assembly is fixed on the floating work platform and pulls the steel rope to drive the stone conveying hopper to transport materials back and forth; the floating work platform includes two sets of symmetrically arranged working pontoons; the working pontoons are welded to the left and right sides of the bottom of the main buoy frame; the Reno mattress support deck is welded to the shore-facing side of the main buoy frame; the anti-skid working deck is welded to the upper part of the main buoy frame; the winch steel rope support frame is welded to the shore-facing side of the anti-skid working deck; The movement and positioning system includes a drive displacement device, a surface positioning device, an underwater positioning device, and anti-lateral displacement limiting guide piles; two drive displacement devices are respectively fixed to the bottom of the main buoy frame on the shore side and the offshore side; the surface positioning device is fixed to the anti-slip working deck; the underwater positioning device is fixed to the bottom of the main buoy frame; the anti-lateral displacement limiting guide piles are vertically and retractably installed on both sides of the bottom of the main buoy frame; The integrated control system is fixed on the offshore side of the anti-skid working deck.

[0007] As a preferred embodiment of an underwater laying construction device for Reno mattresses, the stone-loading dump truck is positioned at the top of the bank slope; the stone conveying hopper, driven by the winch traction assembly and the steel rope, moves back and forth along the steel rope between the slope control point and the winch steel rope support, conveying filling stones into the Reno mattress gabion.

[0008] As a preferred embodiment of an underwater laying and construction device for Reno mattresses, the supporting crossbar rotating gear is a manually driven gear; rotating the supporting crossbar rotating gear drives the steel cable supporting crossbar to rotate; the rotation of the steel cable supporting crossbar drives the steel cable to move; the main buoy frame and the working buoy are both made of steel; the surface of the anti-slip working deck is covered with a friction-reducing nylon lining; the Reno mattress supporting deck is used for laying and assembling the Reno mattress cages.

[0009] As a preferred embodiment of an underwater laying construction device for Reno mattresses, the integrated control system is electrically connected to the winch traction assembly, the surface positioning device, the underwater positioning device, the anti-lateral displacement limiting guide pile, and the driving displacement device, respectively, controlling the start-up, stop, displacement, attitude adjustment, and linkage actions of each component to form a fully electrically controlled closed-loop control mode; the anti-lateral displacement limiting guide pile extends vertically downward and inserts into the riverbed via electrical control to achieve fixed positioning of the floating operation platform; when the anti-lateral displacement limiting guide pile is retracted, the floating operation platform can move normally.

[0010] As a preferred embodiment of an underwater laying construction device for Reno mattresses, the belt conveyor can be replaced by manual conveying, chute conveying, bucket conveying, hoisting conveying, screw conveyor, scraper conveyor, or pneumatic conveyor; the stone conveying hopper can be replaced by an electrically controlled quantitative hopper; and the integrated control system can be replaced by a distributed control system.

[0011] This invention also provides a method for underwater laying of Reno mattresses, comprising: clearing the foundation surface of the Reno slope according to the design drawings, removing obstacles such as trees, loose soil, and boulders within the design area, and completing the on-site inspection of construction materials and equipment; setting up position guides at the control coordinate points on the top of the designed mattress and pre-embedding solid threaded steel anchor bars; using a tugboat to tow the underwater construction device of the Reno mattress to the first construction section and launch it into the water, activating the waterborne positioning device through the integrated control system to locate the current position and the target position, and setting the navigation route within the integrated control system; activating the drive displacement device to drive the construction device to the target positioning guide. The platform's position and attitude are adjusted to align its facing side with the slope control line. The underwater positioning device is activated via the integrated control system for underwater positioning and fine-tuning of the platform's attitude. Lateral displacement limiting guide piles are lowered into the riverbed via the integrated control system to limit the platform's position, completing the docking and positioning calibration of the stone loading system and the floating platform. Geotextile is laid on the Reno mattress support deck, and Reno mattress mesh is fixed to the deck using mesh box positioning clamps, assembling an open Reno mattress mesh box. Dump trucks transport the stones to the designated location on the top of the dike, and the stones are unloaded via steel... The plate is conveyed to the belt conveyor and transported to the bottom of the steel cable support frame. After the stone conveying hopper is filled with stone, it is pulled to the top of the Reno mattress box by the winch traction assembly and unloaded. The stone in the Reno mattress box is manually arranged, leveled, and replenished until the stone reaches the designed filling density. The Reno mattress cover plate is twisted together with the side plate and partition plate to form a single row of Reno mattresses, and the single row of Reno mattresses is wrapped and fixed with the pre-embedded solid threaded steel anchor bars. The anti-lateral displacement limiting guide pile is retracted through the integrated control system, and the driving displacement device is activated to drive the construction device to move at a constant speed away from the ground. The mattress is moved parallel to the shore, gradually detaching the mattress raft from the Reno mattress support deck. The mattress raft sinks along the underwater slope under its own weight until it reaches the design elevation and conforms to the slope surface. The slope anchoring scheme of the mattress is implemented according to the slope gradient. After the construction of a single section of the mattress raft is completed, the construction device is controlled by the drive displacement device to move step by step along the shoreline to the next construction section. The construction steps of the single section of the mattress raft are repeated to complete the construction of adjacent mattress rafts. Adjacent mattress rafts are spliced ​​together by twisting steel wires of the same material. After the construction of all sections is completed, the laying quality is inspected and rectified to form a complete underwater slope protection structure.

[0012] As a preferred method for underwater laying of Reno mattresses, the depth of the anti-lateral displacement limiting guide pile inserted into the riverbed is 1.5m to 2.5m; the speed at which the construction device moves toward the shore is controlled at 0.3m / min to 0.8m / min; and the positioning deviation above and below water is controlled within the range of ±3cm to ±8cm.

[0013] As a preferred method for underwater laying of Reno mattresses, a 3cm settlement clearance is reserved during the stone filling process to control the porosity of the stones inside the gabion to be no more than 30%. In the process of forming the single-row Reno mattress by twisting the Reno mattress cover plate, side plate, and partition plate together with a wire twisting tool, the partition plate and side plate, the cover plate and side plate, and the partition plate are all twisted in an alternating single-turn-double-turn manner.

[0014] As a preferred method for underwater installation of Reno mattresses, the slope anchoring scheme for the mattresses, based on the bank slope gradient, includes: When the slope is steeper than 1:3, solid threaded steel anchor bars are installed with a horizontal spacing of 2m and a longitudinal spacing of 3m. The spacing of solid threaded steel anchor bars at the top and bottom of the slope is increased to 1.5m. When the slope is gentler than 1:3, anti-slip stability is achieved by relying on the self-weight of the pad slab and the splicing structure of adjacent pad slabs, without the need for additional anchoring.

[0015] As a preferred embodiment of the underwater laying method for Reno mattresses, the mattress raft can be laid using a shore-based winch for synchronous traction and laying; the construction device can be moved along the shoreline using a stepping motion method, either by continuous sliding or arc-shaped rotation.

[0016] The present invention has the following advantages: First, the present invention integrates the processes of mattress assembly, stone filling, sealing and sinking into one, which can be carried out continuously in a step-by-step manner along the shoreline without the need to build a cofferdam, which greatly improves the overall construction efficiency and effectively shortens the project period.

[0017] Secondly, the protective mattresses are manufactured on a special platform and laid down at a uniform speed. The mesh is not easily pulled or deformed, the internal stone filling is uniform, and the adjacent protective mattresses are firmly spliced ​​together, significantly enhancing the overall structural stability and erosion resistance of the slope.

[0018] Third, the entire construction equipment can be reused repeatedly, eliminating the need for cofferdam construction and investment in large hoisting equipment. At the same time, it adopts a direct onshore material supply method, avoiding the additional costs of transporting materials by water, and effectively controlling project investment.

