Method and device for launching long-distance large-diameter pipeline into water

Abstract

The application relates to a long-distance large-pipe-diameter pipeline launching into water method and device in the technical field of immersed tube construction, which comprises a launching platform, a guide assembly, a front guide frame, a rear guide frame, a floating crane, air bags and a tugboat. The guide assembly is arranged on the launching platform, the front guide frame and the rear guide frame are sequentially arranged at the front and rear ends of the guide assembly, the floating crane is arranged in a water area, a plurality of air bags are arranged between the floating crane and the launching platform, the pipeline is launched into water by sequentially penetrating through the rear guide frame, the guide assembly and the front guide frame, and then extending into the floating crane along the upper surface of the air bags, and the end of the pipeline penetrating through the floating crane is connected with the tugboat. The guide assembly comprises a plurality of guide trolleys, the guide trolleys are arranged at equal intervals, the guide trolley closest to the water area is arranged as a first guide trolley, and the rest of the guide trolleys are arranged as second guide trolleys, the inclination angle of the first guide trolley and the rear guide frame is adjusted first, and then the inclination angles of all the second guide trolleys are adjusted, so that the stability of the long-distance large-pipe-diameter pipeline launching is improved.

Description

Technical Field

[0001] This invention relates to the field of immersed tube construction technology, and in particular to a method and apparatus for launching long-distance, large-diameter pipes into water. Background Technology

[0002] Immersed tunnel construction is a technology used to build underwater tunnels or pipelines. Its core function is to efficiently and safely construct underwater transportation or pipeline channels without interfering with surface navigation and minimizing environmental impact, thereby achieving continuous underwater channels.

[0003] Immersed pipe construction technology usually involves long-distance pipeline laying. In this case, the pipeline used is a long-distance, large-diameter pipeline. The commonly used construction method for long-distance, large-diameter pipelines is to first transport the pipeline segments to the designated area by floating towing for pipeline immersion, and finally assemble the pipeline segments underwater to complete the construction.

[0004] However, existing traditional construction methods require underwater assembly, which is quite difficult and may compromise the quality of the assembled pipeline. This can lead to insufficient stability between pipeline segments, causing them to break during use and affecting the normal operation of the pipeline. Therefore, to address the difficulty of traditional underwater assembly, most current construction methods involve welding multiple pipelines together before launching the complete pipeline into the water. However, current methods still suffer from poor stability when launching complete, long-distance, large-diameter pipelines.

[0005] Therefore, there is an urgent need to provide a method and device for launching water into long-distance, large-diameter pipelines, which improves the stability of launching water into long-distance, large-diameter pipelines compared to existing technologies. Summary of the Invention

[0006] This invention addresses the technical problems existing in the prior art and provides a method and apparatus for launching water into a long-distance, large-diameter pipeline.

[0007] To achieve the above objectives, the technical solution adopted by the present invention is as follows: A long-distance, large-diameter pipeline launching and water-injection device includes a launch platform, a guide assembly, a front guide frame, a rear guide frame, a floating crane, airbags, and a tugboat. The guide assembly is installed on the launch platform. The front guide frame and the rear guide frame are sequentially installed at the front and rear ends of the guide assembly. The floating crane is installed in the water. Multiple airbags are provided between the floating crane and the launch platform. The pipeline passes through the rear guide frame, the guide assembly, and the front guide frame in sequence before being launched and water-injected. It then extends along the upper surface of the airbags and into the floating crane. The pipeline passes through the end of the floating crane and connects to the tugboat. The guiding assembly includes multiple guiding trolleys, which are equally spaced. The guiding trolley closest to the water area is designated as the first guiding trolley, and the remaining guiding trolleys are designated as second guiding trolleys. The first guiding trolley and the rear guide frame are first tilted, and then the tilt angles of all the second guiding trolleys are adjusted so that the tilt angles of the second guiding trolleys are the same as those of the first guiding trolleys. The pipeline entry process is divided into N segments. In the first segment, the pipeline is launched into the water through the inclined surface of the guiding assembly and its own weight. In the other segments, the pipeline is launched into the water through the inclined surface of the guiding assembly, its own weight, and the towing of the tugboat.

