A geotechnical engineering underwater drilling positioning system, positioning method, device and medium

Abstract

The present application relates to the field of geotechnical engineering drilling technology, in particular to a geotechnical engineering underwater drilling positioning system, a positioning method, equipment and a medium, comprising a floating platform, a rack, a satellite positioning unit, an acoustic detection unit, a control unit and a posture sensing unit, the rack is hoisted on the bottom surface of the floating platform; the acoustic detection unit is used to obtain the acoustic offset between the rack and the floating platform; the posture sensing unit is used to obtain the water depth of the position where the rack is located and the inclination angle in the horizontal direction of the rack; a plurality of retractable anchor foot rods are distributed on the bottom surface of the rack; the control unit determines the total positioning error based on the two-dimensional coordinates of the floating platform, the acoustic offset, the water depth and the inclination angle, and generates anchor foot rod adjustment instructions to drive the anchor foot rod to adjust when the total error exceeds the threshold value. The present application can avoid the lateral offset error of the drill pipe caused by the rack inclination, and improve the positioning accuracy of the underwater drilling opening point under the condition of water surface floating.

Description

Technical Field

[0001] This invention relates to the field of geotechnical engineering drilling technology, and more specifically, to a geotechnical engineering underwater drilling positioning system, positioning method, equipment, and medium. Background Technology

[0002] In water conservancy and hydropower projects, underwater geotechnical investigation and underwater curtain grouting construction in reservoir areas require high-precision drilling operations on the underwater rock surface of the reservoir bottom. These underwater drilling operations typically require positioning the drilling tools to the predetermined hole positions in an underwater environment several meters to tens of meters deep. The hole position deviation is often required to be controlled within centimeter levels or even smaller; otherwise, it will directly affect the accurate identification of the soil-rock layer interface or prevent the formation of an effective overlapping curtain in the grouting holes, thus posing potential risks to project quality and safety.

[0003] Existing underwater drilling methods are mainly divided into three categories: floating rigs directly lowered for drilling, diver-assisted surveying drilling, and simple underwater rig drilling. The floating rig method involves mounting the drilling rig on a floating rig, using an anchoring system to roughly position the rig in the work area, and then directly lowering the drill rod to the seabed for drilling. The diver-assisted surveying method involves divers carrying positioning equipment underwater to mark the drilling location before surface equipment performs the drilling operation. The simple underwater rig method involves hoisting a rig with a guide sleeve from the surface to the seabed; after the rig settles under its own weight, the drill rod is lowered along the guide sleeve on the rig to the rock surface for drilling. The above methods have the following disadvantages and deficiencies in actual engineering applications: (1) The floating platform on the water will drift horizontally due to wind, waves and reservoir water flow. Satellite positioning can only obtain the position of the platform on the water and cannot directly reflect the real position of the underwater drilling opening point. The underwater frame will move with the water body, causing the drilling position to shift. Moreover, the shift is often too large and cannot meet the hole position accuracy index of reservoir rock and soil investigation and curtain grouting drilling; (2) The underwater reservoir bottom rock and soil surface is uneven. After the frame is lowered, it is easy to tilt, which will cause the drill rod to shift laterally. If the coordinates on the water are directly used as the coordinates of the underwater opening, hole position error will occur.

[0004] Therefore, there is a need in the field for a drilling positioning system that can accurately sense and actively adjust the actual position of the underwater rig, in order to overcome the technical defects of insufficient positioning accuracy caused by water surface coordinate drift and rig tilt in the existing methods. Summary of the Invention

[0005] The purpose of this invention is to provide a positioning system, positioning method, equipment and medium for underwater drilling in geotechnical engineering, so as to solve the technical problems pointed out in the background art.