[0019] Fourth, it can be adapted to various water areas such as rivers, reservoirs, and lakes, as well as bank slopes with different gradients. The operation process does not damage the original water environment, and the water and soil can be exchanged normally, which is in line with the construction concept of ecological water conservancy. Attached Figure Description

[0020] To more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings in the following description are merely exemplary, and those skilled in the art can derive other embodiments based on the provided drawings without creative effort.

[0021] The structures, proportions, sizes, etc. illustrated in this specification are only for the purpose of assisting those skilled in the art in understanding and reading the content disclosed herein, and are not intended to limit the conditions under which the present invention can be implemented. Therefore, they have no substantial technical significance. Any modifications to the structure, changes in the proportions, or adjustments to the size, without affecting the effects and objectives that the present invention can produce, should still fall within the scope of the technical content disclosed in the present invention.

[0022] Figure 1 is an isometric view of a Reno mattress underwater laying construction device provided in Embodiment 1 of the present invention.

[0023] Figure 2 is a schematic diagram of the right side of a Reno mattress underwater laying construction device provided in Embodiment 1 of the present invention.

[0024] Figure 3 is a schematic diagram of the bottom of the laying device of an underwater laying construction device for Reno mattresses provided in Embodiment 1 of the present invention.

[0025] Figure 4 is a schematic diagram of the implementation process of an underwater laying method for Reno mattresses provided in Embodiment 2 of the present invention.

[0026] In the diagram: 1. Stone-loading dump truck; 2. Unloading steel plate; 3. Belt conveyor; 4. Belt conveyor fixing steel plate; 5. Steel rope support frame; 6. Screw holes; 7. Steel rope support crossbar; 8. Support crossbar connecting gear; 9. Steel rope; 10. Support crossbar rotating gear; 11. Hopper-steel rope fixing component; 12. Hopper connecting steel plate; 13. Hopper connecting rod; 14. Hopper connecting bolt; 15. Stone conveying hopper; 16. Winch traction assembly; 17. Anti-slip working deck; 18. Winch steel rope upright; 20. Main buoy frame; 21. Reno mattress support deck; 22. Working pontoon; 23. Drive displacement device; 24. Waterborne positioning device; 25. Underwater positioning device; 26. Anti-lateral displacement limiting guide pile; 27. Integrated control system. Detailed Implementation

[0027] The following specific embodiments illustrate the implementation of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention. Example 1

[0028] Referring to Figures 1, 2, and 3, Embodiment 1 of the present invention provides an underwater laying construction device for Reno mattresses, including a stone filling system, a floating work platform, a movement and positioning system, and an integrated control system 27; the movement and positioning system and the integrated control system 27 are both mounted on the floating work platform; the integrated control system 27 is electrically connected to all electrical components of the stone filling system, the floating work platform, and the movement and positioning system, and realizes closed-loop coordinated control.

[0029] Specifically, this device adopts a modular integrated architecture with four major systems, each performing its own function independently while also cooperating with each other. The stone loading system is responsible for continuously transporting stones from the bank slope and top of the dike to the floating work platform. The floating work platform, as the core load-bearing structure, provides a stable working space on the water for all construction operations. The movement and positioning system ensures the platform's accurate positioning and smooth movement in complex water flow environments. The integrated control system serves as the command center of the device, coordinating the synchronous operation of each system according to construction process requirements through preset control programs and real-time feedback signals. The fully electrically controlled closed-loop collaborative design can monitor the operating status of each component in real time and automatically adjust when deviations occur, ensuring the continuity and stability of the construction process and avoiding the problems of lag and large operational errors inherent in traditional manual operation methods.

[0030] The stone loading system includes a stone dump truck 1; the hopper of the stone dump truck 1 overlaps with the starting end of the unloading steel plate 2; the ending end of the unloading steel plate 2 overlaps with the starting end of the belt conveyor 3; the bottom of the belt conveyor 3 is fixed to the ground by a belt conveyor fixing steel plate 4; the ending end of the belt conveyor 3 is located above the bottom of the steel rope support frame 5; the steel rope support frame 5 is fixed to the bank slope by screws driven into screw holes 6; the steel rope support crossbar 7 is rotatably connected to the steel rope support frame 5 by a support crossbar connecting gear 8; a steel rope 9 is tied to the steel rope support crossbar 7, and a support crossbar rotating gear 10 is provided at the end; the middle end of the steel rope 9 is connected in sequence to the hopper-steel rope fixing component 11, the hopper connecting steel plate 12, the hopper connecting rod 13, and the hopper connecting bolt 14, and then connected to the stone conveying hopper 15; the winch traction component 16 is fixed to the floating work platform and pulls the steel rope 9 to drive the stone conveying hopper 15 to transport materials back and forth.

[0031] Specifically, the dump truck 1 transports stones meeting the required particle size directly from the quarry to the unloading position on the top of the embankment slope, eliminating the need for waterborne transfer. The unloading steel plate 2 is made of wear-resistant steel plate with a thickness of not less than 8mm, and its inclination angle is set at 15°~20°, allowing the stones to smoothly slide into the belt conveyor 3 under their own weight, while preventing blockage during unloading. The belt conveyor 3 adopts a trough-type idler structure, with a conveyor width of 600mm~800mm, and the conveying speed can be adjusted within the range of 0.5m / s~1.5m / s according to construction requirements. The belt conveyor fixing steel plate 4 is made of steel plate with a thickness of more than 10mm, connected to the belt conveyor frame by welding, and buried in the ground at a depth of not less than 30cm, effectively preventing the belt conveyor from shaking or shifting during operation. The steel cable support frame 5 is welded from structural steel, and its height is determined according to the slope height and the location of the floating work platform. It is firmly connected to the concrete foundation or solid soil of the slope by inserting expansion bolts of M20 or larger into the screw holes 6. The steel cable support crossbar 7 is made of seamless steel pipe with a diameter of not less than 100mm. It is rotatably connected to the bearing seat at the top of the steel cable support frame 5 through the support crossbar connecting gear 8. Manually rotating the support crossbar rotating gear 10 can drive the steel cable support crossbar 7 to rotate, thereby adjusting the tension and traction angle of the steel cable 9.

[0032] The hopper-steel rope fixing component 11 is made of casting and is firmly connected to the steel rope 9 by U-bolts. The hopper connecting steel plate 12, hopper connecting rod 13, and hopper connecting bolt 14 together form a rigid connection structure, which can evenly transfer the weight of the stone conveying hopper 15 to the steel rope 9, preventing the hopper from tilting or swaying during transportation. The winch traction component 16 uses an electric winch with a rated traction force of not less than 50kN. It is connected to one end of the steel rope 9 by a steel wire rope, which can drive the stone conveying hopper 15 to move back and forth between the bank control point and the floating operation platform to achieve continuous stone transportation.

[0033] The floating work platform includes two sets of symmetrically arranged work pontoons 22; the work pontoons 22 are welded to the left and right sides of the bottom of the main pontoon frame 20; the Reno mattress support deck 21 is welded to the shore-facing side of the main pontoon frame 20; the anti-skid work deck 17 is welded to the upper part of the main pontoon frame 20; and the winch steel cable support frame 18 is welded to the shore-facing side of the anti-skid work deck 17.