[0008] Furthermore, the guide trolley includes a base plate, a lifting plate, an inclined plate, a first cylinder, a second cylinder, and pulleys. The first cylinder passes through the base plate, and its extended end passes through the base plate and is fixedly connected to the lifting plate. One end of the upper wall of the lifting plate is hinged to the inclined plate, and the other end is hinged to the second cylinder. The extended end of the second cylinder is hinged to the lower wall of the inclined plate. Multiple pulleys are rotatably connected to the upper wall of the inclined plate, and the axis of the pulleys is perpendicular to the water inlet direction of the pipeline. The upper wall of the launching platform is provided with a track, and a placement frame is fixedly provided on the lower wall of the base plate. The placement frame is detachably connected to the track.

[0009] Furthermore, the front guide frame includes a guide frame, a guide cylinder, and a guide plate. The guide frame is fixed to the end of the launch platform near the water area. The guide cylinder is installed at the bottom of the guide frame. The extended end of the guide cylinder is fixedly connected to the guide plate. Pipes are placed on the guide plate.

[0010] Furthermore, the structure of the rear guide frame is the same as that of the front guide frame.

[0011] Furthermore, a distance measuring sensor is provided on the front guide frame, and an angle sensor is embedded in the upper wall of the inclined plate; The ranging sensor, the angle sensor, the first cylinder, the second cylinder, and the guide cylinder are all electrically connected to the controller.

[0012] A method for launching water into a long-distance, large-diameter pipeline includes the following steps: S1. On the ground, the welded pipe is inserted into the rear guide frame, guide assembly, and front guide frame in sequence and then extended into the floating crane to obtain the measurement value of the distance sensor, which is set as the initial water entry length. S2. The second cylinder that drives the first guide trolley adjusts the tilt angle of the tilt plate of the first guide trolley. During the adjustment process, the real-time tilt angle of the first guide trolley is obtained. According to the real-time tilt angle The extension of the guide cylinder inside the guide frame is adjusted in real time. Simultaneously, the length of the pipe entering the water, detected by the distance sensor, is acquired. When the detected length of the pipe entering the water increases, the adjustment of the second cylinder and the guide cylinder is stopped, and the tilt angle of the first guide trolley's tilting plate is obtained, denoted as... ; S3. Tilting angle obtained based on step S2 Activate the second cylinders of all the second guide trolleys, so that the tilt angle of the tilt plates of all the second guide trolleys is . The first cylinder of the second guide trolley is activated; the extension amount of each first cylinder is controlled by the controller according to the tilt angle. It is concluded that after all the first and second cylinders of the second guide trolley have completed their movements, the second guide trolley and the first guide trolley are aligned. S4. After subtracting the initial water entry length from the pipe, divide it into N segments. The length of each segment is the initial water entry length. However, when the difference between the water entry length detected by the ranging sensor and the initial water entry length is an integer multiple of the initial water entry length, adjust the tilt angle of the tilt plate of the first guide trolley. Adjust the first guide trolley using the method in step S2, and then adjust the tilt angle of the tilt plate of the second guide trolley using the method in step S3. S5. During the water entry process of the first section of the pipeline, the tugboat does not work. Calculate the water entry speed of this section of the pipeline and set it as the initial speed. During the subsequent water entry process of the pipeline, make the tugboat drag the pipeline to the installation position at the initial speed and apply a dragging force to the pipeline.

[0013] Furthermore, the alignment operation in step S3 is as follows: the controller controls all the laser emitters of the second guide cars to turn on, and at the same time controls the laser receivers of the first guide car and the laser receivers set on the second guide car except for the one furthest from the first guide car to turn on. The laser receivers receive the laser emitted by their corresponding laser emitters. Based on the results of all the laser receivers receiving the lasers, it is determined whether the first cylinder of the second guide car should be adjusted.