[0006] The present invention is achieved through the following technical solution: an underwater drilling positioning system for geotechnical engineering, including a floating platform, a frame, a satellite positioning unit, an acoustic detection unit, a control unit, and an attitude sensing unit. The frame is suspended on the bottom surface of the floating platform, and the satellite positioning unit, the acoustic detection unit, and the attitude sensing unit are all communicatively connected to the control unit. The acoustic detection unit consists of a beacon and a receiving transducer, and is used to obtain the acoustic offset between the frame and the floating platform. The beacon and attitude sensing unit are mounted on the frame, and the receiving transducer, satellite positioning unit and control unit are mounted on the floating platform. The satellite positioning unit is used to obtain the two-dimensional coordinates of the floating platform. The attitude sensing unit consists of a water depth sensor and a tilt sensor, used to obtain the water depth at the location of the frame and the tilt angle of the frame in the horizontal direction. The bottom surface of the frame is also distributed with several retractable anchor rods. The control unit is configured to determine the total positioning error based on the two-dimensional coordinates of the floating platform, acoustic offset, water depth, and tilt angle, and generate an anchor rod adjustment command when the total positioning error is greater than a preset error threshold, thereby driving the control device of the anchor rod to make adjustments.

[0007] According to a preferred embodiment, a sleeve is arranged on the frame, the sleeve is arranged vertically, and a drill bit feed mechanism, a feed cylinder, a drill rig and a drill rod are arranged sequentially from top to bottom inside the sleeve.

[0008] According to a preferred embodiment, a displacement sensor is also provided on the frame. The displacement sensor is used to obtain the drill pipe feed amount and is communicatively connected to the control unit.

[0009] According to a preferred embodiment, the lower end of the anchor rod is provided with a pressure-bearing pad.

[0010] According to a preferred embodiment, the satellite positioning unit is an RTK-GPS positioning device.

[0011] The present invention also provides a method for underwater drilling positioning in geotechnical engineering based on the above-mentioned underwater drilling positioning system, comprising the following steps: The floating platform carrying the frame is moved to the work area, and the two-dimensional coordinates of the floating platform are obtained by the satellite positioning unit during the movement. The frame is lowered when the floating platform is directly above the preset hole coordinates. The acoustic offset between the frame and the floating platform is obtained using an acoustic detection unit, the water depth at the location of the frame is obtained using the water depth sensor, and the tilt angle of the frame in the horizontal direction is obtained using the tilt sensor. The total positioning error is determined based on the two-dimensional coordinates of the floating platform, acoustic offset, water depth, and tilt angle. When the total positioning error is greater than a preset error threshold, an anchor rod adjustment command is generated to drive the anchor rod to extend and retract.

[0012] According to a preferred embodiment, the specific process for determining the total positioning error based on the two-dimensional coordinates of the floating platform, acoustic offset, water depth, and tilt angle is as follows: Based on the acoustic offset of the frame relative to the floating platform in the horizontal direction, the acoustic propagation error is calculated, and the expression is as follows:

[0013] In the above formula, Indicates acoustic propagation error; Based on the water depth and the tilt angle of the frame in the horizontal direction, the horizontal offset of the frame is calculated, as shown in the following expression:

[0014]

[0015]

[0016] In the above formula, This indicates the horizontal offset of the rack. Indicates the rack is in Horizontal offset of axis orientation Indicates the rack is in Horizontal offset of axis orientation This indicates the vertical water depth from the water surface to the orifice point. express Inclination angle of axial orientation, express Inclination angle of axial orientation; Based on the two-dimensional coordinates of the floating platform, acoustic offset, water depth, and tilt angle, the three-dimensional coordinates of the opening are calculated, as shown in the following expression:

[0017] In the above formula, , and Represents the three-dimensional coordinates of the opening. and Represents the two-dimensional coordinates of the floating platform. and This indicates the acoustic offset of the frame relative to the floating platform in the horizontal direction. Indicates water surface elevation; Based on the three-dimensional coordinates of the opening and the preset coordinates, the planar positioning error is calculated, and the expression is as follows:

[0018] In the above formula, Indicates planar positioning error. and Indicates the preset hole position coordinates; Based on the acoustic propagation error, horizontal offset, and planar positioning error, the total positioning error is calculated as follows:

[0019] In the above formula, This indicates the total positioning error.

[0020] According to a preferred embodiment, the method further includes using a displacement sensor to obtain the drill pipe feed rate and compensating for the drilling depth based on the drill pipe feed rate.

