Wave compensating device

Abstract

The application discloses a wave compensation device, which comprises a base for fixing the wave compensation device on a survey ship, a support column with a lower end rotatably arranged on the base, a hanging arm with a first end rotatably arranged on an upper end of the support column, a pulling unit arranged on the support column and the hanging arm for balancing adjustment of the hanging arm, a lifting unit arranged on the hanging arm for lifting a measuring device, and a damping unit arranged on the support column and the hanging arm for providing a damping force to the hanging arm during movement. The wave compensation device can keep the underwater measuring device relatively stable in an underwater posture when the survey ship rolls, and can improve data measurement accuracy and data quality, and provide more accurate and reliable data.

Description

Technical Field

[0001] This invention relates to the field of marine engineering survey equipment technology, and more specifically, to a wave compensation device. Background Technology

[0002] In marine engineering surveys, equipment such as side-scan sonar, shallow seismic profilers, marine magnetometers, single-point current meters, sound velocity meters, temperature, salinity, and depth (TDT) meters, and seabed surface samplers are used to measure seabed topography, seabed stratigraphic structure, ocean current characteristics, seawater sound velocity characteristics, seawater temperature and salinity characteristics, and seabed surface sediment characteristics. Maintaining the underwater attitude stability of these measuring devices during measurements is a crucial prerequisite for ensuring the quality of the measurement data. Currently, specialized survey vessels with wave-compensated cranes cannot be used in nearshore surveys; small survey vessels of 20m-30m are typically used. The limitations of this approach include:

[0003] (1) During the underway survey in marine engineering surveys, the underwater towed fish of the side-scan sonar, the underwater towed fish of the magnetometer, and the underwater towed body of the shallow seismic profiler are flexibly connected to the survey vessel by cables. When the survey vessel rolls, it causes the underwater towed bodies of the measuring equipment on both sides of the ship to move up and down. Their underwater attitude changes are not synchronized with the attitude changes of the survey vessel. It is impossible to use the attitude instrument fixed on the survey vessel to correct the underwater attitude of the measuring equipment. The measurement data includes the influence of waves, and the data quality deteriorates.

[0004] (2) The wave compensation crane has a complex structure and requires auxiliary equipment such as attitude instrument and GPS. Moreover, the wave compensation crane often uses a hydraulic system to implement attitude adjustment, which is not sensitive in sea state 2 and below. The underwater towed body of the measuring equipment usually does not exceed 60kg, and its compensation stroke is small and there is a lag phenomenon.

[0005] (3) During fixed-point measurements in marine engineering surveys, single-point current meters, temperature, salinity and depth meters, sound velocity meters, and seabed surface samplers are flexibly connected to the survey vessel via cables. The rolling motion of the survey vessel causes the measuring equipment to rise and fall, and it is not synchronized with the attitude changes of the survey vessel. Therefore, the attitude instruments fixed on the survey vessel cannot be used to correct the heave of the measuring equipment. The measurement data includes the influence of waves, resulting in poor data quality.

[0006] In summary, existing underwater position measurement equipment and methods are ineffective in shallow water areas, and there is no method for wave compensation of underwater towed bodies in marine engineering surveys. Summary of the Invention

[0007] In view of this, the purpose of the present invention is to provide a wave compensation device that can improve the accuracy and quality of data measurement and provide more accurate and reliable data, so as to solve the problems existing in the prior art.

[0008] This invention provides a wave compensation device, which includes:

[0009] A base for securing the wave compensation device to the survey vessel;

[0010] A support column, the lower end of which is rotatably mounted on the base;

[0011] The boom, the first end of which is rotatably mounted on the upper end of the support column;

[0012] A cable unit, mounted on the support column and the boom, is used for balance adjustment of the boom;

[0013] A hoisting unit, mounted on the boom, is used to hoist and place the measuring equipment;

[0014] A damping unit is provided on the support column and the boom to provide damping force to the boom during operation.

[0015] Preferably, the base includes:

[0016] seat body;

[0017] A cylindrical body is provided on the base body;

[0018] The rotating mechanism includes a rotary drive motor, a worm gear and a worm wheel that cooperate with each other. The drive motor is connected to the worm gear, the worm gear is located on the wall of the cylinder, and the worm wheel is sleeved on the support column and located inside the cylinder.

[0019] Preferably, the cable unit comprises:

[0020] The cable adjustment mechanism includes an adjustment motor, a cable adjustment screw, a slide rail, and a slider. The adjustment motor and the slide rail are mounted on the boom. One end of the cable adjustment screw passes through the slide rail and is rotatably mounted on the slide rail. The other end of the cable adjustment screw is located outside the slide rail and is connected to the adjustment motor for transmission. The slider is slidably mounted inside the slide rail and is threadedly connected to the cable adjustment screw.

[0021] A turntable, rotatable, is mounted on the upper end of the support column;

[0022] A primary cable, the first end of which is connected to the slider and wound around the turntable;

[0023] The secondary cable assembly includes a movable pulley, a secondary cable, a cable spring, and a cable anchor frame. The movable pulley is rotatably connected to the second end of the primary cable. The cable anchor frame is connected to the support column. One end of the secondary cable is connected to the cable anchor frame, and the other end is wound around the movable pulley and then connected to the cable anchor frame via the cable spring.

