CN113494062A - Underwater riprap foundation bed leveling device and leveling method thereof - Google Patents
Underwater riprap foundation bed leveling device and leveling method thereof Download PDFInfo
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- CN113494062A CN113494062A CN202110949521.1A CN202110949521A CN113494062A CN 113494062 A CN113494062 A CN 113494062A CN 202110949521 A CN202110949521 A CN 202110949521A CN 113494062 A CN113494062 A CN 113494062A
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02B—HYDRAULIC ENGINEERING
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- E02B3/02—Stream regulation, e.g. breaking up subaqueous rock, cleaning the beds of waterways, directing the water flow
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- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02D—FOUNDATIONS; EXCAVATIONS; EMBANKMENTS; UNDERGROUND OR UNDERWATER STRUCTURES
- E02D15/00—Handling building or like materials for hydraulic engineering or foundations
- E02D15/08—Sinking workpieces into water or soil inasmuch as not provided for elsewhere
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
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Abstract
The invention discloses an underwater riprap foundation bed leveling device and a leveling method thereof, and the key points of the technical scheme are that the horizontal riprap leveling device comprises a moving platform, wherein two ends of the moving platform are respectively fixed with an anchor rolling machine, and the anchor rolling machines are connected with anchor cables; the moving platform is provided with a blanking pipe and a blanking motion driving unit for driving the blanking pipe to move along the width direction of the moving platform, and the blanking pipe extends to the lower part of the moving platform; the underwater riprap foundation bed leveling device can efficiently and accurately level the underwater riprap foundation bed.
Description
Technical Field
The invention relates to the technical field of underwater foundation bed leveling, in particular to an underwater riprap foundation bed leveling device and a leveling method thereof.
Background
Leveling of an underwater riprap foundation bed is a very important link in hydraulic engineering. The riprap foundation bed is a foundation bed filled with rock blocks, in order to enable the top elevation of the foundation bed to meet the design requirement and facilitate the stable installation of the upper prefabricated part, the top surface of the foundation bed needs to be finely flat or extremely fine according to the design requirement, and the leveling precision of the riprap foundation bed directly influences the final forming precision of the prefabricated part implantation.
The traditional underwater riprap foundation bed leveling process is that after an underwater leveling rail is placed and is tested and accepted, block stones, two pieces of stones and large-particle-size broken stones are transported to a construction site through a ship, and a diver commands a riprap worker to feed materials to a foundation bed. The diver pushes the scraper to level the scraper underwater, and fills the gap under the scraper, and the redundant stones are hoisted to the ship by the hanging basket, and the shortage is supplemented by the feeding on the ship. In order to ensure the compactness of the foundation bed, the rough flattening is firstly carried out by using messy stones, then the uneven part between the stones is filled by using two pieces of stones, and the uneven part between the two pieces of stones is filled by using broken stones at the low-lying position with the depth of 20-50cm based on the scraping channel bottom during flattening. Because the engineering environment faces natural conditions of water depth and large wave, the underwater construction of divers is difficult and the efficiency is reduced.
Disclosure of Invention
One of the purposes of the invention is to provide an underwater riprap foundation bed leveling device which can efficiently and accurately level an underwater riprap foundation bed.
The technical purpose of the invention is realized by the following technical scheme: the underwater riprap foundation bed leveling device comprises a moving platform, wherein two ends of the moving platform are respectively fixed with an anchor rolling machine, and the anchor rolling machines are connected with anchor cables; the discharging device is characterized in that a discharging pipe and a discharging motion driving unit used for driving the discharging pipe to move along the width direction of the moving platform are arranged on the moving platform, and the discharging pipe extends to the lower portion of the moving platform.
By adopting the scheme, the discharging pipe extending to the lower part of the moving platform is arranged on the moving platform, so that the discharging pipe is used for throwing the stone materials into the underwater riprap foundation bed; the anchor reeling machines are arranged at the two ends of the mobile platform, after the mobile platform is moved to the corresponding leveling operation position, the anchor reeling machine at one end of the mobile platform performs cable laying operation, the anchor reeling machine at the other end of the mobile platform performs cable winding operation, so that the mobile platform is controlled along the length direction of the mobile platform, and the displacement of the mobile platform can be accurately controlled by controlling the rotating speed and the rotating amount of the anchor reeling machines; the blanking motion driving unit drives the blanking pipe to move along the width direction of the moving platform, and the motion of the moving platform is coordinated with the motion of the blanking pipe, so that the blanking pipe can move in a plane area; and then through the control unloading pipe put in how much of building stones, the underwater riprap foundation bed that can be high-efficient accurate carries out the flattening operation.