[0021] The present invention also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the underwater drilling and positioning method for geotechnical engineering as described above.

[0022] The present invention also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the underwater drilling positioning method for geotechnical engineering as described above.

[0023] The technical solution of the underwater drilling positioning system, positioning method, equipment and medium provided by the present invention has at least the following advantages and beneficial effects: (1) By obtaining the acoustic offset of the frame relative to the floating platform in the horizontal direction, the horizontal drift of the floating platform caused by wind waves and water flow can be corrected, so that the actual planar position of the underwater frame can be accurately obtained, effectively avoiding the hole position deviation caused by directly equating the water surface coordinates with the underwater hole coordinates, and improving the positioning accuracy of the underwater drilling hole opening point under the floating condition of the water surface; (2) By obtaining the water depth and horizontal inclination of the frame location, the positioning accuracy can be determined according to the water depth and inclination. The horizontal offset caused by the tilt of the computer frame is corrected accordingly, and the tilt angle of the hole is corrected accordingly. This effectively eliminates the lateral offset error of the drill rod caused by the tilt of the frame due to the uneven undulation of the rock surface at the bottom of the underwater reservoir, and further improves the positioning accuracy of underwater drilling; (3) By distributing several retractable anchor rods on the bottom surface of the frame, and driving the anchor rods to extend and retract when the total positioning error is greater than the preset error threshold, the frame can actively adjust according to the positioning error detected in real time after it sits on the bottom, so that the actual position of the frame can converge to the preset hole position, thereby improving the closed-loop control capability and engineering adaptability of underwater drilling positioning. Attached Figure Description

[0024] Figure 1 This is a schematic diagram of the overall structure of the underwater drilling positioning system for geotechnical engineering provided in Embodiment 1 of the present invention; Figure 2 This is a schematic diagram of the overall process of the underwater drilling and positioning method for geotechnical engineering provided in Embodiment 2 of the present invention; Attached reference numerals: 100-floating platform, 200-frame, 210-anchor rod, 220-pressure bearing pad, 300-sleeve, 310-drill feed mechanism, 320-feed cylinder, 330-drilling rig, 340-drill rod. Detailed Implementation

[0025] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0026] Example 1 This invention provides an underwater drilling positioning system for geotechnical engineering. Figure 1 This is a schematic diagram of the overall structure of the underwater drilling positioning system for geotechnical engineering, as shown below. Figure 1 As shown, the underwater drilling positioning system for geotechnical engineering includes a floating platform 100, a frame 200, a satellite positioning unit, an acoustic detection unit, a control unit, and an attitude sensing unit.

[0027] The floating platform 100 is the surface support platform of the underwater drilling positioning system. It floats on the water and supports the various equipment components installed on it. The floating platform 100 can be a catamaran-type platform or a rectangular pontoon-type platform. Its dimensions must meet the installation space requirements for the satellite positioning unit, receiving transducer, and control unit, and it must have sufficient buoyancy and stability to resist the effects of wind, waves, and currents. The positioning of the floating platform 100 can be initially constrained using an anchoring system or a dynamic positioning system. However, the anchoring system itself cannot achieve high-precision positioning; therefore, the precise position of the floating platform 100 is obtained in real time by the satellite positioning unit.

[0028] The frame 200 is an underwater support structure, suspended from the bottom of the floating platform 100 by slings or cables. The frame 200 is constructed entirely of a metal frame, for example, welded from structural steel, with an internal vertical channel for the drilling tools to pass through. The bottom surface of the frame 200 is a support surface in contact with the underwater rock and soil surface. After the frame 200 moves with the floating platform 100 to directly above the preset borehole coordinates, it is lowered to the bottom of the water by a winch or crane. The frame 200 rests on the underwater rock and soil surface under its own weight, providing guidance and support for the drilling tools. A sleeve 300 is mounted on the frame 200, vertically fixed inside. Inside the sleeve 300, from top to bottom, are sequentially connected components: a drill tool feed mechanism 310, a feed cylinder 320, a drill rig 330, and a drill rod 340. The sleeve 300 is used to constrain the drilling direction of the drill rod 340, ensuring that the drill rod 340 drills downwards in a vertical direction. A displacement sensor is also installed on the frame 200, mounted on the side wall of the sleeve 300 or at the drill bit feed mechanism 310. This sensor is used to detect the real-time feed rate of the drill rod 340. The displacement sensor is connected to the control unit, and the feed rate data it collects is used to compensate for the drilling depth.

