A high-precision trestle active wave compensation system and method based on laser radar

Abstract

The application provides a kind of high-precision trestle active wave compensation system and method based on laser radar, relating to ship technology field, including trestle body, laser radar, attitude sensor, angle sensor, displacement sensor, controller and control mechanism, laser radar, attitude sensor, angle sensor and displacement sensor are connected with feedback communication controller, controller is connected with control mechanism communication control, controller is according to feedback data, by establishing coordinate system, calculating the residual longitudinal of ship, calculating the target position of each joint of trestle body, controlling each joint movement to target position and other steps, maintain the stability of the end of trestle body, realize wave compensation.The application calculates the residual longitudinal of ship, thereby improves the precision of trestle active wave compensation, improves the safety of trestle work.

Description

Technical Field

[0001] This invention relates to the field of marine technology, and in particular to a high-precision active wave compensation system and method for jet bridges based on lidar. Background Technology

[0002] Offshore wind power requires maintenance and regular upkeep. Piers are typically used to connect vessels and wind turbines, allowing personnel to access the turbines for inspections. Vessels are subject to wave motion due to wind, waves, and air currents, posing safety hazards when transporting personnel via piers. Active wave compensation mechanisms on the piers are generally used to mitigate this wave motion, maintaining relative stillness between the pier and the wind turbines and ensuring the safety of personnel crossing the piers.

[0003] Jet piers typically feature slewing, luffing, and telescopic joints. During active wave compensation, the vessel needs to activate dynamic positioning to compensate for its sway, pitch, and bow roll. This is usually achieved by using attitude sensors to collect pitch, sway, and heave information, and then calculating the target positions for slewing, luffing, and telescopic movement at the pier's end using inverse kinematics. Finally, the joints are controlled to move to these target positions. However, in actual use, the dynamic positioning accuracy of a vessel is typically 1.5-2 meters, while the compensation accuracy at the pier's end needs to be within 20 centimeters. Therefore, relying solely on dynamic positioning to compensate for the vessel's sway and pitch cannot meet the requirements of active wave compensation for jet piers and cannot guarantee the accuracy of wave compensation. Summary of the Invention

[0004] The purpose of this invention is to provide a high-precision active wave compensation system and method for trestle bridges based on lidar. This system calculates the residual pitch of the ship by measuring the distance with lidar, thereby improving the accuracy of active wave compensation for trestle bridges and enhancing the safety of trestle bridge operations.

[0005] The above-mentioned technical objective of the present invention is achieved through the following technical solution:

[0006] A high-precision active wave compensation system for a trestle based on lidar includes a trestle body, a lidar, an attitude sensor, an angle sensor, a displacement sensor, a controller, and a control mechanism. The trestle body is equipped with a rotary joint, a luffing joint, and a telescopic joint. The control mechanism is connected to the corresponding rotary joint, luffing joint, and telescopic joint to control the trestle body to perform rotary, luffing, and telescopic movements. The lidar is installed below the trestle body near its end. The attitude sensor is installed on the ship's deck at the location of the rotary joint. The angle sensor is installed at the luffing joint, and the displacement sensor is installed at the telescopic joint. The lidar, attitude sensor, angle sensor, and displacement sensor are connected to the controller for feedback communication. The controller is connected to the control mechanism for control communication. The controller calculates the target positions of the luffing and telescopic joints to maintain stability at the end of the trestle body based on the feedback data and controls the luffing and telescopic joints to move to the target positions through the control mechanism.

[0007] Furthermore, the range of the lidar is 0.1-100m, the horizontal field of view is 360°, and the vertical field of view is 3°-89°.

[0008] A high-precision active wave compensation method for trestle bridges based on lidar, employing the aforementioned active wave compensation system, mainly includes the following steps:

[0009] S1. Establish a coordinate system; take the initial state when the end of the trestle body of the ship is connected to the wind turbine tower in still water as the initial state, and establish a rectangular coordinate system with the ship's rotation center at this time as the origin O.