[0034] Specifically, the main pontoon frame 20 adopts a truss structure welded from steel profiles, with an overall length of not less than 12m and a width of not less than 6m, which can meet the requirements for the preparation and placement of individual Reno mattresses. The working pontoons 22 are closed hollow cylindrical structures welded from steel plates with a thickness of not less than 6mm, with a diameter of not less than 1.2m and a length of not less than 10m. Two sets of working pontoons 22 are symmetrically arranged on the left and right sides of the bottom of the main pontoon frame 20, with a spacing of not less than 4m, providing sufficient buoyancy and anti-overturning stability for the platform, and able to resist the impact of water flow with a velocity not exceeding 2m / s. The Reno mattress support deck 21 is made of patterned steel plates with a thickness of not less than 10mm and welded to the crossbeams on the shore side of the main pontoon frame 20. Its length is consistent with the main pontoon frame 20, its width is not less than 2.5m, and its surface is smooth and flat, ensuring the smooth laying of the Reno mattress mesh and the stable sliding out of the mattress rafts. The anti-slip working deck 17 is made of steel plate with a thickness of not less than 8mm, and the surface is covered with a friction-reducing nylon lining with a thickness of not less than 5mm. This not only prevents construction workers from slipping during operation, but also reduces frictional resistance when the equipment moves. The winch steel cable support 18 is welded from structural steel and has a height of not less than 3m. It is firmly fixed to the crossbeam on the shore side of the anti-slip working deck 17 by welding. The top is equipped with a guide pulley, which can change the traction direction of the steel cable 9 to ensure that the stone conveying hopper 15 can accurately reach the unloading position above the Reno mattress gabion.

[0035] The movement and positioning system includes a drive displacement device 23, a surface positioning device 24, an underwater positioning device 25, and anti-lateral displacement limiting guide piles 26; the two drive displacement devices 23 are respectively fixed to the bottom of the shore-facing side and the offshore side of the main buoy frame 20; the surface positioning device 24 is fixed to the anti-slip working deck 17; the underwater positioning device 25 is fixed to the bottom of the main buoy frame 20; the anti-lateral displacement limiting guide piles 26 are vertically and retractably installed on both sides of the bottom of the main buoy frame 20.

[0036] Specifically, the drive displacement device 23 uses electric thrusters, with a single unit rated power of not less than 15kW. Two thrusters are respectively arranged at the center of the bottom of the main pontoon frame 20 on the shore-facing and shore-offshore sides. Controlled by an independent control unit, it can achieve various movement modes such as forward, backward, turning, and lateral translation of the platform, ensuring the platform can accurately move to the target construction position. The surface positioning device 24 uses a GPS global positioning system with positioning accuracy controlled within ±5cm, capable of acquiring the platform's surface coordinates and heading information in real time. The underwater positioning device 25 uses an underwater acoustic positioning system, capable of monitoring the relative position and distance between the platform's bottom and the underwater bank slope in real time, compensating for the inability of the surface positioning system to reflect the actual position of the underwater structure. The anti-lateral displacement limiting guide pile 26 is made of seamless steel pipe with a diameter of not less than 200mm and a length of not less than 6m. It achieves vertical extension and retraction through a hydraulic drive device, with a maximum extension stroke of not less than 3m, and can be inserted into the riverbed to a depth of not less than 2.5m. The lower end of the anti-lateral displacement limiting guide pile 26 is a conical structure, which makes it easy to insert into the riverbed. Its guide sleeve is firmly welded to the bottom of the main floating box frame 20, which can ensure that the guide pile only makes vertical straight-line movement, effectively resisting the lateral thrust generated by the water flow on the platform and preventing the platform from shifting laterally during construction.

[0037] The integrated control system 27 is fixed on the offshore side of the anti-skid working deck 17.

[0038] Specifically, the integrated control system 27 uses an industrial-grade PLC controller as its core control unit, equipped with a touchscreen human-machine interface, a data acquisition module, and a wireless communication module. Its installation location is chosen on the offshore side of the anti-slip working deck 17, away from areas such as stone filling and mattress preparation, effectively preventing damage to the control equipment from dust, vibration, and material collisions generated during construction. The integrated control system 27 is electrically connected via cables to the hydraulic drive devices of the winch traction assembly 16, drive displacement device 23, surface positioning device 24, underwater positioning device 25, and anti-lateral displacement limiting guide pile 26. It can receive real-time operating data and status signals from each device and automatically send control commands according to preset construction process parameters. Operators can set construction parameters, view equipment operating status and construction progress through the touchscreen human-machine interface, and also manually intervene according to actual site conditions. The wireless communication module enables data transmission with the shore-based command center, facilitating real-time monitoring of the construction situation by management personnel.

[0039] In this embodiment, the stone-loading dump truck 1 is positioned at the top of the embankment; the stone conveying hopper 15, driven by the winch traction assembly 16 and the steel rope 9, moves back and forth along the steel rope 9 between the slope control point and the winch steel rope support 18, conveying filling stones into the Reno mattress net box 19.

[0040] Specifically, the dump truck 1 is positioned on the top of the embankment slope, making full use of the existing road conditions. Stones can be transported directly from the quarry to the unloading point without intermediate steps such as dock loading / unloading or barge transfer, significantly shortening the material transport path and reducing transportation costs and stone loss. The slope control point is set at the design elevation on the embankment slope, with its coordinates aligned with the top edge of the Reno mattress gabion 19, ensuring accurate initial unloading position of the stone conveying hopper 15. The winch traction assembly 16 uses variable frequency speed control, allowing the traction speed to be steplessly adjusted within the range of 0.2m / s to 1.0m / s. A higher speed can be used when the empty hopper returns to improve conveying efficiency, while a lower speed is used when unloading under heavy load to ensure smooth operation. An electric unloading gate is installed at the bottom of the stone conveying hopper 15. It automatically opens for unloading when it moves directly above the Reno mattress gabion 19 and automatically closes after unloading, effectively controlling the unloading amount and preventing stones from spilling outside the gabion.

[0041] In this embodiment, the support crossbar rotating gear 10 is a manually driven gear; by rotating the support crossbar rotating gear 10, the steel cable support crossbar 7 is driven to rotate; the rotation of the steel cable support crossbar 7 drives the steel cable 9 to move; Specifically, the support crossbar rotating gear 10 is a cast steel gear with a module of 8 and a transmission ratio of 1:20. Operators can easily rotate the steel cable support crossbar 7 by turning the matching hand crank, without requiring an additional power source. Positioning pin holes are provided on the side of the gear. After the steel cable 9 is adjusted to the appropriate position, inserting the positioning pins will fix the steel cable support crossbar 7, preventing it from rotating during construction. Rotating the support crossbar rotating gear 10 moves the steel cable 9, mainly for adjusting the tension and traction angle of the steel cable 9: when changes in water level cause changes in the height of the floating platform, the tilt angle of the steel cable 9 can be adjusted by rotating the crossbar to ensure the stable operation of the stone conveying hopper 15; when the steel cable 9 becomes loose after long-term use, the steel cable can be tightened by rotating the crossbar to prevent shaking or jamming during hopper operation.

[0042] The main buoy frame 20 and the working buoy 22 are both made of steel; the surface of the anti-slip working deck 17 is covered with a friction-reducing nylon lining; the Reno mattress support deck 21 is used to lay and assemble the Reno mattress net box 19.

[0043] Specifically, both the main pontoon frame 20 and the working pontoon 22 are made of Q235B carbon structural steel. This steel has good weldability and mechanical strength, meeting the load requirements of water operations. The steel surface is sandblasted to remove rust, achieving a rust removal grade of Sa2.5, followed by two coats of epoxy zinc-rich primer and one coat of polyurethane topcoat, providing corrosion protection for at least 10 years and effectively resisting corrosion from water and the atmosphere. The anti-slip working deck 17 has an 8mm thick friction-reducing nylon liner, bolted to the deck for easy replacement. This liner has excellent wear resistance and anti-slip properties, preventing workers from slipping in wet environments and reducing frictional resistance when the Reno mattress slides out, thus preventing scratches on the mattress mesh. The length and width of the Reno mattress support deck 21 are designed according to the size of the standard Reno mattress gabion, which can accommodate the laying and assembly of two standard gabions at the same time. The deck edge is equipped with removable gabion positioning blocks to prevent the gabions from shifting during the filling of stones.