[0029] The satellite positioning unit is installed on the floating platform 100 to acquire the two-dimensional coordinates of the floating platform 100 in real time. The satellite positioning unit preferably adopts an RTK-GPS positioning device, which includes a GPS receiver and an RTK differential signal receiving module. By receiving the differential correction signal broadcast by the reference station, it can achieve centimeter-level real-time positioning accuracy, thereby providing the system with a high-precision water surface platform position reference. The signal output end of the satellite positioning unit is communicatively connected to the signal input end of the control unit to transmit the real-time acquired two-dimensional coordinate data of the floating platform 100 to the control unit.

[0030] The acoustic detection unit consists of a beacon and a receiving transducer, used to acquire the acoustic offset between the frame 200 and the floating platform 100. The beacon is installed on the frame 200 and emits acoustic pulse signals at a preset period after entering the water. The receiving transducer is installed on the bottom surface of the floating platform 100 or on the water entry support on the side of the floating platform 100, with its receiving surface facing the direction of the underwater beacon, and is used to receive the acoustic pulse signals emitted by the beacon. After receiving an acoustic signal, the receiving transducer measures the time it takes for the signal to travel from the beacon to the transducer. Combining this with the current sound velocity in the water, the distance between the beacon and the transducer can be calculated. Furthermore, by using an array of multiple transducers or by taking multiple measurements at different locations with a single transducer, the offset of the beacon relative to the transducer in two orthogonal horizontal directions can be obtained. This offset, specifically the acoustic offset of the frame 200 relative to the floating platform 100 in the X and Y axes, reflects the positional deviation of the frame 200 relative to the floating platform 100 on the horizontal plane. The causes include the swaying of the frame 200 due to the impact of water flow on the slings and the elastic tensile deformation of the slings themselves. The signal output of the receiving transducer is communicatively connected to the control unit, transmitting the measured acoustic offset data to the control unit.

[0031] The attitude sensing unit consists of a depth sensor and a tilt sensor, both mounted on the frame 200. The depth sensor acquires the water depth at the location of the frame 200. Specifically, it can be a pressure-type depth sensor, which measures the hydrostatic pressure of the water at the location and calculates the water depth by combining the water density and gravitational acceleration. The tilt sensor acquires the horizontal tilt angle of the frame 200. Specifically, it can be a MEMS tilt sensor or an electronic level, which measures the tilt angle of the frame 200 relative to the horizontal plane in the X and Y axes. After the frame 200 is lowered to the bottom, due to potential undulations in the underwater reservoir bottom, the frame 200 will tilt to varying degrees. The tilt sensor detects this tilt angle in real time and transmits the data to the control unit. In addition, the bottom surface of the frame 200 is also provided with several telescopic anchor rods 210. The anchor rods 210 are evenly distributed around the perimeter of the bottom surface of the frame 200, and there are at least three of them. The upper end of each anchor rod 210 is fixed to the bottom surface of the frame 200, and the lower end is a free end. The anchor rods 210 are driven by hydraulic cylinders or electric push rods to realize telescopic movement.

[0032] The anchor rod 210 uses a waterproof and dustproof hydraulic cylinder or electric push rod suitable for underwater environments containing silt and sand as the driving element. Its piston rod or lead rod is equipped with a multi-seal structure consisting of a dustproof ring and a waterproof seal, and / or a flexible corrugated protective sleeve is provided on the outside of the anchor rod 210. The upper end of the protective sleeve is sealed to the bottom surface of the frame 200, and the lower end is sealed to the telescopic end of the anchor rod 210. This is used to isolate the piston rod or lead rod from the external water containing silt and sand, and prevent wear and jamming caused by silt intrusion.