Preferably, a measuring hopper for measuring and discharging is arranged on the moving platform, and the discharging pipe is communicated with the measuring hopper; the discharging motion driving unit is used for driving the measuring hopper to move along the length direction of the rail.
Through adopting above-mentioned scheme, control the building stones volume of being put in by the unloading pipe through setting up the weighing hopper to through setting up unloading motion drive unit and track, the drive weighing hopper removes along moving platform width direction, thereby adds can be high-efficient convenient carry out lateral drive to the unloading pipe.
Preferably, a conveying mechanism used for conveying materials is arranged on the moving platform, the discharge end of the conveying mechanism is located above the feeding hole of the metering hopper, and a feeding hose used for being communicated with the metering hopper is arranged at the end part of the conveying mechanism.
Through adopting above-mentioned scheme, through setting up transmission device, the discharge end that uses transmission device is located the top of weighing hopper feed inlet to utilize the feeding hose to link to each other transmission device and weighing hopper, and then remove the in-process at the weighing hopper, can carry out the interpolation and the replenishment of raw materials, convenient operation to the weighing hopper.
Preferably, the mobile platform is provided with a multi-beam detector and a control unit; the multi-beam detector is positioned at the lower part of the mobile platform; the multi-beam detector is used for scanning three-dimensional characteristics of the underwater riprap foundation bed and sending scanning data to the control unit; the control unit generates platform motion driving information, blanking motion driving information and metering information according to scanning data sent by the multi-beam detector, and sends the platform motion driving information, the blanking motion driving information and the metering information to the anchor reeling machine, the blanking motion driving unit and the weighing hopper respectively; the anchor reeling machine controls the reeling and unreeling of the anchor cable according to the platform movement driving information, and the blanking driving movement unit drives the weighing hopper to move along the length direction of the track according to the blanking driving information; and the measuring hopper controls the blanking amount according to the measuring information.
Through adopting above-mentioned scheme, through setting up multi-beam detection instrument and the control unit, and then carry out the topography scanning through the multi-beam detection instrument to riprap foundation bed under water to according to the topography of riprap foundation bed under water, the control unit rolls up anchor machine, unloading motion drive unit and weighing hopper and carries out the operation in coordination, thereby can carry out the unloading by more accurate efficient.
Preferably, the mobile platform is provided with a GPS positioning unit, the GPS positioning unit is configured to position the mobile platform, generate platform position information, and send the platform position information to the control unit, and the control unit performs positioning judgment on the mobile platform according to the platform position.
Through adopting above-mentioned scheme, through setting up GPS positioning unit, gather mobile platform's position, and then can convenient and fast carry out position judgement and mobile location to mobile platform.
Preferably, the conveying mechanism is a belt conveying line, and the belt conveying line inclines upwards from the feeding end to the discharging end of the belt conveying line.
Through adopting above-mentioned scheme, through setting up the belt transmission line as transmission device, and then can be continuous carry out the material loading, the high efficiency of operation is convenient to the weighing hopper.
Preferably, a discharging hopper is arranged at the feeding end of the belt transmission line, and a discharging port of the discharging hopper is positioned above the feeding end of the belt transmission line.
Through adopting above-mentioned scheme, carry out the material loading through setting up down the hopper to the belt transmission line, convenient operation, it is high-efficient convenient.
Preferably, the number of the anchor rolling machines arranged at each end of the moving platform is two, and the two anchor rolling machines are respectively positioned at two sides of the moving platform.
By adopting the scheme, the two anchor rolling machines are arranged at each end of the mobile platform, so that when the mobile platform is driven, the two anchor rolling machines work in a cooperative manner, and the transverse deflection of the mobile platform during moving is reduced.
One of the purposes of the invention is to provide an underwater riprap foundation leveling method, which can efficiently and accurately level the underwater riprap foundation.