[0044] In this embodiment, the integrated control system 27 is electrically connected to the winch traction assembly 16, the water positioning device 24, the underwater positioning device 25, the anti-lateral displacement limiting guide pile 26, and the driving displacement device 23, respectively, to control the start-up, stop, displacement, attitude adjustment and linkage action of each component, forming a fully electric closed-loop control mode. The anti-lateral displacement limiting guide pile 26 is electrically driven to extend vertically downward and insert into the riverbed, thereby fixing and limiting the floating operation platform; when the anti-lateral displacement limiting guide pile 26 is retracted, the floating operation platform can move normally.

[0045] Specifically, the integrated control system 27 adopts an architecture combining centralized and distributed control. The system can collect real-time operating parameters of each component, including the winch's traction force and speed, the power and speed of the drive displacement device, the coordinate data of the above-water and underwater positioning devices, and the extension / retraction position of the anti-lateral displacement guide pile, and display this data on the touchscreen. In the fully electronic closed-loop control mode, the system can automatically complete a series of actions such as platform positioning, guide pile lowering, and stone conveying according to preset construction parameters. For example, when the above-water and underwater positioning devices detect that the platform has reached the target position, the system automatically stops the drive displacement device 23, and then starts the hydraulic system to lower the anti-lateral displacement guide pile 26. When the guide pile is inserted into the riverbed to the set depth, the system automatically locks the guide pile and sends a start command to the winch traction component 16. The anti-lateral displacement guide pile 26 is hydraulically driven with an extension / retraction speed of 0.1 m / s. The system uses displacement sensors installed on the guide pile to detect its extension / retraction position in real time. When the guide pile is lowered to the set depth or retracted to the initial position, the hydraulic pump automatically stops, ensuring accurate and reliable operation.

[0046] In this embodiment, the belt conveyor 3 can be replaced by manual conveying, chute conveying, bucket conveying, hoisting conveying, screw conveyor, scraper conveyor or pneumatic conveyor, etc.; the stone conveying hopper 15 can be replaced by an electrically controlled quantitative hopper; and the integrated control system 27 can be replaced by a distributed control system.

[0047] Specifically, alternatives to belt conveyor 3 can be selected based on construction conditions and stone characteristics: manual conveying is suitable for small-scale, sporadic water-based construction scenarios with limited space, small single-fill volume, and no access to large conveying equipment. It has low equipment investment costs and is flexible enough to adapt to scattered cage filling operations, but its conveying efficiency is relatively low, making it only suitable for small-scale construction. Sluice and chute conveying relies on the weight of the stones to complete the feeding process. It has a simple structure and requires no power drive, making it suitable for floating platforms with significant elevation differences. It is less prone to jamming, and only requires controlling the stone particle size to avoid clogging the chute channel. Sluice and chute conveying requires controlling the stone particle size, and its speed is difficult to control. Bucket conveying requires access to land-based excavator construction conditions and is suitable for large-particle conveying. Large-diameter stone transfer with high single-pass capacity allows for direct transfer from the stockpile to the deck hopper, suitable for large-scale Reno mattress batch filling operations, and highly mobile. Hoisting transport utilizes lifting equipment in conjunction with the hopper to transport stones, enabling long-distance stone transfer across waterways and work stations, suitable for multi-floating pontoon operations and situations where the material storage area is far from the filling deck. Screw conveyors are suitable for conveying fine stones with a particle size less than 50mm, featuring a compact structure and small footprint. Scraper conveyors are suitable for conveying stones with high viscosity or high moisture content, effectively preventing material adhesion. Pneumatic conveyors are suitable for short-distance, low-flow stone transport, requiring no mechanical transmission components and simplifying maintenance. Replacing the stone conveying hopper 15 with an electrically controlled quantitative hopper allows for automatic measurement of each unloading weight via built-in weighing sensors, achieving quantitative filling of stones, ensuring uniform filling of each Reno mattress cage, and improving the overall quality of the mattress. When the integrated control system 27 is replaced with a distributed control system, slave controllers can be set up in each subsystem, and the master station and slave stations communicate through industrial Ethernet, resulting in higher system reliability and scalability.

[0048] In summary, the operating principle of this invention is as follows: During the construction preparation stage, expansion bolts are first driven into the top area of ​​the bank slope through the screw holes 6 to fix the steel rope support frame 5. The bottom of the belt conveyor 3 is fixed in the ground by the belt conveyor fixing steel plate 4, so that the starting end of the belt conveyor 3 overlaps with the ending end of the unloading steel plate 2. The starting end of the unloading steel plate 2 is reserved to overlap with the hopper of the stone dump truck 1. The floating operation platform is towed to the vicinity of the construction water area by tugboats, and the electrical connection and debugging of each component of the device are completed.

[0049] During the platform positioning and fixing phase, the integrated control system 27 activates the above-water positioning device 24 to obtain the platform's current above-water coordinates, and simultaneously activates the underwater positioning device 25 to obtain the relative position information between the platform's bottom and the underwater bank slope. The system automatically generates a navigation route based on preset construction coordinates and controls the two drive displacement devices 23 to operate in coordination, moving the platform towards the target construction position. During the movement, the system compares the positioning data with the target coordinates in real time and dynamically adjusts the speed and direction of the drive displacement devices 23 to ensure that the platform's bank-facing sideline is parallel to the slope protection control line, controlling the above-water and underwater position deviations within the set range. After positioning is completed, the integrated control system 27 controls the anti-lateral displacement limiting guide pile 26 to extend downwards and insert into the riverbed, achieving mechanical limiting and fixing of the platform. Subsequently, the rotating gear 10 of the support crossbar drives the steel cable support crossbar 7 to rotate, adjusting the tension and traction angle of the steel cable 9, so that one end of the steel cable 9 is connected to the winch traction component 16, and the other end extends to the slope protection control point, completing the construction of the stone conveying channel.

[0050] During the stone conveying and mattress preparation stage, the stone-loading dump truck 1 travels to the unloading position on the top of the embankment and unloads the stones through the unloading steel plate 2 into the belt conveyor 3. The belt conveyor 3 continuously conveys the stones to the receiving position at the bottom of the steel rope support frame 5. After the pre-positioned stone conveying hopper 15 is loaded, the integrated control system 27 starts the winch traction assembly 16, which pulls the steel rope 9 to move the stone conveying hopper 15 along the steel rope 9 towards the winch steel rope support frame 18. When the hopper moves directly above the Reno mattress box 19, the winch... The traction component 16 stops operating, the discharge gate at the bottom of the hopper opens, and the stones are unloaded into the Reno mattress cage 19; the empty hopper returns to the slope control point under the drive of the winch traction component 16, and the above loading and unloading process is repeated; during the stone filling process, manual assistance is provided to place stones, level and replenish materials until the designed filling density is achieved; then the Reno mattress cover plate is laid, and a simple wire twisting tool set is used to complete the twisting and sealing of the cover plate with the side plate and partition plate to form a single row of Reno mattress, and the mattress is wrapped and fixed with the solid threaded steel anchor bar pre-embedded in the bank slope.

[0051] During the mattress placement and continuous construction phase, the integrated control system 27 controls the anti-lateral displacement limiting guide piles 26 to retract upwards to their initial positions, and then activates the drive displacement device 23 to move the platform at a uniform speed parallel to the offshore side. Under its own weight, the Reno mattress rafts gradually detach from the Reno mattress support deck 21 and sink smoothly along the underwater slope until they reach the design elevation and fit tightly against the slope surface. During placement, the integrated control system 27 dynamically adjusts the moving speed of the drive displacement device 23 according to the mattress placement posture to prevent the mattress from twisting or shifting. After a single section of mattress construction is completed, the integrated control system 27 controls the drive displacement device 23 to move the platform step by step along the shoreline to the next construction section, repeating the entire process of platform positioning, stone transportation, mattress preparation and placement. Adjacent mattress rafts are spliced ​​together by twisting steel wires of the same material to form a continuous and complete underwater slope protection structure.