[0033] The lower end of the anchor rod 210 is equipped with a pressure-bearing pad 220. The pressure-bearing pad 220 is a disc-shaped or square plate with an area larger than the cross-sectional area of ​​the anchor rod 210. This pad increases the contact area between the anchor rod 210 and the soil surface, preventing the anchor rod 210 from sinking into soft strata during adjustment and causing support failure. The signal output terminals of the depth sensor and the tilt sensor are both connected to the control unit. The control equipment of the anchor rod 210, such as the drive circuit of the hydraulic valve group or electric push rod, is connected to the control signal output terminal of the control unit and is controlled by the drive commands of the control unit.

[0034] The control unit is installed on the floating platform 100 and is communicatively connected to the satellite positioning unit, acoustic detection unit, attitude sensing unit, displacement sensor, and the control equipment of the anchor rod 210. The control unit can be an industrial-grade programmable logic controller (PLC), an embedded industrial computer, or a microcontroller system, and integrates a data acquisition module, a data processing module, and an instruction output module. Specifically, in this embodiment, the control unit is configured to: determine the total positioning error based on the two-dimensional coordinates of the floating platform 100, the acoustic offset, the water depth, and the tilt angle; and generate an adjustment command for the anchor rod 210 when the total positioning error exceeds a preset error threshold, thereby driving the control equipment of the anchor rod 210 to make adjustments.

[0035] In summary, the technical solution of the underwater drilling positioning system, positioning method, equipment, and medium provided by this invention has at least the following advantages and beneficial effects: By obtaining the acoustic offset of the frame 200 relative to the floating platform 100 in the horizontal direction, the horizontal drift of the floating platform 100 caused by wind, waves, and water flow can be corrected, enabling the actual planar position of the underwater frame 200 to be accurately obtained. This effectively avoids the hole position deviation caused by directly equating the water surface coordinates with the underwater hole coordinates, and improves the positioning accuracy of the underwater drilling hole opening point under floating conditions. By obtaining the water depth and horizontal inclination angle at the location of the frame 200, calculations can be performed based on the water depth and inclination angle. The horizontal offset caused by the tilt of the frame 200 is corrected accordingly, and the corresponding tilt angle is adjusted. This effectively eliminates the lateral offset error of the drill rod 340 caused by the tilt of the frame 200 due to the unevenness of the rock surface at the bottom of the underwater reservoir, further improving the positioning accuracy of underwater drilling. By distributing several retractable anchor rods 210 on the bottom surface of the frame 200, and driving the anchor rods 210 to extend and retract when the total positioning error exceeds the preset error threshold, the frame 200 can actively adjust according to the real-time detected positioning error after it is on the bottom. This allows the position of the frame 200 to be aligned with the preset hole position, improving the closed-loop control capability and engineering adaptability of underwater drilling positioning.

[0036] Example 2 This embodiment, based on the technical solution provided in Embodiment 1, provides a method for underwater drilling positioning in geotechnical engineering based on the underwater drilling positioning system provided in Embodiment 1, such as... Figure 2 As shown, the underwater drilling positioning method for geotechnical engineering includes the following steps: Step S1: Move the floating platform 100, which carries the frame 200, to the work area, and use the satellite positioning unit to obtain the two-dimensional coordinates of the floating platform 100 during the movement. When the floating platform 100 is directly above the preset hole coordinates, lower the frame 200. Specifically, in this embodiment, the operator manipulates the floating platform 100 from the dock or mooring point to the underwater drilling area. During the movement of the floating platform 100, the satellite positioning unit, preferably using an RTK-GPS positioning device, continuously acquires the real-time two-dimensional coordinates of the floating platform 100 and transmits the data to the control unit. Based on the real-time position of the floating platform 100 displayed by the control unit, the operator gradually guides the floating platform 100 to a position directly above the preset borehole coordinates by manipulating the mooring system or dynamic positioning system. When the deviation between the two-dimensional coordinates of the floating platform 100 and the preset borehole coordinates is less than a preset threshold, it is determined that the floating platform 100 has moved directly above the preset borehole position. At this time, the frame 200 is slowly lowered into the water until it sits on the bottom of the underwater reservoir.