[0010] S2. Calculate the ship's residual pitch; the lidar, attitude sensor, displacement sensor, and angle sensor feed back data to the controller, and the controller calculates the ship's residual pitch;

[0011] S3. Calculate the target position of each joint; the controller calculates the target positions of the amplitude-shifting joint and the telescopic joint when maintaining the stability of the end of the trestle body.

[0012] S4. Control each joint to move to the target position; the controller causes the control mechanism to control the amplitude joint and telescopic joint to move to the target position according to the calculated target position, thus completing wave compensation.

[0013] Furthermore, in step S2, the method for calculating the ship's residual sway is as follows:

[0014] S21. Calculate the coordinates of point D where the lidar is located in the initial state; in the initial state, the distance between the lidar and the rotation center point A of the amplitude joint is Ld, the lateral distance between the rotation center point A of the amplitude joint and the origin O of the coordinate system is Ls0, the height of the trestle body is Hq, the tilt angle of the amplitude joint measured by the angle sensor is α, point B is the projection point of the lidar on the horizontal plane where point A is located, and the coordinates of point D where the lidar is located in the initial state are (Ld*cosα-Ls0, Ld*sinα+Hq).

[0015] S22. Calculate the coordinates of point D', where the lidar is located, when the ship experiences heave and pitch. When the ship experiences heave, pitch, and sway, the attitude sensor detects a heave height of H, a pitch angle of P, and a sway distance of S. First, calculate the coordinates of point D', where the lidar is located, when the ship's heave height is H and pitch angle is P. The coordinates of point D' are D' = D*R(P) + (0, H), where R(P) is the rotation matrix, and its expression is...

[0016] S23. Calculate the change in the abscissa of the point where the lidar is located, ΔX; ΔX = D'(x) - D(x) = (Ld*cosα - Ls0)(cosP-1) - (Ld*sinα + Hq)*sinP, where D'(x) and D(x) represent the abscissas of point D' and point D, respectively;

[0017] S24. Calculate the ship's residual sway S'; In the initial state, the distance between the laser radar point D and the wind turbine tower is Lx0. When the ship's sway distance is S, the distance between the laser radar point Dt and the wind turbine tower is Lxt. The ship's residual sway S' = Lxt - Lx0 - ΔX.

[0018] Furthermore, in step S3, the method for calculating the target position of the telescopic joint is as follows:

[0019] S31. Calculate the coordinates of the rotation center point A of the amplitude joint in the O coordinate system under the initial state; In step S21, it is known that the lateral distance between the rotation center point A of the amplitude joint and the origin O of the coordinate system is Ls0, the height of the trestle body is Hq, and the coordinates of point A are (-Ls0, Hq).

[0020] S32. Calculate the coordinates of the end point E of the trestle body in the O coordinate system in the initial state; the distance between the rotation center point A of the amplitude joint and the end point E of the trestle body measured by the displacement sensor in the initial state is the initial length Lp of the trestle body, the tilt angle of the amplitude joint measured by the angle sensor is α, point C is the projection of the end point E of the trestle body on the horizontal plane where point A is located, and the coordinates of the end point E of the trestle body in the initial state are (Lp*cosα-Ls0, Lp*sinα+Hq).

[0021] S33. Calculate the coordinates of the rotation center point At of the luffing joint in the O coordinate system when the ship experiences heave, pitch, and sway; when the ship's heave height is H, pitch angle is P, and sway distance is S, the coordinates of the rotation center point At of the luffing joint are At = A*R(P) + (0, H) + (S', 0), where R(P) is the rotation matrix, and its expression is: S' represents the ship's residual sway in step S24;

[0022] S34. Calculate the target position of the telescopic joint; the end point E of the trestle body is a stable point, and the coordinates of point E do not change during ship movement. The distance between the rotation center point At of the luffing joint and the end point E of the trestle body is... Where Ex is the x-coordinate of point E, Atx is the x-coordinate of point At, Ey is the y-coordinate of point E, and Aty is the y-coordinate of point At.