[0052] During operation, the integrated control system 27 collects real-time operating data and status signals from the winch traction assembly 16, drive displacement device 23, water positioning device 24, underwater positioning device 25, and anti-lateral displacement limiting guide pile 26. When an abnormal situation occurs, it automatically issues an alarm and stops the operation of the relevant components to ensure construction safety and quality. Example 2

[0053] Referring to Figure 4, Embodiment 2 of the present invention also provides a method for underwater laying of Reno mattresses, including: S1. Based on the design drawings, conduct foundation clearing work on the Reno revetment foundation surface, clearing obstacles such as trees, loose soil, and boulders within the design area, and completing the on-site inspection of construction materials and equipment; set up position guides at the control coordinate points on the top of the revetment, and pre-embed solid threaded steel anchor bars; S2. Use tugboats to tow the Reno revetment underwater construction device to the first construction section and launch it into the water. Activate the waterborne positioning device through the integrated control system to locate the current position and target position, and set the navigation route within the integrated control system; activate the drive displacement device to move the construction device to the target positioning guide point, adjust the platform position and attitude, and ensure the platform... The facing side line is parallel to the slope protection control line; the underwater positioning device is activated through the integrated control system to perform underwater positioning and fine-tune the platform attitude; the anti-lateral displacement limiting guide piles are lowered through the integrated control system, so that the anti-lateral displacement limiting guide piles are inserted into the riverbed to limit the platform, completing the docking and installation and positioning calibration of the stone filling system and the floating operation platform; S3, geotextile is laid on the Reno mattress support deck, and the Reno mattress mesh is fixed on the Reno mattress support deck through the mesh box positioning clamps to assemble an open Reno mattress mesh box; dump trucks transport stones to the designated position on the top of the dike, and the stones are conveyed to the belt conveyor through the unloading steel plate. The stones are transported to the bottom of the steel rope support frame via the belt conveyor; after the stone conveying hopper is filled with stones, it is pulled to the top of the Reno mattress cage by the winch traction assembly and unloaded; the stones in the Reno mattress cage are manually arranged, leveled, and replenished until the stones reach the designed filling density; the Reno mattress cover plate is twisted together with the side plate and partition plate to form a single row of Reno mattresses, and the single row of Reno mattresses is wrapped and fixed with the pre-embedded solid threaded steel anchor bars; S4, the anti-lateral displacement limiting guide pile is retrieved through the integrated control system, and the driving displacement device is activated to drive the construction device to move parallel to the offshore side at a uniform speed. The movement causes the mattress raft to gradually detach from the Reno mattress support deck; the mattress raft sinks along the underwater slope under its own weight until it reaches the design elevation and fits the slope surface, and the slope anchoring scheme of the mattress is implemented according to the slope gradient; S5, after the construction of a single section of the mattress raft is completed, the construction device is controlled by the drive displacement device to move step by step along the shoreline to the next construction section, and the construction steps of the single section of the mattress raft are repeated to complete the construction of adjacent mattress rafts; adjacent mattress rafts are spliced ​​together by twisting steel wires of the same material. After all sections are completed, the laying quality is inspected and rectified to form a complete underwater slope protection structure.

[0054] In this embodiment, in step S1, the foundation surface of the Reno slope protection is cleared according to the design drawings, and obstacles such as trees, loose soil and boulders within the design range are cleared. The incoming inspection of construction materials and equipment is completed. Position guides are set at the control coordinate points on the top of the design pad, and solid threaded steel anchor bars are pre-embedded.

[0055] Specifically, the clearing operation will be carried out using excavators in conjunction with manual labor. The clearing depth will be no less than 30cm, and the flatness of the bank slope surface after clearing will be controlled within ±10cm. All removed debris, soil, and boulders will be transported to designated spoil heaps and must not be discarded into the water. Material inspection mainly includes: testing the material, diameter, coating thickness, and tensile strength of the Reno mattress wire; testing the particle size, gradation, compressive strength, and mud content of the aggregate; and testing the specifications and mechanical properties of the solid threaded steel anchor bars. Equipment inspection mainly includes: testing the insulation performance and operating status of electrical equipment such as the integrated control system, drive displacement device, and winch traction components; calibrating the positioning accuracy of the surface and underwater positioning devices; and testing the expansion and contraction function of the anti-lateral displacement limiting guide piles. Positioning guides will be made of reinforced concrete piles with a clear red marking on the top. The spacing between guides will not exceed 50m, and the coordinate deviation will be controlled within ±5cm. The pre-embedded solid threaded steel anchor bars are made of HRB400 grade steel bars with a diameter of not less than 20mm, a depth of not less than 1.5m into the bank slope, and an exposed length of not less than 30cm. The anchor bars are laid along the top edge of the protective mat at a spacing of 2m.

[0056] In this embodiment, in step S2, the Reno mattress underwater construction device is towed to the first construction section and launched into the water using a tugboat. The waterborne positioning device is activated through the integrated control system to locate the current position and the target position, and a navigation route is set within the integrated control system. The drive displacement device is activated to move the construction device to the target positioning guide point, and the platform position and attitude are adjusted so that the platform's bank-facing side line is parallel to the slope protection control line. The underwater positioning device is activated through the integrated control system to perform underwater positioning and fine-tune the platform's attitude. The anti-lateral displacement limiting guide pile is lowered through the integrated control system so that the anti-lateral displacement limiting guide pile is inserted into the riverbed to limit the platform, completing the docking, installation, and positioning calibration of the stone filling system and the floating operation platform.

[0057] Specifically, the equipment will be towed using tugboats with a power of no less than 500 horsepower, with a towing speed controlled within 3 knots. During towing, dedicated personnel will be on duty to prevent collisions with other vessels or obstacles. The equipment will be launched using a ramp-slide method. Before launching, the sealing of all components will be checked to ensure there are no leaks. After the integrated control system activates the surface positioning device, it automatically acquires the platform's current latitude and longitude coordinates and heading information. Operators input the coordinate parameters of the target construction section on the touchscreen, and the system automatically generates the optimal navigation route. The drive displacement device adopts a dual-machine collaborative control mode, adjusting the platform's steering and attitude by adjusting the speed difference between the two thrusters, ensuring that the parallelism deviation between the platform's shore-facing sideline and the slope control line is no more than 1°. The underwater positioning device uses the principle of underwater acoustic ranging to measure the relative distance and elevation between the platform's bottom and the underwater slope in real time. The system fine-tunes the platform's position based on the measurement results, keeping the underwater position deviation within ±5cm. The anti-lateral displacement guide piles are lowered using a hydraulic drive, with the insertion depth controlled between 1.5m and 2.5m. After the guide piles are lowered, the system automatically locks the hydraulic circuit to prevent retraction. The installation of the stone filling system mainly includes: adjusting the end point of the belt conveyor to above the bottom of the steel cable support frame; connecting one end of the steel cable to the winch traction assembly; and adjusting the tension of the steel cable by rotating the support crossbar and rotating the gear, ensuring the stone conveying hopper can run smoothly along the steel cable.

[0058] In this embodiment, in step S3, geotextile is laid on the Reno mattress support deck, and the Reno mattress mesh is fixed on the Reno mattress support deck by the mesh box positioning clamp to assemble an open Reno mattress mesh box; dump trucks transport stones to a designated position on the top of the dike, and the stones are conveyed to a belt conveyor via unloading steel plates, and then transported to the bottom of the steel rope support frame by the belt conveyor; after the stone conveying hopper is filled with stones, it is pulled to the top of the Reno mattress mesh box by a winch traction assembly and unloaded; the stones in the Reno mattress mesh box are manually arranged, leveled, and replenished until the stones reach the designed filling density; the Reno mattress cover plate is twisted together with the side plate and partition plate to form a single row of Reno mattresses, and the single row of Reno mattresses is wrapped and fixed with the pre-embedded solid threaded steel anchor bars.