[0037] Step S2: Use the acoustic detection unit to obtain the acoustic offset between the frame 200 and the floating platform 100, use the water depth sensor to obtain the water depth at the location of the frame 200, and use the tilt sensor to obtain the tilt angle of the frame 200 in the horizontal direction. After the frame 200 is lowered to the bottom and stabilized, the following data are acquired through various sensors: the acoustic detection unit acquires the acoustic offset between the frame 200 and the floating platform 100; the beacon emits acoustic pulse signals at a preset period, and the receiving transducer receives the signal, measures the sound wave propagation time, and calculates the horizontal offset of the beacon relative to the receiving transducer by combining the current sound velocity in the water with the signal received from the receiving transducer, specifically the offset in the X-axis direction and the offset in the Y-axis direction. This acoustic offset reflects the relative position of the frame 200 to the water surface. The actual position deviation of the floating platform 100 on the horizontal plane is measured; the water depth sensor obtains the water depth at the location of the frame 200, specifically the vertical water depth from the water surface to the top surface of the frame 200 or to the opening point on the bottom surface of the frame 200. This data can be obtained by measuring the hydrostatic pressure of the water body using a pressure-type water depth sensor and then converting it; the tilt sensor obtains the tilt angle of the frame 200 in the horizontal direction, specifically the tilt angle of the frame 200 relative to the horizontal plane in the X-axis direction and the tilt angle in the Y-axis direction; all of the above data are transmitted to the control unit for storage and processing.

[0038] Step S3: Determine the total positioning error based on the two-dimensional coordinates of the floating platform 100, the acoustic offset, the water depth, and the tilt angle; Specifically, in this embodiment, after receiving the data obtained in steps S1 and S2, the control unit calculates the total positioning error and determines whether the anchor rod 210 needs to be adjusted according to the following process: Step S31: Based on the acoustic offset of the frame 200 relative to the floating platform 100 in the horizontal direction, the acoustic propagation error is calculated, as shown in the following expression:

[0039] In the above formula, This represents the acoustic propagation error. It should be noted that the acoustic propagation error characterizes the positioning error component introduced by the horizontal relative displacement between the floating platform 100 and the frame 200, such as the swaying of the underwater frame 200 caused by the water flow.

[0040] Step S32: Based on the inclination angle between the water depth and the horizontal direction of the frame 200, calculate the horizontal offset of the frame 200, as shown in the following expression:

[0041]

[0042]

[0043] In the above formula, This indicates the horizontal offset of the rack 200. Indicates rack 200 in Horizontal offset of axis orientation Indicates rack 200 in Horizontal offset of axis orientation This indicates the vertical water depth from the water surface to the orifice point. express Inclination angle of axial orientation, express The tilt angle of the axis orientation; it should be noted that this horizontal offset represents the positioning error component introduced by the tilting of the frame 200 after it is placed on the ground.

[0044] Step S33: Based on the two-dimensional coordinates of the floating platform 100, the acoustic offset, the water depth, and the tilt angle, the three-dimensional coordinates of the opening are calculated, as shown in the following expression:

[0045] In the above formula, , and Represents the three-dimensional coordinates of the opening. and This represents the two-dimensional coordinates of the floating platform 100. and This indicates the acoustic offset of the frame 200 relative to the floating platform 100 in the horizontal direction. The elevation represents the water surface. It should be noted that the acoustic offset term in the above formula is used to compensate for the horizontal drift of the frame relative to the floating platform 100, and the tilt term is used to compensate for the lateral offset of the drill rod 340 caused by the tilt of the frame 200. Since the drill rod 340 will offset in the opposite direction of the tilt direction when the frame 200 is tilted, the tilt term is negative in the formula.

[0046] Step S34: Based on the three-dimensional coordinates of the opening and the preset coordinates, calculate the planar positioning error, as shown in the following expression:

[0047] In the above formula, Indicates planar positioning error. and This indicates the preset hole position coordinates; it should be noted that this planar positioning error represents the comprehensive deviation between the actual hole opening point and the designed hole position on the horizontal plane.