[0023] Furthermore, in step S3, the method for calculating the target position of the amplitude joint is as follows:

[0024] S35. Calculate the target position of the luffing joint; the lateral projection of the luffing joint's rotation center point At onto the wind turbine tower is point Rt, and ∠EStRt is the luffing joint angle β. Where Ex is the x-coordinate of point E and Atx is the x-coordinate of point At.

[0025] Furthermore, in step S4, the control mechanism controls the telescopic joint to move to the length of the trestle body Lt, and controls the amplitude joint to move to the amplitude angle β, thereby completing wave compensation.

[0026] In summary, the present invention has the following beneficial effects:

[0027] In this invention, a lidar located near the lower end of the trestle body is used to measure the distance between it and the wind turbine tower. Combined with the angle of the luffing joint measured by the angle measuring sensor at the luffing joint, and the ship's heave height, pitch angle, and sway distance measured by the attitude sensor, the residual sway of the ship is calculated. The calculation method for the residual sway and the target position of each joint is simple and has high calculation accuracy. It can effectively improve the accuracy of active wave compensation, ensure that the end of the trestle body remains stationary between the trestle body and the wind turbine tower when the ship is in wave motion, improve the safety of the trestle operation, and has good environmental adaptability. Attached Figure Description

[0028] Figure 1 This is a schematic diagram of a high-precision active wave compensation system for a trestle based on lidar.

[0029] Figure 2 This is a schematic diagram of the structure of the trestle body in a high-precision active wave compensation system based on lidar.

[0030] Figure 3 This is a flowchart of a high-precision active wave compensation method for trestle based on lidar;

[0031] Figure 4 This is a schematic diagram illustrating the calculation of residual sway of a ship in a high-precision active wave compensation method for trestle based on lidar.

[0032] Figure 5 This is a schematic diagram illustrating the calculation of the target position of the amplitude joint and telescopic joint in a high-precision active wave compensation method for trestle based on lidar.

[0033] In the diagram, 1. Trestle body; 11. Rotary joint; 12. Amplitude joint; 13. Telescopic joint; 2. Wind turbine tower; 3. LiDAR; 4. Attitude sensor; 5. Angle sensor; 6. Displacement sensor; 7. Controller; 8. Control mechanism. Detailed Implementation

[0034] The present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only for explaining the present invention and are not intended to limit the present invention.

[0035] A high-precision active wave compensation system for trestle based on lidar, such as Figure 1As shown, the system includes a trestle body 1, a lidar 3, an attitude sensor 4, an angle sensor 5, a displacement sensor 6, a controller 7, and a control mechanism 8. The trestle body 1 is equipped with a rotary joint 11, a luffing joint 12, and a telescopic joint 13. The control mechanism 8 is connected to the corresponding rotary joint 11, luffing joint 12, and telescopic joint 13 to control the trestle body 1 to perform rotary, luffing, and telescopic movements. The control mechanism 8 is generally a hydraulic cylinder that controls the corresponding rotary joint 11, luffing joint 12, and telescopic joint 13 to perform the corresponding rotary, luffing, and telescopic movements.

[0036] Specifically, such as Figure 2 As shown, the lidar 3 is installed below the end of the trestle body 1. The lidar 3 uses multiple laser beams to acquire point cloud information of obstacles, including the laser beam angle and distance. The lidar 3 can measure the distance between the obstacle and the wind turbine tower 2 (marked on...). Figure 4 and Figure 5 Compared to visual or laser rangefinders, the lidar 3 has better environmental adaptability, ensuring the accuracy and precision of information collection in harsh marine environments. In this embodiment, the lidar 3 has a ranging range of 0.1-100m, a horizontal field of view of 360°, and a vertical field of view of 3°-89°.