[0059] Specifically, non-woven geotextile is used, with a unit area mass of not less than 200g / m2. During installation, it is spread out along the length of the platform, with an overlap width of not less than 20cm between adjacent geotextiles. It is fixed to the Reno mattress support deck using U-shaped nails. During cage assembly, the Reno mattress mesh is first laid flat on the geotextile. The four corners of the mesh are fixed to the deck using cage positioning clamps. Then, the mesh is unfolded, and the side panels and partitions are folded up. The side panels and partitions are twisted together using steel wire of the same material, with a twisting interval of not more than 15cm, using an alternating single-loop and double-loop twisting method to ensure the cage structure is sturdy. The stone-loading dump truck 1 slowly reverses to the unloading position, evenly unloading the stones into the unloading steel plate. The unloading speed is controlled to not exceed 50m3 per hour to prevent stone blockage at the unloading port. The conveyor belt speed is adjusted to 1.0m / s, continuously conveying the stones to the receiving position at the bottom of the steel cable support frame. The stone conveying hopper has a capacity of 1m³. After being filled with stones, the winch traction assembly pulls the hopper to the top of the Reno mattress gabion at a speed of 0.5m / s. The electric unloading gate at the bottom of the hopper automatically opens to unload the stones, with the unloading time controlled within 10 seconds. When manually placing the stones, larger-diameter stones are evenly placed at the bottom and corners of the gabion, with smaller-diameter stones filling the center. A 3cm allowance for settlement clearance is left during filling. The compaction is checked using a stake method until the design requirements are met. After the cover plate is laid, a simple wire twisting tool set is used to twist the cover plate, side plates, and partitions together to seal it, with a twisting interval not exceeding 20cm. Finally, the wire mesh at the top of the mattress is wrapped and fixed to the pre-embedded solid threaded steel anchor bars, with each anchor bar wrapped at least 3 times to ensure a firm connection.

[0060] In this embodiment, in step S4, the anti-lateral displacement limiting guide pile is retracted through the integrated control system, and the driving displacement device is activated to drive the construction device to move parallel to the offshore side at a uniform speed, so that the mattress raft gradually detaches from the Reno mattress support deck; the mattress raft sinks along the underwater slope by its own weight until it sinks to the design elevation and fits the slope surface. The slope anchoring scheme for the mattress, implemented according to the slope gradient, includes: when the slope gradient is steeper than 1:3, solid threaded steel anchor bars are installed with a lateral spacing of 2m and a longitudinal spacing of 3m; the spacing of the solid threaded steel anchor bars at the top and bottom of the slope is increased to 1.5m; when the slope gradient is gentler than 1:3, anti-sliding stability is achieved by the self-weight of the mattress raft and the splicing structure of adjacent mattress rafts, without the need for additional anchoring.

[0061] Specifically, before the mattress is lowered, the connection between the mattress and the anchor bars is checked. Once it is confirmed that there is no looseness, the integrated control system controls the anti-lateral displacement guide piles to retract upwards at a speed of 0.1 m / s until the lower end of the guide piles is completely off the riverbed. Then, the drive displacement device is activated, moving the platform at a constant speed of 0.3 m / min to 0.8 m / min towards the shore side, maintaining the platform's shore-facing side edge parallel to the slope control line throughout the movement. Under its own weight, the Reno mattress raft gradually slides out from the shore-facing end of the Reno mattress support deck and sinks smoothly along the underwater slope. During the lowering process, divers monitor the mattress's sinking posture underwater in real time. If any twisting, shifting, or suspension is detected, the platform's movement speed is immediately adjusted via the integrated control system, and movement is paused if necessary. After the mattress raft is completely detached from the platform, its sinking continues to be observed until the bottom of the mattress completely adheres to the slope surface and the top elevation meets the design requirements.

[0062] In this embodiment, in step S5, an anchoring scheme is selected and set according to the slope of the bank to reinforce the protective mat raft.

[0063] Specifically, the reinforcement method is selected based on the measured slope of the bank: when the slope is gentler than 1:3, the mattress slabs can achieve anti-slip fixation by their own weight and the overall integrity of the splicing of adjacent mattresses, without the need for additional anchor bars; when the slope is steeper than 1:3, solid threaded steel anchor bars are required for reinforcement. During reinforcement construction, divers carry handheld drills to work underwater, drilling holes along the middle and lower parts of the mattress at intervals of 2m horizontally and 3m vertically. The diameter of the drill holes is 5mm larger than the diameter of the anchor bars, and the drilling depth is not less than 1.5m. Then, solid threaded steel anchor bars are inserted into the drill holes and fixed with cement mortar. The exposed length of the anchor bars is not less than 20cm. Finally, the anchor bars are wrapped and fixed to the mattress mesh.

[0064] At the top and toe of the slope, the spacing of the anchor bars is increased to 1.5m to improve the overall anti-slip stability of the retaining mat.

[0065] In this embodiment, in step S5, after the construction of a single section of the protective mat slab is completed, the construction device is controlled by the driving displacement device to move step by step along the shoreline to the next construction section, and the construction steps of the single section of the protective mat slab are repeated to complete the construction of adjacent protective mat slabs; adjacent protective mat slabs are spliced ​​together by twisting steel wires of the same material. After all sections are completed, the laying quality is inspected and rectified to form a complete underwater slope protection structure.

[0066] Specifically, after the construction of a single section of the protective mat is completed, the integrated control system controls the drive displacement device to move the platform along the shoreline to the next construction section according to the preset step distance (which is consistent with the width of a single protective mat). During the movement, the platform position is monitored in real time to ensure that the step deviation is no more than 5cm.

[0067] Upon reaching the next construction section, repeat all construction steps from S2 to S5 to complete the construction of adjacent retaining mat sections. Adjacent retaining mat sections are joined using steel wire of the same material, with a twisting interval of no more than 15cm and an overlap length of no less than 20cm at the joints to ensure a secure connection. After all sections are completed, a comprehensive inspection of the paving quality is conducted, including: positional deviation of the retaining mats, elevation deviation, filling density, joint strength, and anchoring quality. Any areas failing the inspection are rectified promptly, such as adjusting the position of the retaining mats, adding stones, re-twisting and splicing, or reinforcing with anchor bars. Once all rectification is completed and accepted, a continuous and complete underwater slope protection structure is formed.

[0068] In one possible embodiment, an application example of underwater slope protection engineering in the upstream section of a reservoir is provided as follows: This embodiment uses an underwater slope protection project in the upstream section of a reservoir as an application scenario. The slope of this project is an earthen slope with a gradient of 1:3.5. The water level is 5m higher than the bottom elevation of the slope year-round, and there are no dry-land construction conditions. The design uses 0.23m thick Reno mattresses for full slope protection. Each Reno mattress is 2m×6m in size with a mesh size of 6×8cm. The specific construction process is as follows: T1. Construction preparation and bank slope clearing

[0069] According to design requirements, the bank slope within the control line area was cleared, including all trees, loose soil, and boulders. A ship-mounted excavator, in conjunction with manual labor, was used for underwater leveling. After clearing, the surface flatness of the bank slope was controlled within ±10cm. Control points were set up every 10m along the control line to define the Reno mattress laying boundaries according to the design drawings. Simultaneously, the incoming inspection of Reno mattress mesh, aggregate, and anchor bars was conducted to ensure that the aggregate particle size, compressive strength, and mud content met design requirements. φ25mm solid threaded steel anchor bars were pre-installed at the top of the bank slope for anchoring the Reno mattress. The anchor bars were buried 1.5m into the bank slope with a 30cm exposed length, and were spaced 2m apart along the top edge of the mattress.