The technical purpose of the invention is realized by the following technical scheme: the underwater riprap foundation bed leveling device is characterized by comprising the following steps:
step S1, the multi-beam detector scans the three-dimensional characteristics of the underwater riprap foundation bed, collects the three-dimensional coordinates of each point of the underwater riprap foundation bed, generates foundation bed space point set data according to the three-dimensional coordinates of each point of the underwater riprap foundation bed, and sends the foundation bed space point set data to the control unit;
step S2, the control unit generates a three-dimensional model of the foundation bed according to the space point set data of the foundation bed, and the control unit generates a Cartesian motion coordinate system by taking the moving direction of the mobile platform as an X axis, the track length as a Y axis and the height direction as a Z axis; the control unit divides the three-dimensional model of the bed into a plurality of printing layers in the Z-axis direction, and each printing layer is divided into a plurality of printing sections in the X-axis direction;
step S3, the control unit processes each printing layer by layer from bottom to top, and each printing layer processes the printing sections one by one from one end to the other end;
the control unit reads the coordinates of each point on the printing layer, generates X-axis displacement information according to the X-axis coordinates of the current point, sends the X-axis displacement information to the winding anchor machine, generates Y-axis displacement information according to the Y-axis coordinates of the current point, sends the Y-axis displacement information to the blanking motion driving unit, generates blanking amount information according to the Z-axis coordinates of the current point, and sends the blanking amount information to the weighing hopper.
By adopting the scheme, when the underwater foundation bed is leveled, the three-dimensional coordinates of each point of the underwater riprap foundation bed are collected by the multi-beam detector, generating a foundation bed space point set data according to the three-dimensional coordinates of each point of the underwater riprap foundation bed, further generating a foundation bed three-dimensional model according to the acquired foundation bed space point set data by the control unit, establishing a Cartesian motion coordinate system, and further by dividing the three-dimensional model of the bed into a plurality of print layers in the Z-axis direction, each print layer being divided into a plurality of print segments in the X-axis direction, the underwater riprap foundation bed is leveled section by section layer by layer, and the driving quantity of the anchor rolling machine and the discharging motion driving unit and the discharging quantity of the corresponding position of the weighing hopper are determined through the X-axis coordinate, the Y-axis coordinate and the Z-axis coordinate of each point, so that the underwater riprap foundation bed can be leveled efficiently and accurately.
Preferably, the GPS positioning unit positions the mobile platform, generates platform position information and sends the platform position information to the control unit; the control unit generates positioning driving information according to the platform position and the initial point coordinates of the corresponding printing section, and sends the positioning driving information to the anchor reeling machine; and the anchor rolling machine drives the movable platform to move along the X axis according to the positioning driving information, and moves the blanking pipe to a position corresponding to the X axis coordinate.
Through adopting above-mentioned scheme, fix a position moving platform through GPS positioning unit, and then the control unit drives the anchor windlass according to current moving platform's coordinate position, and then can remove the unloading pipe to corresponding X axle coordinate position fast, conveniently carry out quick location.
In conclusion, the invention has the following beneficial effects:
1. when the underwater foundation bed is leveled, the three-dimensional coordinates of each point of the underwater riprap foundation bed are collected by the multi-beam detector, generating a foundation bed space point set data according to the three-dimensional coordinates of each point of the underwater riprap foundation bed, further generating a foundation bed three-dimensional model according to the acquired foundation bed space point set data by the control unit, establishing a Cartesian motion coordinate system, and further by dividing the three-dimensional model of the bed into a plurality of print layers in the Z-axis direction, each print layer being divided into a plurality of print segments in the X-axis direction, the underwater riprap foundation bed is leveled section by section layer by layer, and the driving quantity of the anchor rolling machine and the discharging motion driving unit and the discharging quantity of the corresponding position of the weighing hopper are determined through the X-axis coordinate, the Y-axis coordinate and the Z-axis coordinate of each point, so that the underwater riprap foundation bed can be leveled efficiently and accurately.
2. Through setting up belt transmission line and feeding funnel, link to each other through the feeding hose between belt transmission line and the weighing hopper, carry out the unloading through the feeding funnel, and then utilize belt transmission line to transmit the stone material to the weighing hopper top to under the effect of gravity, utilize the feeding hose to add the stone material into the weighing hopper, thereby can carry out the material loading by the efficient to the weighing hopper.