[0037] like Figure 2 As shown, attitude sensor 4 is installed on the ship's deck at the location of slewing joint 11. It can sense the ship's heave, pitch, and sway movements, and accurately measure the ship's heave height, pitch angle, and sway distance, so as to accurately calculate the ship's residual sway and the target position of each joint. Angle sensor 5 is installed at luffing joint 12 to measure the luffing angle of luffing joint 12. Displacement sensor 6 is installed at telescopic joint 13 to measure the telescopic length of telescopic joint 13.

[0038] like Figure 1 and Figure 2 As shown, the lidar 3, attitude sensor 4, angle sensor 5, and displacement sensor 6 are connected to the controller 7 for communication feedback. The controller 7 is connected to the control mechanism 8 for communication control. The controller 7 calculates the target position of the amplitude joint 12 and the telescopic joint 13 when maintaining the stability of the end of the trestle body 1 based on the feedback data of the lidar 3, attitude sensor 4, angle sensor 5, and displacement sensor 6, and controls the amplitude joint 12 and the telescopic joint 13 to move to the target position through the control mechanism 8.

[0039] The active wave compensation system in this invention uses a lidar 3 located near the lower end of the trestle body 1 to measure the distance between it and the wind turbine tower 2. Combined with the angle of the luffing joint 12 measured by the angle sensor 5 at the luffing joint 12 and the ship's heave height, pitch angle, and sway distance measured by the attitude sensor 4, the system calculates the ship's residual sway, thereby effectively improving the accuracy of active wave compensation. This ensures that the end of the trestle body 1 and the wind turbine tower 2 remain stationary when the ship is in wave motion, improving the safety of the trestle operation and providing good environmental adaptability.

[0040] A high-precision active wave compensation method for trestle bridges based on lidar, employing the aforementioned active wave compensation system, such as... Figure 3 As shown, the main steps include:

[0041] S1. Establish a coordinate system; such as Figure 4 As shown, the initial state is when the end of the trestle body 1 of the ship is connected to the wind turbine tower 2 in still water. A rectangular coordinate system is established with the ship's rotation center at this time as the origin O.

[0042] S2. Calculate the ship's residual sway; the lidar 3, attitude sensor 4, displacement sensor 6, and angle sensor 5 feed back data to the controller 7, and the controller 7 calculates the ship's residual sway.

[0043] The specific method for calculating the residual sway of a ship is as follows:

[0044] S21. Calculate the coordinates of point D, where lidar 3 is located in the initial state; for example... Figure 4 As shown, in the initial state, the distance between the lidar 3 and the rotation center point A of the amplitude joint 12 is Ld, the lateral distance between the rotation center point A of the amplitude joint 12 and the origin O of the coordinate system is Ls0, the height of the trestle body 1 is Hq, the tilt angle of the amplitude joint 12 measured by the angle sensor 5 is α, and point B is the projection point of the lidar 3 on the horizontal plane where point A is located. Given Ld, Ls0, Hq, and α, in △ABD, AD = Ld, BD = AD*sinα = Ld*sinα, and AB = AD*cosα = Ld*cosα. Therefore, the coordinates of point D, where the lidar 3 is located in the initial state, are (Ld*cosα - Ls0, Ld*sinα + Hq).

[0045] S22. Calculate the coordinates of point D', where lidar 3 is located, when the ship experiences heave and pitch; (e.g., ...) Figure 4 As shown, when the ship experiences heave, pitch, and sway, attitude sensor 4 detects a heave height of H, a pitch angle of P, and a sway distance of S. First, the location of lidar 3 at point D' is calculated when the ship's heave height is H and pitch angle is P.

[0046] The coordinates of point D', where LiDAR 3 is located, are D' = D*R(P) + (0, H), where R(P) is the rotation matrix, and its expression is: According to the coordinate matrix calculation method, the coordinates of D' can be calculated as ((Ld*cosα-Ls0)*cosP-(Ld*sinα+Hq)*sinP, (Ld*cosα-Ls0)*sinP+(Ld*sinα+Hq)*cosP+H).