[0014] Furthermore, to determine whether the first cylinder of the second guide trolley is being adjusted, the specific method is as follows: The laser receiver's laser reception result is either "laser received" or "laser not received." Starting from the laser receiver installed on the first guide trolley, the laser reception results of each activated laser receiver are analyzed sequentially along the opposite direction of the water inlet in the pipeline. When the analyzed laser receiver's laser reception result is "no laser received," the second cylinder of the second guide trolley, where the laser generator is located, is adjusted within the error height range. During the adjustment of this second cylinder, the analyzed laser receiver's laser reception result is acquired in real time. When the analyzed laser receiver's laser reception result is "laser received," the adjustment of this second cylinder is stopped, and then the laser reception result of the next laser receiver is analyzed. Conversely, the error height range is expanded, and adjustment is performed again until the analyzed laser receiver's laser reception result is "laser received."

[0015] Furthermore, the error height range is ,in, Indicates the length of the inclined plate. It is expressed as the distance from the end of the inclined plate away from its hinge to the upper wall of the lifting plate.

[0016] Furthermore, in step S4, when the difference detected by the ranging sensor from the initial water entry length is n times the initial water entry length, the tilt angle of the first guide trolley's tilt plate is adjusted to the nth adjustment angle, specifically calculated using the following formula: ; In the above formula, This indicates the nth adjustment of the tilt angle.

[0017] Compared with the prior art, the beneficial effects of the present invention are as follows: (1) By setting a guide component, the present invention makes the pipeline tilted when entering the water. The tilt angle of the guide component is set to ensure that the pipeline enters the water under its own weight. At the same time, the tilt angle of the guide component is dynamically adjusted at each stage of the pipeline entering the water so that the pipeline overcomes the buoyancy of the water entry section. Meanwhile, the towing force of the tugboat is increased at the water entry end of the pipeline. The towing force of the tugboat is relatively small. This can ensure that the long-distance large-diameter pipeline can enter the water smoothly, and also ensure the stability of the welded joint of the pipeline, ensuring that the length will not be damaged, and ensuring the stability of the launch of the long-distance large-diameter pipeline.

[0018] (2) By setting up a front guide frame, a rear guide frame and a winch, the present invention limits the diameter of the long-distance, large-diameter pipe in both the water entry direction and the horizontal offset direction, ensuring that the long-distance, large-diameter pipe will not have a large offset during the water entry process, avoiding excessive offset from the installation position and secondary movement, avoiding excessive movement that could cause the pipe weld to break, and thus ensuring the stability of the launch. Attached Figure Description

[0019] Figure 1 This is a side view of the overall structure of the present invention.

[0020] Figure 2 This is a top view of the overall structure of the present invention.

[0021] Figure 3 This is a front view of the guide vehicle of the present invention.

[0022] Figure 4 This is a rear view of the guide vehicle of the present invention.

[0023] Figure 5 This is a top view of the guide vehicle of the present invention.

[0024] Figure 6 This is a side view of the guide trolley of the present invention with the second cylinder extended.

[0025] Figure 7 This is a schematic diagram of the front guide frame of the present invention.

[0026] Explanation of reference numerals in the attached figures: 1. Launching platform; 2. Track; 3. Guide trolley; 31. Base plate; 32. Lifting plate; 33. Inclined plate; 34. First cylinder; 35. Second cylinder; 36. Pulley; 37. Placement frame; 38. Laser emitter; 39. Laser receiver; 4. Front guide frame; 41. Guide frame; 42. Guide cylinder; 43. Guide plate; 5. Rear guide frame; 6. Airbag; 7. Floating crane; 8. Slip ring; 9. Winch; 10. Pipeline. Detailed Implementation

[0027] The technical solution of the present invention will be clearly described below with reference to the accompanying drawings. Obviously, the described embodiments are not all embodiments of the present invention. All other embodiments obtained by those skilled in the art without creative effort are within the protection scope of the present invention. It should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description. They do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention.