Drawings
Fig. 1 is a schematic structural diagram of an underwater riprap foundation bed leveling device.
Fig. 2 is a control block diagram of the underwater riprap foundation leveling device.
Fig. 3 is a schematic structural diagram showing a driving unit embodying the blanking motion.
Fig. 4 is a schematic structural view of a mounting manner of the multi-beam detector.
In the figure, 1, a mobile platform; 11. a discharge outlet; 12. mounting grooves; 13. a track; 131. a base rail; 132. a channel rail; 2. a belt transmission line; 3. a measuring hopper; 31. a feed hose; 32. a discharging pipe; 4. feeding a hopper; 5. a lifting hydraulic cylinder; 51. a support assembly; 511. a support sleeve; 512. a support bar; 6. a multi-beam detector; 7. a blanking motion driving unit; 71. a driving frame; 72. a connecting shaft; 73. a roller; 74. a blanking servo drive motor; 8. an anchor reeling machine; 81. an anchor cable; 9. a GPS positioning unit; 10. a control unit.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings. In which like parts are designated by like reference numerals. It should be noted that the terms "front," "back," "left," "right," "upper" and "lower" used in the following description refer to directions in the drawings, and the terms "bottom" and "top," "inner" and "outer" refer to directions toward and away from, respectively, the geometric center of a particular component.
Example 1:
the utility model provides a riprap foundation bed leveling device under water, refers to figure 1, includes moving platform 1, is provided with on moving platform 1 to be used for carrying out the transport mechanism that transmits and be used for measuring the weighing hopper 3 of unloading to the material. The transmission mechanism is a belt transmission line 2, and the belt transmission line 2 inclines upwards from one end of the feeding end to one end of the discharging end; a feeding hopper 4 is arranged above the feeding end of the belt transmission line 2. The discharge end of the belt transmission line 2 is provided with a feeding hose 31 connected with the feeding hole of the weighing hopper 3. The feeding hopper 4 is electrically controlled, and materials such as broken stones are fed onto the belt transmission line 2 through the feeding hopper 4, and then the materials are transmitted to the upper part of the measuring hopper 3 through the belt transmission line 2, and then the materials are discharged into the measuring hopper 3 through the feeding hose 31. The bottom of the moving platform 1 is provided with a strip-shaped discharge opening 11 arranged along the width direction of the moving platform 1 in the length direction, the weighing hopper 3 is communicated with a discharge pipe 32, and the discharge pipe 32 axially penetrates through the discharge opening 11. A rail 13 along the width direction of the mobile platform 1 is fixed on a deck of the mobile platform 1, and the weighing hopper 3 is provided with a blanking motion driving unit 7 for controlling the weighing hopper 3 to move along the length direction of the rail 13.
Referring to fig. 1, two ends of the mobile platform 1 are respectively provided with two winding anchors 8, and the two winding anchors 8 at each end are respectively located at two sides of the mobile platform 1. Roll up anchor machine 8 and be connected with anchor rope 81, after moving platform 1 moved to the set position, with the anchor rope 81 tip that will roll up anchor machine 8 fixed on the foundation bed under water, two roll up anchor machine 8 of moving platform 1 one end do receive the cable operation, two roll up anchor machine 8 of moving platform 1 other end do the operation of unreeling, and then drive moving platform 1 and carry out the motion along moving platform 1 length direction. Each end of the mobile platform 1 is provided with two anchor rolling machines 8 for cooperative operation, and then when the mobile platform 1 is driven, the mobile platform 1 is not easy to transversely deflect.