[0047] S23. Calculate the change in the x-coordinate ΔX of the point where lidar 3 is located; for example... Figure 4 As shown,

[0048] △X=D'(x)-D(x)=(Ld*cosα-Ls0)(cosP-1)-(Ld*sinα+Hq)*sinP, where D'(x) and D(x) represent the x-coordinates of point D' and point D, respectively.

[0049] S24. Calculate the ship's residual sway S'; for example Figure 4 As shown, in the initial state, the distance between the point D where the lidar 3 is located and the wind turbine tower 2 is measured as Lx0. When the ship's sway distance is S, the distance between the point Dt where the lidar 3 is located and the wind turbine tower 2 is measured as Lxt. The ship's residual sway S' = Lxt - Lx0 - ΔX = Lxt - Lx0 - (Ld*cosα - Ls0)(cosP-1) + (Ld*sinα + Hq)*sinP.

[0050] S3. Calculate the target position of each joint; Controller 7 calculates the target positions of the amplitude joint 12 and the telescopic joint 13 when maintaining the stability of the end of the trestle body 1.

[0051] The specific calculation methods for the target position quantities of telescopic joint 13 and amplitude joint 12 are as follows:

[0052] S31. Calculate the coordinates of the rotation center point A of the luffing joint 12 in the O coordinate system under the initial state; such as Figure 4 or Figure 5 As shown, in step S21, the lateral distance between the rotation center point A of the amplitude joint 12 and the origin O of the coordinate system is Ls0, the height of the trestle body 1 is Hq, and the coordinates of point A are (-Ls0, Hq).

[0053] S32. Calculate the coordinates of point E, the end of the trestle body 1, in the O coordinate system under the initial state; such as Figure 5As shown, the displacement sensor 6 measures the distance AE between point A, the rotation center of the amplitude joint 12, and point E, the end of the trestle body 1, in the initial state. This distance is the initial length Lp of the trestle body 1. The angle sensor 5 measures the tilt angle α of the amplitude joint 12. Point C is the projection of point E, the end of the trestle body 1, onto the horizontal plane where point A is located. Given Lp, α, Ls0, and Hq, in △ACE, EC = AE*sinα = Lp*sinα, AC = AE*cosα = Lp*cosα. Therefore, the coordinates of point E, the end of the trestle body 1, in the initial state are (Lp*cosα - Ls0, Lp*sinα + Hq).

[0054] S33. Calculate the coordinates of the rotation center point At of the amplitude joint 12 in the O coordinate system when the ship experiences heave, pitch, and sway; Figure 5 As shown, when the ship's heave height is H, the pitch angle is P, and the sway distance is S, the coordinates of the rotation center point At of the luffing joint 12 are At = A*R(P) + (0, H) + (S', 0), where R(P) is the rotation matrix, and its expression is... S' represents the residual sway of the ship in step S24. According to the coordinate matrix calculation method, the coordinates of At are (Lxt-Lx0-Ld*cosα*(cosP-1)-Ld*sinα*sinP-Ls0, Hq*cosP-Ls0*sinP+H).

[0055] S34. Calculate the target position of telescopic joint 13; such as Figure 5 As shown, point E at the end of the trestle body 1 is a stable point, and the coordinates of point E do not change when the ship moves. The distance between the rotation center point At of the luffing joint 12 and point E at the end of the trestle body 1 is... Where Ex is the x-coordinate of point E, Atx is the x-coordinate of point At, Ey is the y-coordinate of point E, and Aty is the y-coordinate of point At.

[0056] S35. Calculate the target position of the variable amplitude joint 12; such as... Figure 5 As shown, the lateral projection of the rotation center point At of the amplitude joint 12 onto the wind turbine tower 2 is point Rt, and ∠EStRt is the angle β of the amplitude joint 12. Where Ex is the x-coordinate of point E and Atx is the x-coordinate of point At.