[0028] like Figure 1 , Figure 2 As shown, this invention provides a long-distance, large-diameter pipeline launching and water-entry device, including a launch platform, a track, a guide assembly, a floating crane, winches, and a tugboat. The launch platform is set on the ground, and a track is set at the bottom of the launch platform. The guide assembly is installed on the track, forming an inclined surface. A front guide frame and a rear guide frame are respectively set at both ends of the guide assembly. A floating crane is set near the launch platform in the water area. Multiple airbags are set between the floating crane and the launch platform. The pipeline first passes through the rear guide frame, then is set on the inclined surface formed by the guide assembly, then passes through the front guide frame, and enters the floating crane along the upper surface of the airbags. Two winches are set on the ground, and the two winches are respectively located at the launch platform. At both ends of the platform, slip rings are fitted onto the pipes, and the winch ropes of the two winches are detachably connected to the slip rings. After the pipes enter the water, the ends are connected to the tugboat, which pulls the pipes into the water and moves them to the installation position. The pipes are launched into the water through the inclined surface formed by the guide assembly and their own gravity. During the launching process, the inclination angle of the inclined surface formed by the guide assembly is adjusted according to the length of the launched pipe. At the same time, the front guide frame, the rear guide frame, and the winches prevent the pipes from deviating significantly in the horizontal direction, ensuring the direction of the pipes entering the water and achieving stable water entry. Meanwhile, the tugboat applies a towing force to the pipes to ensure that they can smoothly enter the installation position.

[0029] like Figure 1 , Figure 3 , Figure 4 , Figure 5 , Figure 6As shown, the guiding assembly includes multiple guiding trolleys, which are equally spaced on a track. The guiding trolleys are snapped onto the track. Each guiding trolley includes a base plate, a lifting plate, an inclined plate, a first cylinder, a second cylinder, a placement frame, and pulleys. The placement frame is fixedly connected to both sides of the lower end of the base plate. The first cylinder is fixedly connected to the lower wall of the base plate. The extended end of the first cylinder passes through the base plate and is fixedly connected to the lifting plate. The inclined plate is rotatably connected to the upper end of the lifting plate. One end of the inclined plate is rotatably connected to the lifting plate, and the extended end of the second cylinder is hinged to the lower wall of the other end. The lower end of the second cylinder is hinged to the upper end of the lifting plate. The inclined plate has a hollow structure inside and an opening at the lower end. When the inclined plate is parallel to the lifting plate, the second cylinder is housed in the hollow structure of the inclined plate. Multiple pulleys are rotatably connected to the upper wall of the inclined plate. The axis of each pulley is perpendicular to the water inlet direction of the pipe. The inclined plate is equipped with a laser emitter and a laser receiver at its two ends. When the first cylinder and the second cylinder are both in the retracted state, the laser emitter and the laser receiver are on the same horizontal line. During installation, the end of the guide trolley with the laser emitter is located closer to the water area, and the end with the laser receiver is located further away from the water area. An angle sensor is embedded in the upper wall of each inclined plate.

[0030] like Figure 1 , Figure 7 As shown, the front guide frame and the rear guide frame have the same structure. In this invention, the front guide frame is used as an example for structural description. The front guide frame includes a guide frame, a guide cylinder, and a guide plate. Multiple guide cylinders are provided at the bottom of the guide frame. The extended ends of all guide cylinders are fixedly connected to the lower wall of the guide plate. The upper wall of the guide plate is preferably arc-shaped, but it can also be U-shaped or other structures. The pipe is placed on the upper wall of the guide plate. Multiple ball bearings are provided on the upper wall of the guide plate along the water entry direction of the pipe, which can reduce the friction between the pipe and the guide plate. The difference between the front guide frame and the rear guide frame is that the front guide frame is provided with a distance sensor at the end near the water area to measure the length of the pipe entering the water.

[0031] The invention also includes a controller that is electrically connected to the laser receiver and laser emitter, angle sensor and distance sensor of each guide trolley, and is also electrically connected to the first cylinder, the second cylinder and the guide cylinder.

[0032] The present invention also provides a method for launching water into a long-distance, large-diameter pipeline, comprising the following steps: S1. On the ground, multiple short pipe sections are welded together to form a long-distance, large-diameter pipe. The welded pipe is then hoisted through a lifting mechanism and sequentially extended into the rear guide frame, guide assembly, and front guide frame before entering the floating crane. The measured value from the distance sensor is then obtained and set as the initial water entry length.