[0070] T2. Installation and positioning of construction equipment

[0071] The completed Reno mattress underwater construction equipment (including a floating platform, a movement and positioning system, and an integrated control system) was towed by tugboat to the first construction section and then slowly launched into the river. The integrated control system activated the onboard GPS positioning system's surface positioning device to determine the current and target positions. An optimal navigation route was calculated within the integrated control system, and the drive displacement device was activated to navigate the construction equipment to the target positioning guide point. The platform's position and attitude were adjusted so that the platform's bank-facing sideline was parallel to the slope control line, controlling the surface position deviation within ±5cm. The integrated control system then activated the onboard GPS positioning system's underwater positioning device for underwater positioning. Based on the positioning results, the platform's attitude was fine-tuned, controlling the underwater position deviation within ±5cm. The integrated control system lowered anti-lateral displacement guide piles, inserting them approximately 2m into the riverbed for stability, completing the platform's movement limitation. Subsequently, the stone filling system was installed, docked with the floating platform, and its positioning was calibrated.

[0072] Integrated manufacturing of T3 and Reno mattresses

[0073] A non-woven geotextile with a unit area mass of 200 g / m² is laid on the Reno mattress support deck, with an overlap of 20 cm between adjacent geotextile sections, and secured with U-shaped nails. The Reno mattress mesh is then laid on the geotextile using mesh box positioning clamps and fixed to the Reno mattress support deck as a whole. The mesh is unfolded, and the side panels and partitions are folded up. Using a simple wire twisting tool set, the partitions and side panels are twisted together at 15 cm intervals using alternating single and double loops to assemble an open Reno mattress mesh box.

[0074] The stones are transported to the designated unloading location on the top of the embankment by dump trucks. The stones are then unloaded onto a belt conveyor via unloading steel plates, and transported to the bottom of the steel cable support frame. The stone conveying hopper is pre-positioned at the bottom of the steel cable support frame. Manual labor, with the help of shovels, loads the stones into the stone conveying hopper. The hoisting assembly then pulls the stone conveying hopper to the top of the Reno mattress cage, and the unloading gate is opened to unload the stones into the cage.

[0075] Manual assistance is used for stone placement and leveling. Large-diameter stones are evenly distributed at the bottom and corners of the gabion, while small-diameter stones are filled in the middle. The porosity of the stones inside the gabion is controlled to be no more than 30%, and a 3cm allowance for settlement clearance is reserved during filling. After the stones are filled and leveled, Reno mattress covers are laid. Using manual wire twisting tools, the covers are twisted together with the side plates and partitions at 15cm intervals using alternating single and double turns to form a single row of Reno mattresses. The top wire mesh of the mattress is then wrapped and fixed to the pre-embedded solid threaded steel anchor bars, with each anchor bar wrapped at least 3 times.

[0076] T4. Uniform speed dragging and sinking

[0077] The anti-lateral displacement guide piles are retrieved through the integrated control system, and the movement and positioning system is activated to control the floating work platform to move parallel to the offshore side at a uniform speed of 0.5 m / min. This allows the mattress raft to gradually detach from the Reno mattress support deck and, under its own weight, continuously sink along the underwater slope until it naturally sinks to the design elevation and completely conforms to the slope surface. During the sinking process, dedicated personnel monitor the mattress sinking elevation and attitude in real time, dynamically adjusting the platform's movement speed and traction tension to prevent mattress deformation, breakage, or accumulation.

[0078] T5, stable underwater pad

[0079] The overall slope of the riverbank in this project is 1:3.5, which is gentler than 1:3. Therefore, anti-slip fixation can be achieved through the self-weight of the mattress and the overall integrity of the splicing of adjacent mattresses, without the need for additional anchor bars. If there are sections of the riverbank with a slope steeper than 1:3, after the mattress is placed in place, a handheld drilling rig will be used to drill holes in the middle and lower part of the mattress at a horizontal spacing of 2m and a longitudinal spacing of 3m. Solid threaded steel anchor bars with a diameter of φ25mm and a length of 3m will be driven in. The Reno mattress mesh and the anchor bars will be firmly locked together by the anchor plate and the self-locking locking plate. The spacing of the locking points at the slope toe and slope top will be increased to 1.5m.

[0080] T6, Step-by-Step Continuous Construction and Overall Slope Formation

[0081] After laying a single 5m section of mattress, the construction equipment is moved 5m along the shoreline to the next construction section. The platform is then fixed by lowering anti-lateral displacement guide piles using the integrated control system. This process is repeated to complete the construction of adjacent mattress sections. Adjacent mattress sections are joined together using steel wire of the same material, with alternating single and double loops at 15cm intervals to ensure the integrity of the joint. Ten adjacent Reno mattresses are simultaneously joined by twisting their side plates, forming a continuous 50m long mattress section.

[0082] After the entire section of the revetment was laid, underwater detection equipment and divers conducted a comprehensive inspection of the laying quality. The inspection included revetment position deviation, elevation deviation, filling density, splicing strength, and anchoring quality. Uneven or insufficiently filled areas were corrected underwater to ultimately form a continuous and complete underwater slope protection structure.

[0083] This embodiment of the project eliminates the need for earth-rock cofferdams during construction. A single 5m section of mattress can be assembled and anchored in just one hour, significantly improving construction efficiency compared to traditional methods. The flatness deviation of the mattress layout is controlled within ±5cm, preventing deformation, slippage, or damage. Construction quality meets design requirements, and overall construction costs are significantly reduced, resulting in excellent project implementation, social, and economic benefits.

[0084] The application scenarios of this invention are as follows: In the underwater slope protection construction scenario of reservoir area, this invention does not require the construction of cofferdams to create dry working conditions, and can directly complete the integrated laying construction of Reno mattresses in the environment of year-round deep water level, which is suitable for conventional slope protection conditions such as soil slopes.

[0085] In the scenario of natural river channel restoration and slope protection, this invention can adapt to the working environment of flowing water, resist water flow disturbance through the platform limiting structure, realize the continuous laying of the protective mat, and is suitable for the normal underwater protection project of the river.

[0086] In the ecological protection scenarios of lakes and riverbanks, the construction process of this invention does not disturb the aquatic ecology or reduce the cross-sectional area of ​​water passage. It can smoothly complete the preparation of the protective mat and the underwater sinking operation, and is suitable for the construction needs of ecological water conservancy slope protection.

[0087] In the scenario of reinforcing water-adjacent embankments where there are no dry ground conditions, this invention adopts an integrated construction mode on water, avoiding the cumbersome procedures of traditional cofferdam construction, and effectively improving the construction efficiency and overall structural stability of the embankment's underwater slope protection.

[0088] In complex slope protection scenarios with varying elevations and gradients, this invention can adaptively adjust the anchoring construction method according to the slope gradient, adapting to underwater slope protection construction conditions with different slope ratios, thus having a wider range of applications.

[0089] The present invention has been described in a relatively specific and detailed manner above through general descriptions and specific embodiments. It should be understood that, based on the technical concept of the present invention, several conventional adjustments or further innovations can be made to these specific embodiments; however, as long as they do not depart from the technical concept of the present invention, the technical solutions obtained by these conventional adjustments or further innovations also fall within the protection scope of the claims of the present invention.