[0048] Step S35: Based on the acoustic propagation error, horizontal offset, and planar positioning error, the total positioning error is calculated as follows:

[0049] In the above formula, This indicates the total positioning error.

[0050] Step S4: Control the extension and retraction of the anchor rod 210 based on the total positioning error; Specifically, in this embodiment, if the total positioning error is less than or equal to a preset error threshold, the current positioning accuracy is deemed to meet the requirements, and no adjustment is needed; drilling can begin directly. If the total positioning error is greater than the preset error threshold, the current positioning accuracy is deemed not to meet the requirements, and the control unit needs to generate an anchor rod 210 adjustment command based on the analysis results of the direction and magnitude of each error component. In some preferred embodiments, the specific content of the adjustment command is as follows: determine the number of the anchor rod 210 that needs to be extended or retracted and its extension / retraction amount; when the frame 200 is tilted, the support posture of the frame 200 is changed by adjusting the different extension / retraction amounts of each anchor rod 210 on the bottom surface of the frame 200, so that the frame 200 is gradually leveled and its position converges towards the preset hole position. After the anchor rod 210 adjustment command is generated, the control unit sends the command to the control device of the anchor rod 210, and the control device drives the corresponding anchor rod 210 to perform extension or retraction actions until the total positioning error is reassessed and meets the accuracy requirements.

[0051] In addition, during the drilling process, the feed rate of the drill rod 340 is acquired in real time by the displacement sensor and transmitted to the control unit. The control unit dynamically corrects the calculated value of the drilling depth based on the feed rate data, compensates for the drilling depth, and eliminates the influence of water level fluctuations on the drilling depth measurement to ensure the accuracy of the final drilling depth.

[0052] The functions and technical effects of the underwater drilling positioning method for geotechnical engineering in this embodiment are the same as those of the embodiment of the underwater drilling positioning system for geotechnical engineering, and will not be repeated here.

[0053] Example 3 This embodiment is based on the technical solution provided in Embodiment 2, and provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the underwater drilling and positioning method for geotechnical engineering as described in Embodiment 2.

[0054] The electronic device provided in this embodiment has the same function and technical effect as the computer program running on the processor as the embodiment of the underwater drilling and positioning method for geotechnical engineering, and will not be repeated here.

[0055] Example 4 This embodiment is based on the technical solution provided in Embodiment 2, and provides a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, it implements the underwater drilling and positioning method for geotechnical engineering as described in Embodiment 2.

[0056] The computer-readable storage medium provided in this embodiment has the same functions and technical effects as the embodiment of the underwater drilling and positioning method for geotechnical engineering when the computer program is executed by the processor, and will not be repeated here.

[0057] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A geotechnical engineering underwater drilling positioning system, characterized in that, It includes a floating platform (100), a frame (200), a satellite positioning unit, an acoustic detection unit, a control unit, and an attitude sensing unit. The frame (200) is suspended on the bottom surface of the floating platform (100). The satellite positioning unit, the acoustic detection unit, and the attitude sensing unit are all communicatively connected to the control unit. The acoustic detection unit consists of a beacon and a receiving transducer, and is used to obtain the acoustic offset between the frame (200) and the floating platform (100). The beacon and attitude sensing unit are installed on the frame (200), and the receiving transducer, satellite positioning unit and control unit are installed on the floating platform (100). The satellite positioning unit is used to obtain the two-dimensional coordinates of the floating platform (100). The attitude sensing unit consists of a water depth sensor and a tilt sensor, used to obtain the water depth at the location of the frame (200) and the tilt angle of the frame (200) in the horizontal direction. The bottom surface of the frame (200) is also distributed with several retractable anchor rods (210). The control unit is configured to determine the total positioning error based on the two-dimensional coordinates of the floating platform (100), acoustic offset, water depth and tilt angle, and generate an anchor rod (210) adjustment command when the total positioning error is greater than a preset error threshold, thereby driving the control device of the anchor rod (210) to make adjustments.