[0033] S2. Designate the guide trolley closest to the water as the first guide trolley, drive the second cylinder of the first guide trolley to adjust the tilt angle of its tilt plate, and obtain the real-time tilt angle of the first guide trolley during the adjustment process. According to the real-time tilt angle The extension of the guide cylinder inside the rear guide frame is adjusted in real time to ensure that the bottom of the inclined plate of the first guide trolley and the arc-shaped guide plate of the rear guide frame are on the same inclined plane. While adjusting the second cylinder of the first guide trolley and the guide cylinder of the rear guide plate, the pipe ingress length detected by the distance sensor is obtained. When the pipe ingress length detected by the distance sensor increases, the adjustment of the second cylinder of the first guide trolley and the guide cylinder of the rear guide plate is stopped, and the current inclination angle of the inclined plate of the first guide trolley is obtained, denoted as . ,exist At a certain angle, the pipe can be launched into the water under its own weight.

[0034] The extension amount of the guide cylinder of the rear guide frame is specifically calculated according to the new formula: ; In the above formula, This indicates the extension amount of the guide cylinder of the rear guide frame. This indicates the distance between the hinge of the first guide trolley's inclined plate and the axis of the guide cylinder installed inside the rear guide frame.

[0035] S3. Designate the guide trolley other than the first guide trolley as the second guide trolley, based on the tilt angle obtained in step S2. Activate the second cylinders of all the second guide trolleys, so that the tilt angle of the tilt plates of all the second guide trolleys is . The first cylinder of the second guide trolley is activated; the extension amount of each first cylinder is controlled by the controller according to the tilt angle. The distance between the hinge point of the first guide trolley's inclined plate and the axis of the first cylinder of the second guide trolley is calculated. After all the first and second cylinders of the second guide trolleys complete their movements, the controller activates the laser emitters of all the second guide trolleys, and simultaneously activates the laser receivers of the first guide trolleys and the laser receivers located on the second guide trolleys (except those furthest from the first guide trolley). The laser receivers receive the laser emitted by their corresponding laser emitters. Based on the results of all laser receivers receiving the lasers, it is determined whether the first cylinder of the second guide trolley needs to be adjusted. Specifically: The laser receiver receives either "laser received" or "laser not received." Starting with the laser receiver on the first guide trolley, the laser reception results of each activated laser receiver are analyzed sequentially along the opposite direction of the water inlet in the pipeline. When the analyzed laser receiver shows "laser not received," the second cylinder on the second guide trolley, where the laser generator is located, is adjusted within the error height range. During the adjustment of the second cylinder, the analyzed laser reception results of the laser receivers are acquired in real time. When the analyzed laser receiver shows "laser received," the adjustment of the second cylinder is stopped, and then the laser reception results of the next laser receiver are analyzed. Conversely, the error height range is expanded, and adjustment is performed again until the analyzed laser receiver shows "laser received."

[0036] Error height range is ,in, Indicates the length of the inclined plate, i.e. It is expressed as the distance from the end of the inclined plate away from its hinge to the upper wall of the lifting plate.

[0037] S4. After subtracting the initial water entry length from the pipeline, divide it into N segments, each segment having the same length as the initial water entry length. When the difference between the water entry length detected by the ranging sensor and the initial water entry length is an integer multiple of the initial water entry length, adjust the tilt angle of the first guide trolley's tilt plate. Adjust the first guide trolley using the method in step S2, and then adjust the tilt angle of the second guide trolley's tilt plate using the method in step S3.

[0038] When the difference detected by the ranging sensor between the initial entry length and the initial entry length is n times the initial entry length, the tilt angle of the first guide trolley's inclined plate is adjusted to the nth adjustment angle, specifically calculated using the following formula: ; In the above formula, This indicates the nth adjustment of the tilt angle.

[0039] S5. During the process of the pipeline entering the water from the initial entry length to the point where the difference between the detected entry length and the initial entry length is 1 times the initial entry length, the tugboat does not work. Calculate the time required for this entry process and record it as t. Divide the initial entry length by the time t to obtain the initial velocity. During the subsequent entry process of the pipeline, make the tugboat drag the pipeline to the installation position at the initial velocity and apply a dragging force to the pipeline.