Claims

1. A Reno mattress underwater laying construction device, characterized in that, The system includes a stone loading system, a floating platform, a movement and positioning system, and a comprehensive control system (27); the movement and positioning system and the comprehensive control system (27) are both mounted on the floating platform; the comprehensive control system (27) is electrically connected to all electrical components of the stone loading system, the floating platform, and the movement and positioning system, and achieves closed-loop coordinated control; the stone loading system includes a stone dump truck (1); the hopper of the stone dump truck (1) overlaps with the starting end of the unloading steel plate (2); the ending end of the unloading steel plate (2) overlaps with the starting end of the belt conveyor (3); the bottom of the belt conveyor (3) is buried in the ground and fixed by the belt conveyor fixing steel plate (4); the ending end of the belt conveyor (3) Located above the bottom of the steel rope support frame (5); the steel rope support frame (5) is fixed to the bank slope by screws driven into the screw holes (6); the steel rope support crossbar (7) is rotatably connected to the steel rope support frame (5) through the support crossbar connecting gear (8); the steel rope (9) is tied to the steel rope support crossbar (7), and the end is provided with the support crossbar rotating gear (10); the middle end of the steel rope (9) is connected in sequence to the hopper-steel rope fixing part (11), the hopper connecting steel plate (12), the hopper connecting rod (13), and the hopper connecting bolt (14) and then connected to the stone conveying hopper (15); the winch traction assembly (16) is fixed on the floating operation platform and pulls the steel rope (9) to drive the stone conveying hopper (15) to transport materials back and forth; The floating work platform includes two sets of symmetrically arranged work pontoons (22), which are welded to the left and right sides of the bottom of the main pontoon frame (20); the Reno mattress support deck (21) is welded to the shore-facing side of the main pontoon frame (20); the anti-slip work deck (17) is welded to the upper part of the main pontoon frame (20); the winch steel cable support frame (18) is welded to the shore-facing side of the anti-slip work deck (17); the movement and positioning system includes a drive displacement device (23) and a water... The main buoy frame (20) includes an upper positioning device (24), an underwater positioning device (25), and an anti-lateral displacement limiting guide pile (26). Two drive displacement devices (23) are respectively fixed to the bottom of the main buoy frame (20) on the shore side and the offshore side. The upper positioning device (24) is fixed to the anti-slip working deck (17). The underwater positioning device (25) is fixed to the bottom of the main buoy frame (20). The anti-lateral displacement limiting guide pile (26) is vertically and retractably installed on both sides of the bottom of the main buoy frame (20). The integrated control system (27) is fixed on the offshore side of the anti-skid working deck (17).

2. The underwater laying and construction device for Reno mattresses according to claim 1, characterized in that, The stone-loading dump truck (1) is positioned at the top of the bank slope; the stone conveying hopper (15), driven by the winch traction assembly (16) and the steel rope (9), moves back and forth along the steel rope (9) between the slope control point and the winch steel rope support frame (18) to convey filling stones into the Reno mattress net box (19).

3. The underwater laying and construction device for Reno mattresses according to claim 2, characterized in that, The support crossbar rotating gear (10) is a manually driven gear; by rotating the support crossbar rotating gear (10), the steel rope support crossbar (7) is driven to rotate; the rotation of the steel rope support crossbar (7) drives the steel rope (9) to move; The main pontoon frame (20) and the working pontoon (22) are both made of steel; the surface of the anti-slip working deck (17) is covered with a friction-reducing nylon lining; the Reno mattress support deck (21) is used to lay and assemble the Reno mattress cage (19).

4. The underwater laying and construction device for Reno mattresses according to claim 3, characterized in that, The integrated control system (27) is electrically connected to the winch traction assembly (16), the water positioning device (24), the underwater positioning device (25), the anti-lateral displacement limiting guide pile (26), and the driving displacement device (23) respectively, and controls the start-up, stop, displacement, attitude adjustment and linkage action of each component to form a fully electric closed-loop control mode. The anti-lateral displacement limiting guide pile (26) is electrically driven to extend vertically downward and insert into the riverbed to achieve the fixed limiting of the floating operation platform; when the anti-lateral displacement limiting guide pile (26) is retracted, the floating operation platform moves normally.

5. The underwater laying and construction device for Reno mattresses according to claim 4, characterized in that, The belt conveyor (3) is replaced by manual conveying, chute conveying, bucket conveying, hoisting conveying, screw conveyor, scraper conveyor or pneumatic conveyor; the stone conveying hopper (15) is replaced by an electrically controlled quantitative hopper; the integrated control system (27) is replaced by a distributed control system.

6. A method for underwater laying of Reno mattresses, characterized in that, include: According to the design drawings, the foundation surface of the Reno revetment was cleared, removing obstructing trees, loose soil, and boulders within the design area. Inspection of incoming construction materials and equipment was completed. Position guide markers were placed at the control coordinate points on the top of the revetment, and solid threaded steel anchor bars were pre-embedded. The underwater construction device for the Reno revetment was towed to the first construction section and launched using a tugboat. The surface positioning device was activated through the integrated control system to determine the current and target positions, and a navigation route was set within the integrated control system. The drive displacement device was activated to move the construction device to the target positioning guide point, adjusting the platform position and attitude so that the platform's facing side was parallel to the revetment control line. The underwater positioning device was activated through the integrated control system for underwater positioning and fine-tuning of the platform's attitude. Lateral displacement limiting guide piles were lowered through the integrated control system, inserting them into the riverbed to limit the platform's position. The docking and positioning calibration of the stone filling system and the floating operation platform were completed. Geotextile is laid on the Reno mattress support deck, and the Reno mattress mesh is fixed on the Reno mattress support deck using mesh box positioning clamps to assemble an open Reno mattress mesh box. Dump trucks transport stones to a designated position on the top of the dike, and the stones are conveyed to a belt conveyor via unloading steel plates, and then transported to the bottom of the steel rope support frame via the belt conveyor. After the stone conveying hopper is filled with stones, it is pulled to the top of the Reno mattress mesh box by a winch traction assembly and unloaded. The stones in the Reno mattress mesh box are manually arranged, leveled, and replenished until the stones reach the designed filling density. The Reno mattress cover plate is twisted together with the side plates and partitions using a wire twisting tool to form a single row of Reno mattresses, and the single row of Reno mattresses is wrapped and fixed with the pre-embedded solid threaded steel anchor bars. The integrated control system retrieves the anti-lateral displacement guide piles, and the driving displacement device is activated to drive the construction device to move parallel to the offshore side at a uniform speed, so that the mattress raft gradually detaches from the Reno mattress support deck. The mattress raft sinks along the underwater slope under its own weight until it reaches the design elevation and fits the slope surface. The slope anchoring scheme of the mattress is implemented according to the slope gradient. After the construction of a single section of the mattress raft is completed, the driving displacement device controls the construction device to move step by step along the shoreline to the next construction section, and the construction steps of the single section of the mattress raft are repeated to complete the construction of adjacent mattress rafts. Adjacent mattress rafts are spliced ​​together by twisting steel wires of the same material. After the construction of all sections is completed, the laying quality is inspected and rectified to form a complete underwater slope protection structure.

7. The underwater laying method for Reno mattresses according to claim 6, characterized in that, The depth of the anti-lateral displacement limiting guide pile inserted into the riverbed is 1.5m to 2.5m; the speed at which the construction device moves toward the shore is controlled at 0.3m / min to 0.8m / min; and the positioning deviation above and below water is controlled within the range of ±3cm to ±8cm.

8. A method for underwater laying of Reno mattresses according to claim 6, characterized in that, During the stone filling process, a 3cm settlement clearance is reserved to control the porosity of the stones inside the gabion to be no more than 30%. In the process of forming the single-row Reno mattress by twisting the Reno mattress cover plate with the side plate and partition plate using a twisting tool, the partition plate and side plate, the cover plate and side plate, and the partition plate are all twisted in a single-turn-double-turn alternating manner.

9. A method for underwater laying of Reno mattresses according to claim 6, characterized in that, The slope anchoring scheme for the revetment, based on the slope gradient, includes: when the slope gradient is steeper than 1:3, solid threaded steel anchor bars are installed with a horizontal spacing of 2m and a longitudinal spacing of 3m; the spacing of the solid threaded steel anchor bars at the top and bottom of the slope is increased to 1.5m; when the slope gradient is gentler than 1:3, anti-sliding stability is achieved by relying on the self-weight of the revetment slabs and the splicing structure of adjacent revetment slabs, without the need for additional anchoring.

10. A method for underwater laying of Reno mattresses according to claim 6, characterized in that, The method of sinking the protective mat can be replaced by synchronous traction sinking using a shore-based winch; the method of stepping along the shoreline of the construction device can be replaced by continuous sliding or arc-shaped rotation stepping.

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