Referring to fig. 1 and 2, the mobile platform 1 is further provided with a control unit 10 and a GPS positioning unit 9. Both the weighing hopper 3 and the windlass 8 are controlled by a control unit 10. The control unit 10 adopts industrial control platforms such as a microcomputer and a PLC, has the functions of data processing, data storage and the like, and is used for carrying out process control on the leveling and blanking of the underwater riprap foundation bed leveling device. The lower part of the mobile platform 1 is also provided with a multi-beam detector 6 for scanning the topographic features of the underwater riprap foundation bed. The multi-beam detector 6 is used for scanning three-dimensional characteristics of the underwater riprap foundation bed and sending scanning data to the control unit 10; the control unit 10 generates platform motion driving information, blanking motion driving information and metering information according to the scanning data sent by the multi-beam detector 6, and respectively sends the platform motion driving information, the blanking motion driving information and the metering information to the anchor reeling machine 8, the blanking motion driving unit 7 and the weighing hopper 3; the anchor reeling machine 8 controls the reeling and unreeling of the anchor cable 81 according to the platform movement driving information, and the blanking driving movement unit drives the weighing hopper 3 to move along the length direction of the track 13 according to the blanking driving information; the weighing hopper 3 controls the feeding amount according to the metering information.
Referring to fig. 3, the rail 13 includes a base rail 131 fixedly coupled to the moving platform 1 and groove rails 132 respectively fixed to both sides of an upper portion of the base rail 131. The blanking motion driving unit 7 comprises a driving frame 71 fixed at the lower part of the weighing hopper 3, two ends of the driving frame 71 are respectively provided with a connecting shaft 72 which is rotatably connected with the driving frame 71, and two ends of the connecting shaft 72 are respectively fixed with a roller 73 which is in rolling contact with a groove-shaped rail 132; a synchronous transmission component is arranged between the two connecting shafts 72 and comprises transmission wheels respectively fixed on the two connecting shafts 72 and a transmission belt sleeved between the two transmission wheels. A blanking servo driving motor 74 for driving the connecting shaft 72 to rotate is arranged on the driving frame 71, a machine body of the blanking servo driving motor 74 is fixed on the driving frame 71, and an output shaft of the blanking servo driving motor 74 is fixedly connected with one of the connecting shafts 72. The blanking servo driving motor 74 is responsive to a control signal sent by the control unit 10, and is further capable of driving the weighing hopper 3 to move along the length direction of the track 13 under the control of the control unit 10.
Referring to fig. 1 and 4, mounting grooves 12 are respectively formed at the bottoms of the moving platforms 1 on both sides of the feed opening, and a lifting hydraulic cylinder 5 is arranged in each mounting groove 12. The piston rod of the hydraulic lifting cylinder 5 is vertically arranged, and the cylinder body of the hydraulic lifting cylinder 5 is fixedly connected with the moving platform 1. The multi-beam detector 6 is fixed at the end part of the lifting hydraulic cylinder 5. When the underwater riprap foundation bed leveling device works, the piston rod of the lifting hydraulic cylinder 5 is in an extension state, the multi-beam detector 6 is extended out of the bottom of the movable platform 1, and the multi-beam detector 6 is used for detecting the topographic features of the underwater riprap foundation bed. When the multi-beam detector 6 is not used for work, the piston rod of the hydraulic cylinder 5 is in a contracted state, and the multi-beam detector 6 is accommodated in the mounting groove 12. Through accomodating multi-beam detector 6 in mounting groove 12, and then reduce when daily moving platform 1 moves, rivers are to multi-beam detector 6's impact.
Referring to fig. 1 and 4, a support assembly 51 is disposed in the mounting groove 12, and the support assembly 51 includes a support sleeve 511 and a plurality of support rods 512 disposed around the support sleeve 511. The support rod 512 is obliquely arranged, the lower end of the support rod 512 is hinged with the support sleeve 511, and the upper end of the support rod 512 is hinged with the side wall of the mounting groove 12. The piston rod of the lifting hydraulic cylinder 5 is restrained by the supporting sleeve 511, and the supporting sleeve 511 is circumferentially supported by the supporting rod 512, so that the bending deflection of the piston rod of the lifting hydraulic cylinder 5 under the action of water flow is reduced, and the detection result of the multi-beam detector 6 is more accurate.
Example 2:
an underwater riprap foundation bed leveling method adopts the underwater riprap foundation bed leveling device in the embodiment 1, and comprises the following steps:
step S1, the multi-beam detector 6 scans the three-dimensional features of the underwater riprap foundation bed, collects the three-dimensional coordinates of each point of the underwater riprap foundation bed, generates foundation bed space point set data according to the three-dimensional coordinates of each point of the underwater riprap foundation bed, and sends the foundation bed space point set data to the control unit 10. Each point is in the coordinate form (x, y, z), and the bedspace point set data is { (x1, y1, z1), (x2, y2, z2),.. xn, yn, zn) }.