[0040] This invention incorporates a guiding component that tilts the pipeline upon entry into the water. The tilt angle of the guiding component is adjusted to ensure the pipeline enters the water under its own weight. Furthermore, the tilt angle of the guiding component is dynamically adjusted at each stage of the pipeline's entry into the water to overcome buoyancy. Additionally, a relatively small towing force from a tugboat is added to the pipeline's entry point. This ensures the smooth entry of long-distance, large-diameter pipelines while maintaining the stability of the welded joints, preventing damage to the pipeline's length, and guaranteeing the stability of the long-distance, large-diameter pipeline launch.

[0041] This invention simultaneously sets up a front guide frame, a rear guide frame, and a winch to limit the diameter of long-distance, large-diameter pipes in both the water entry direction and the horizontal offset direction. This ensures that the long-distance, large-diameter pipes will not deviate significantly during water entry, avoids excessive deviation from the installation position and secondary movement, and prevents the pipe welds from breaking due to excessive movement, thereby ensuring the stability of the launch.

[0042] Finally, it should be noted that the above content is only used to illustrate the technical solution of the present invention, and is not intended to limit the scope of protection of the present invention. Simple modifications or equivalent substitutions made by those skilled in the art to the technical solution of the present invention do not depart from the essence and scope of the technical solution of the present invention.

Claims

1. A long-distance, large-diameter pipeline water injection device, characterized in that, The system includes a launch platform, a guide assembly, a front guide frame, a rear guide frame, a floating crane, airbags, and a tugboat. The guide assembly is installed on the launch platform. The front guide frame and the rear guide frame are installed sequentially at the front and rear ends of the guide assembly. The floating crane is installed in the water. Multiple airbags are provided between the floating crane and the launch platform. A pipe passes sequentially through the rear guide frame, the guide assembly, and the front guide frame before being launched into the water. The pipe extends along the upper surface of the airbags and then into the floating crane. The pipe passes through the end of the floating crane and connects to the tugboat. The guiding assembly includes multiple guiding trolleys, which are equally spaced. The guiding trolley closest to the water area is designated as the first guiding trolley, and the remaining guiding trolleys are designated as second guiding trolleys. The first guiding trolley and the rear guide frame are first tilted, and then the tilt angles of all the second guiding trolleys are adjusted so that the tilt angles of the second guiding trolleys are the same as those of the first guiding trolleys. The pipeline entry process is divided into N segments. In the first segment, the pipeline is launched into the water through the inclined surface of the guiding assembly and its own weight. In the other segments, the pipeline is launched into the water through the inclined surface of the guiding assembly, its own weight, and the towing of the tugboat.

2. The long-distance, large-diameter pipeline water injection device according to claim 1, characterized in that, The guide trolley includes a base plate, a lifting plate, an inclined plate, a first cylinder, a second cylinder, and pulleys. The first cylinder passes through the base plate, and its extended end passes through the base plate and is fixedly connected to the lifting plate. One end of the upper wall of the lifting plate is hinged to the inclined plate, and the other end is hinged to the second cylinder. The extended end of the second cylinder is hinged to the lower wall of the inclined plate. Multiple pulleys are rotatably connected to the upper wall of the inclined plate, and the axis of the pulleys is perpendicular to the water inlet direction of the pipeline. The upper wall of the launching platform is provided with a track, and a placement frame is fixedly provided on the lower wall of the base plate. The placement frame is detachably connected to the track.

3. The long-distance, large-diameter pipeline water injection device according to claim 2, characterized in that, The front guide frame includes a guide frame, a guide cylinder, and a guide plate. The guide frame is fixed to the end of the launch platform near the water area. The guide cylinder is installed at the bottom of the guide frame. The extended end of the guide cylinder is fixedly connected to the guide plate. Pipes are placed on the guide plate.

4. A long-distance, large-diameter pipeline water injection device according to claim 2, characterized in that, The structure of the rear guide frame is the same as that of the front guide frame.

5. A long-distance, large-diameter pipeline water injection device according to claim 4, characterized in that, The front guide frame is equipped with a distance sensor, and the inclined plate is embedded with an angle sensor. The ranging sensor, the angle sensor, the first cylinder, the second cylinder, and the guide cylinder are all electrically connected to the controller.