2. The underwater drilling positioning system for geotechnical engineering as described in claim 1, characterized in that, The frame (200) is equipped with a sleeve (300), which is arranged vertically. Inside the sleeve (300), from top to bottom, there are a drill bit feed mechanism (310), a feed cylinder (320), a drill rig (330), and a drill rod (340) connected in sequence.

3. The underwater drilling positioning system for geotechnical engineering as described in claim 2, characterized in that, The frame (200) is also equipped with a displacement sensor, which is used to obtain the feed amount of the drill pipe (340) and is connected in communication with the control unit.

4. The underwater drilling positioning system for geotechnical engineering as described in claim 3, characterized in that, The lower end of the anchor rod (210) is provided with a pressure pad (220).

5. The underwater drilling positioning system for geotechnical engineering as described in claim 3, characterized in that, The satellite positioning unit is an RTK-GPS positioning device.

6. A method for underwater drilling positioning in geotechnical engineering based on the underwater drilling positioning system as described in any one of claims 3 to 5, characterized in that, Includes the following steps: The floating platform (100) equipped with the frame (200) is moved to the work area, and the two-dimensional coordinates of the floating platform (100) are obtained by the satellite positioning unit during the movement. When the floating platform (100) is moved directly above the preset hole position coordinates, the frame (200) is lowered. The acoustic offset between the frame (200) and the floating platform (100) is obtained by using the acoustic detection unit, the water depth at the location of the frame (200) is obtained by using the water depth sensor, and the tilt angle of the frame (200) in the horizontal direction is obtained by using the tilt angle sensor. The total positioning error is determined based on the two-dimensional coordinates of the floating platform (100), acoustic offset, water depth and tilt angle. When the total positioning error is greater than the preset error threshold, an adjustment command for the anchor rod (210) is generated to drive the anchor rod (210) to perform extension and retraction adjustment.

7. The underwater drilling positioning method for geotechnical engineering as described in claim 6, characterized in that, The specific process for determining the total positioning error based on the two-dimensional coordinates of the floating platform (100), acoustic offset, water depth, and tilt angle is as follows: Based on the acoustic offset of the frame (200) relative to the floating platform (100) in the horizontal direction, the acoustic propagation error is calculated, and the expression is as follows: In the above formula, Indicates acoustic propagation error; Based on the water depth and the tilt angle of the frame (200) in the horizontal direction, the horizontal offset of the frame (200) is calculated, and the expression is as follows: In the above formula, This indicates the horizontal offset of the rack (200). Indicates rack (200) in Horizontal offset of axis orientation Indicates rack (200) in Horizontal offset of axis orientation This indicates the vertical water depth from the water surface to the opening point. express Inclination angle of axial orientation, express Inclination angle of axial orientation; Based on the two-dimensional coordinates of the floating platform (100), acoustic offset, water depth, and tilt angle, the three-dimensional coordinates of the opening are calculated, as shown in the following expression: In the above formula, , and Represents the three-dimensional coordinates of the opening. and This represents the two-dimensional coordinates of the floating platform (100). and This indicates the acoustic offset of the frame (200) relative to the floating platform (100) in the horizontal direction. Indicates water surface elevation; Based on the three-dimensional coordinates of the opening and the preset coordinates, the planar positioning error is calculated, and the expression is as follows: In the above formula, Indicates planar positioning error. and Indicates the preset hole position coordinates; Based on the acoustic propagation error, horizontal offset, and planar positioning error, the total positioning error is calculated as follows: In the above formula, This indicates the total positioning error.

8. The underwater drilling positioning method for geotechnical engineering as described in claim 7, characterized in that, The method also includes using a displacement sensor to obtain the feed rate of the drill rod (340) and compensating for the drilling depth based on the feed rate of the drill rod (340).

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the underwater drilling and positioning method for geotechnical engineering as described in any one of claims 6 to 8.

10. A computer-readable storage medium, characterized in that, A computer program is stored on the computer-readable storage medium, which, when executed by a processor, implements the underwater drilling and positioning method for geotechnical engineering as described in any one of claims 6 to 8.

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