In step S2, the control unit 10 generates a three-dimensional model of the bed from the bed space point set data, where the three-dimensional model of the bed is a three-dimensional solid model fitted with the bed space point set data. The control unit 10 generates a cartesian motion coordinate system with the traveling direction of the mobile platform 1 as an X-axis, the length of the track 13 as a Y-axis, and the height direction as a Z-axis; the control unit 10 divides the three-dimensional model of the bed into a plurality of print layers in the Z-axis direction, each of which is divided into a plurality of print sections in the X-axis direction. And the Z coordinates of all points on the printing layer are the same, and on a certain printing layer, Z is m, so that when leveling operation is performed on the layer changing, the blanking height corresponding to each point is m-Z, and Z is the actual Z-axis coordinate of the point at the current position.
In step S3, the control unit 10 performs layer-by-layer processing on the respective print layers from bottom to top, and each print layer performs processing for printing sectors one by one from one end to the other end. The control unit 10 reads the coordinates of each point on the print layer, generates X-axis displacement information according to the X-axis coordinates of the current point, and transmits the X-axis displacement information to the windlass 8, generates Y-axis displacement information according to the Y-axis coordinates of the current point, and transmits the Y-axis displacement information to the feeding motion driving unit 7, generates feeding amount information according to the Z-axis coordinates of the current point, and transmits the feeding amount information to the weighing hopper 3. When the control unit 10 controls the driving of the blanking pipe 32, the windup anchor 8 and the blanking motion driving unit 7 operate independently, that is, all coordinate points X ═ n are processed first, and coordinate points X ═ n +1, X ═ n +2, and the like are processed sequentially, that is, the blanking pipe 32 moves in an S-shape in space.
When the underwater riprap foundation bed leveling device carries out leveling operation, the GPS positioning unit 9 positions the mobile platform 1 to generate platform position information and sends the platform position information to the control unit 10; the control unit 10 generates positioning driving information according to the platform position and the initial point coordinates of the corresponding printing section, and sends the positioning driving information to the anchor reeling machine 8; and the anchor reeling machine 8 drives the moving platform 1 to move along the X axis according to the positioning driving information, and moves the blanking pipe 32 to a position corresponding to the X axis coordinate. Fix a position moving platform 1 through GPS positioning unit 9, and then the control unit 10 is according to current moving platform 1's coordinate position, and then drives roll up anchor machine 8, and then can remove unloading pipe 32 to corresponding X axle coordinate position fast, conveniently carry out quick location.
The present embodiment is only for explaining the present invention, and it is not limited to the present invention, and those skilled in the art can make modifications of the present embodiment without inventive contribution as needed after reading the present specification, but all of them are protected by patent law within the scope of the claims of the present invention.
Claims (10)
1. The utility model provides an underwater riprap foundation bed leveling device, includes moving platform (1), its characterized in that: two ends of the moving platform (1) are respectively fixed with an anchor reeling machine (8), and the anchor reeling machine (8) is connected with an anchor cable (81); the feeding device is characterized in that a discharging pipe (32) and a discharging motion driving unit (7) used for driving the discharging pipe (32) to move along the width direction of the moving platform (1) are arranged on the moving platform (1), and the discharging pipe (32) extends to the position below the moving platform (1).
2. An underwater riprap foundation leveling device according to claim 1, wherein: the mobile platform (1) is provided with a measuring hopper (3) for measuring and discharging, and the discharging pipe (32) is communicated with the measuring hopper (3); a track (13) arranged along the width direction of the moving platform (1) is fixed on the moving platform (1), and the blanking motion driving unit (7) is used for driving the weighing hopper (3) to move along the length direction of the track (13).
3. An underwater riprap foundation leveling device according to claim 2, wherein: the material conveying device is characterized in that a conveying mechanism used for conveying materials is arranged on the moving platform (1), the discharge end of the conveying mechanism is located above the feed inlet of the metering hopper (3), and the end portion of the conveying mechanism is provided with a feeding hose (31) used for being communicated with the metering hopper (3).