6. A method for launching water into a long-distance, large-diameter pipeline, characterized in that, Using the long-distance, large-diameter pipeline water injection device according to any one of claims 1-5 includes the following steps: S1. On the ground, the welded pipe is inserted into the rear guide frame, guide assembly, and front guide frame in sequence and then extended into the floating crane to obtain the measurement value of the distance measuring sensor, which is set as the initial water entry length. S2. The second cylinder that drives the first guide trolley adjusts the tilt angle of the tilt plate of the first guide trolley. During the adjustment process, the real-time tilt angle of the first guide trolley is obtained. According to the real-time tilt angle The extension of the guide cylinder inside the guide frame is adjusted in real time. Simultaneously, the length of the pipe entering the water, detected by the distance sensor, is acquired. When the detected length of the pipe entering the water increases, the adjustment of the second cylinder and the guide cylinder is stopped, and the tilt angle of the first guide trolley's tilting plate is obtained, denoted as... ; S3. Tilting angle obtained based on step S2 Activate the second cylinders of all the second guide trolleys, so that the tilt angle of the tilt plates of all the second guide trolleys is . The first cylinder of the second guide trolley is activated; the extension amount of each first cylinder is controlled by the controller according to the tilt angle. It is concluded that after all the first and second cylinders of the second guide trolley have completed their movements, the second guide trolley and the first guide trolley are aligned. S4. After subtracting the initial water entry length from the pipe, divide it into N segments. The length of each segment is the initial water entry length. However, when the difference between the water entry length detected by the ranging sensor and the initial water entry length is an integer multiple of the initial water entry length, adjust the tilt angle of the tilt plate of the first guide trolley. Adjust the first guide trolley using the method in step S2, and then adjust the tilt angle of the tilt plate of the second guide trolley using the method in step S3. S5. During the water entry process of the first section of the pipeline, the tugboat does not work. Calculate the water entry speed of this section of the pipeline and set it as the initial speed. During the subsequent water entry process of the pipeline, make the tugboat drag the pipeline to the installation position at the initial speed and apply a dragging force to the pipeline.

7. The method and apparatus for launching water into a long-distance, large-diameter pipeline according to claim 6, characterized in that, The alignment operation in step S3 is as follows: the controller controls all the laser emitters of the second guide cars to turn on, and at the same time controls the laser receivers of the first guide car and the laser receivers set on the second guide cars except the one furthest from the first guide car to turn on. The laser receivers receive the laser emitted by their corresponding laser emitters. Based on the results of all the laser receivers receiving the lasers, it is determined whether the first cylinder of the second guide car needs to be adjusted.

8. The method for launching water into a long-distance, large-diameter pipeline according to claim 7, characterized in that, The method for determining whether the first cylinder of the second guide trolley is adjusted is as follows: The laser receiver's laser reception result is either "laser received" or "laser not received." Starting from the laser receiver on the first guide trolley, the laser reception results of each activated laser receiver are analyzed sequentially along the opposite direction of the water inlet in the pipeline. When the analyzed laser receiver's laser reception result is "no laser received," the second cylinder of the second guide trolley, where the laser generator is located, is adjusted within the error height range. During the adjustment of this second cylinder, the analyzed laser receiver's laser reception result is acquired in real time. When the analyzed laser receiver's laser reception result is "laser received," the adjustment of this second cylinder is stopped, and then the laser reception result of the next laser receiver is analyzed. Conversely, the error height range is expanded, and adjustment is performed again until the analyzed laser receiver's laser reception result is "laser received." 9. A method for launching water into a long-distance, large-diameter pipeline according to claim 8, characterized in that, Error height range is ,in, Indicates the length of the inclined plate. It is expressed as the distance from the end of the inclined plate away from its hinge to the upper wall of the lifting plate.

10. A method for launching water into a long-distance, large-diameter pipeline according to claim 6, characterized in that, In step S4, when the difference detected by the ranging sensor between the initial entry length and the initial entry length is n times the initial entry length, the tilt angle of the first guide trolley's tilt plate is adjusted to the nth adjustment angle, specifically calculated using the following formula: ； In the above formula, This indicates the nth adjustment of the tilt angle.

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