[0057] S4. Control each joint to move to the target position; such as... Figure 1 and Figure 5 As shown, the controller 7 causes the control mechanism 8 to control the amplitude joint 12 and the telescopic joint 13 to move to the target position according to the calculated target position. The control mechanism 8 controls the telescopic joint 13 to move to the length of the trestle body 1 when it is Lt, and controls the amplitude joint 12 to move to the amplitude angle when it is β, thus completing the wave compensation.

[0058] In this invention, the wave compensation system is used to first calculate the residual sway of the ship and then use the residual sway to calculate the target position of each joint. The calculation method is simple and has high accuracy, which can effectively improve the accuracy of active wave compensation, ensure that the end of the trestle body 1 and the wind turbine tower 2 remain stationary when the ship is in wave motion, improve the safety of the trestle operation, and has good environmental adaptability.

[0059] The foregoing description illustrates and describes preferred embodiments of the present invention. As previously stated, it should be understood that the present invention is not limited to the forms disclosed herein and should not be construed as excluding other embodiments. It can be used in various other combinations, modifications, and environments, and can be altered within the scope of the inventive concept described herein through the foregoing teachings or techniques or knowledge in related fields. Any modifications and variations made by those skilled in the art that do not depart from the spirit and scope of the present invention should be within the protection scope of the appended claims.

Claims

1. A high-precision active wave compensation method for trestle bridges based on lidar, characterized in that: Includes the following steps: S1. Establish a coordinate system; take the initial state when the end of the trestle body (1) of the ship is connected to the wind turbine tower (2) in still water as the initial state, and establish a rectangular coordinate system with the ship's rotation center at this time as the origin O; S2. Calculate the ship's residual pitch; the lidar (3), attitude sensor (4), displacement sensor (6), and angle sensor (5) feed back data to the controller (7), and the controller (7) calculates the ship's residual pitch; S21. Calculate the coordinates of point D where the laser radar (3) is located in the initial state; the distance between the laser radar (3) and the rotation center point A of the amplitude joint (12) in the initial state is Ld, the lateral distance between the rotation center point A of the amplitude joint (12) and the origin O of the coordinate system is Ls0, the height of the trestle body (1) is Hq, the tilt angle of the amplitude joint (12) measured by the angle sensor (5) is α, point B is the projection point of the laser radar (3) on the horizontal plane where point A is located, and the coordinates of point D where the laser radar (3) is located in the initial state are: ; S22. Calculate the coordinates of point D', where the laser radar (3) is located, when the ship experiences heave and pitch. When the ship experiences heave, pitch, and sway, the attitude sensor (4) detects that the ship's heave height is H, pitch angle is P, and sway distance is S. First, calculate the coordinates of point D', where the laser radar (3) is located, when the ship's heave height is H and pitch angle is P. The coordinates of point D', where the laser radar (3) is located, are: Where R(P) is the rotation matrix, its expression is: ; S23. Calculate the change in the abscissa ΔX of the point where the lidar (3) is located; ,in, and Let D' and D represent the x-coordinates of point D and point D, respectively. S24. Calculate the ship's residual sway S'; In the initial state, the laser radar (3) measures the distance between its location point D and the wind turbine tower (2) as Lx0. When the ship's sway distance is S, the laser radar (3) measures the distance between its location point Dt and the wind turbine tower (2) as Lxt. The ship's residual sway... ; S3. Calculate the target position of each joint; the controller (7) calculates the target position of the amplitude joint (12) and the telescopic joint (13) when maintaining the stability of the end of the trestle body (1); S31. Calculate the coordinates of the rotation center point A of the amplitude joint (12) in the O coordinate system under the initial state; in step S21, it is known that the lateral distance between the rotation center point A of the amplitude joint (12) and the origin O of the coordinate system is Ls0, the height of the trestle body (1) is Hq, and the coordinates of point A are... ; S32. Calculate the coordinates of point E at the end of the trestle body (1) in the O coordinate system in the initial state; the displacement sensor (6) measures the distance between point A, the rotation center point of the amplitude joint (12), and point E at the end of the trestle body (1) in the initial state as the initial length Lp of the trestle body (1); the angle sensor (5) measures the tilt angle of the amplitude joint (12) as α; point C is the projection of point E at the end of the trestle body (1) on the horizontal plane where point A is located; the coordinates of point E at the end of the trestle body (1) in the initial state are: ; S33. Calculate the coordinates of the rotation center point At of the amplitude joint (12) in the O coordinate system when the ship experiences heave, pitch, and sway; when the ship's heave height is H, pitch angle is P, and sway distance is S, the coordinates of the rotation center point At of the amplitude joint (12) are: Where R(P) is the rotation matrix, its expression is: S' is the residual sway of the ship in step S24; S34. Calculate the target position of the telescopic joint (13); the end point E of the trestle body (1) is a stable point, and the coordinates of point E do not change when the ship moves. The distance between the rotation center point At of the luffing joint (12) and the end point E of the trestle body (1) is... Where Ex is the x-coordinate of point E, Atx is the x-coordinate of point At, Ey is the y-coordinate of point E, and Aty is the y-coordinate of point At. S35. Calculate the target position of the amplitude joint (12); the lateral projection point of the rotation center point At of the amplitude joint (12) on the wind turbine tower (2) is point Rt, and ∠EStRt is the angle β of the amplitude joint (12). , Where Ex is the x-coordinate of point E and Atx is the x-coordinate of point At; S4. Control each joint to move to the target position; the controller (7) causes the control mechanism (8) to control the amplitude joint (12) and telescopic joint (13) to move to the target position according to the calculated target position, and completes wave compensation.