4. An underwater riprap foundation leveling device according to claim 2, wherein: the mobile platform (1) is provided with a multi-beam detector (6) and a control unit (10); the multi-beam detector (6) is positioned at the lower part of the mobile platform (1); the multi-beam detector (6) is used for scanning three-dimensional characteristics of the underwater riprap foundation bed and sending scanning data to the control unit (10); the control unit (10) generates platform motion driving information, blanking motion driving information and metering information according to scanning data sent by the multi-beam detector (6), and sends the platform motion driving information, the blanking motion driving information and the metering information to the anchor reeling machine (8), the blanking motion driving unit (7) and the weighing hopper (3) respectively; the anchor reeling machine (8) controls the reeling and unreeling of the anchor cable (81) according to the platform motion driving information, and the blanking driving motion unit drives the measuring hopper (3) to move along the length direction of the track (13) according to the blanking driving information; and the measuring hopper (3) controls the blanking amount according to the measuring information.
5. An underwater riprap foundation leveling device according to claim 2, wherein: the mobile platform is characterized in that a GPS positioning unit (9) is arranged on the mobile platform (1), the GPS positioning unit (9) is used for positioning the mobile platform (1), generating platform position information and sending the platform position information to a control unit (10), and the control unit (10) is used for positioning and judging the position of the mobile platform (1) according to the platform position.
6. An underwater riprap foundation leveling device according to claim 3, wherein: the conveying mechanism is a belt conveying line (2), and the belt conveying line (2) inclines upwards from the feeding end to the discharging end.
7. An underwater riprap foundation leveling device according to claim 6, wherein: the feeding end of the belt transmission line (2) is provided with a discharging hopper, and a discharging port of the discharging hopper is positioned above the feeding end of the belt transmission line (2).
8. An underwater riprap foundation leveling device according to claim 1, wherein: the number of the anchor reeling machines (8) arranged at each end of the movable platform (1) is two, and the two anchor reeling machines (8) are respectively positioned at two sides of the movable platform (1).
9. An underwater riprap foundation leveling method using the underwater riprap foundation leveling device according to any one of claims 1 to 8, comprising the steps of:
s1, the multi-beam detector (6) scans the three-dimensional characteristics of the underwater riprap foundation bed, collects the three-dimensional coordinates of each point of the underwater riprap foundation bed, generates foundation bed space point set data according to the three-dimensional coordinates of each point of the underwater riprap foundation bed, and sends the foundation bed space point set data to the control unit (10);
step S2, the control unit (10) generates a three-dimensional model of the foundation bed according to the space point set data of the foundation bed, and the control unit (10) generates a Cartesian motion coordinate system by taking the moving direction of the mobile platform (1) as an X axis, the length of the track (13) as a Y axis and the height direction as a Z axis; a control unit (10) divides the three-dimensional model of the bed into a plurality of printing layers in the Z-axis direction, each printing layer being divided into a plurality of printing sections in the X-axis direction;
step S3, the control unit (10) processes each printing layer by layer from bottom to top, and each printing layer processes the printing sections one by one from one end to the other end;
the control unit (10) reads the coordinates of each point on the printing layer, generates X-axis displacement information according to the X-axis coordinates of the current point, transmits the X-axis displacement information to the windlass (8), generates Y-axis displacement information according to the Y-axis coordinates of the current point, transmits the Y-axis displacement information to the feeding motion driving unit (7), generates feeding amount information according to the Z-axis coordinates of the current point, and transmits the feeding amount information to the weighing hopper (3).
10. An underwater riprap foundation leveling method according to claim 9, wherein: the GPS positioning unit (9) positions the mobile platform (1), generates platform position information and sends the platform position information to the control unit (10); the control unit (10) generates positioning driving information according to the platform position and the initial point coordinate of the corresponding printing section, and sends the positioning driving information to the anchor rolling machine (8); and the anchor reeling machine (8) drives the moving platform (1) to move along the X axis according to the positioning driving information, and moves the blanking pipe (32) to a position corresponding to the X axis coordinate.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110949521.1A CN113494062A (en) | 2021-08-18 | 2021-08-18 | Underwater riprap foundation bed leveling device and leveling method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202110949521.1A CN113494062A (en) | 2021-08-18 | 2021-08-18 | Underwater riprap foundation bed leveling device and leveling method thereof |
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