2. The high-precision active wave compensation method for trestle based on lidar according to claim 1, characterized in that: In step S4, the control mechanism (8) controls the telescopic joint (13) to move to the length of the trestle body (1) of Lt, and controls the variable amplitude joint (12) to move to the variable amplitude angle of β, thus completing wave compensation.

3. A high-precision active wave compensation system for trestle bridges based on lidar, characterized in that: The active wave compensation method according to claim 1 or 2 includes a trestle body (1), a lidar (3), an attitude sensor (4), an angle sensor (5), a displacement sensor (6), a controller (7), and a control mechanism (8). The trestle body (1) is provided with a rotary joint (11), an amplitude joint (12), and a telescopic joint (13). The control mechanism (8) is connected to the corresponding rotary joint (11), amplitude joint (12), and telescopic joint (13) to control the trestle body (1) to perform rotary, amplitude, and telescopic movements. The lidar (3) is installed below the end of the trestle body (1). The attitude sensor (4) is installed on the ship deck at the location of the rotary joint (11). The angle sensor (5) is installed at the amplitude joint (12). The displacement sensor (6) is installed at the telescopic joint (13). The lidar (3), attitude sensor (4), angle sensor (5) and displacement sensor (6) are connected to the controller (7) for communication feedback. The controller (7) is connected to the control mechanism (8) for communication control. The controller (7) calculates the residual sway of the ship based on the horizontal distance between the lidar (3) and the wind turbine tower (2), the angle of the luffing joint (5) measured by the angle sensor (5) at the luffing joint (12), the ship's lifting height, pitch angle and sway distance measured by the attitude sensor (4), and calculates the target position of the luffing joint (12) and the telescopic joint (13) when the end of the trestle body (1) is stable based on the obtained residual sway of the ship. Thus, the controller (8) controls the luffing joint (12) and the telescopic joint (13) to move to the target position to ensure that the end of the trestle body (1) and the wind turbine tower (2) remain stationary when the ship is in wave motion.

4. A high-precision active wave compensation system for trestle bridges based on lidar according to claim 3, characterized in that: The laser radar (3) has a ranging range of 0.1-100m, a horizontal field of view of 360°, and a vertical field of view of 3°-89°.

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