[0024] Preferably, the cable unit further includes an attitude sensor, which is located at the second end of the boom and is used to collect the tilt angle signal of the boom.

[0025] Preferably, the cable anchor frame is a right triangle, wherein the inclined plane of the right triangle faces upwards and away from the support column.

[0026] Preferably, the hoisting unit includes:

[0027] A reel, rotatably mounted on the boom;

[0028] A winding motor is mounted on the boom and is connected to the winding shaft via a drive.

[0029] An adjustment assembly is located at the second end of the boom. The adjustment assembly includes two fixed pulleys and an adjuster, with the two fixed pulleys located on both sides of the adjuster.

[0030] The sling has one end wound around the reel and the other end wound around the adjustment assembly before passing through.

[0031] Preferably, the hoisting unit further includes a length counter, which is mounted on the boom and used to measure the length of the hoisting cable.

[0032] The regulator includes an outer cylinder, an adjusting spring, an adjusting rod, and a rotating wheel. The outer cylinder is connected to the boom. The upper end of the adjusting spring is fixed to the boom and is located inside the outer cylinder. The upper end of the adjusting rod is connected to the adjusting spring, and the lower end extends out of the outer cylinder. The rotating wheel is rotatably mounted on the adjusting rod.

[0033] Preferably, the damping unit comprises:

[0034] A damping adjustment mechanism is provided on the boom and includes a sliding rail, a sliding block, a damping adjustment screw, and a damping adjustment motor. The first end of the damping screw is rotatably disposed on the sliding rail, and the second end of the damping screw protrudes from the sliding rail and is connected to the damping adjustment motor for transmission. The sliding block is slidably disposed on the sliding rail and is threadedly connected to the damping adjustment screw.

[0035] The damper has one end rotatably connected to the support column and the other end rotatably connected to the sliding block.

[0036] Preferably, the damping unit further includes a mounting bracket, which is fixed to the support column, and the lower end of the damper is rotatably connected to the mounting bracket.

[0037] Preferably, the mounting bracket is a right triangle with the hypotenuse facing downwards.

[0038] Beneficial effects:

[0039] The wave compensation device of this invention is particularly suitable for marine engineering surveys conducted by small survey vessels in shallow waters of sea state 2 and below, where the survey vessel is rolling but underwater measuring equipment (side-scan sonar towed fish, marine magnetometer towed fish, shallow seismic profiler towed body) cannot be compensated using wave compensation cranes or attitude instruments. It ensures that the underwater measuring equipment maintains a relatively stable underwater attitude even when the survey vessel is rolling, improving data measurement accuracy and quality, and providing more accurate and reliable data. The wave compensation device of this invention can be used on various small survey vessels and is easy to install. Attached Figure Description

[0040] The above and other objects, features and advantages of the present invention will become clearer from the following description of embodiments of the invention with reference to the accompanying drawings.

[0041] Figure 1 A schematic diagram of the wave compensation device according to an embodiment of the present invention is shown.

[0042] Figure 2 and 3 The structural schematic diagram of the base according to an embodiment of the present invention is shown from different perspectives.

[0043] Figure 4 and 5 The schematic diagrams of the turntable arrangement structure according to embodiments of the present invention are shown from different perspectives.

[0044] Figure 6-7 Schematic diagrams of the cable adjustment mechanism according to embodiments of the present invention are shown from different perspectives.

[0045] Figure 8-10 The diagram shows partial structural schematics of the hoisting unit according to an embodiment of the present invention from different perspectives.

[0046] Figure 11-12 Schematic diagrams of the damping adjustment mechanism according to embodiments of the present invention are shown from different perspectives.

[0047] Figure 13 A schematic diagram of an electronic control system according to an embodiment of the present invention is shown.

[0048] In the diagram: Base 1, Base 11, Cylinder 12, Rotary drive motor 131, Worm 132, Worm wheel 133, Support column 2, Boom 3, Cable unit 4, Cable adjustment mechanism 41, Adjustment motor 411, Cable adjustment screw 412, Slide rail 413, Slider 414, Turntable 42, Primary cable 43, Moving pulley 441, Secondary cable 442, Cable spring 443, Cable anchor frame 444, Attitude sensor 45, Lifting unit 5, Reel 51, Winding motor 52, Adjustment assembly 53, Lifting cable 54, Length counter 55, Damping unit 6, Damping adjustment mechanism 61, Slide rail 611, Sliding block 612, Damping adjustment screw 613, Damping adjustment motor 614, Damper 62, Mounting bracket 63, Motor forward / reverse controller 71, Motor control switch 72, Motor fuse 73, Main switch 74, Power battery 75. Detailed Implementation

[0049] Various embodiments of the invention will now be described in more detail with reference to the accompanying drawings. In the various drawings, the same elements are indicated by the same or similar reference numerals. For clarity, the various parts in the drawings are not drawn to scale.

[0050] This invention provides a wave compensation device, which includes a base 1, a support column 2, a boom 3, a cable unit 4, a hoisting unit 5, and a damping unit 6. The base 1 is used to fix the wave compensation device to a survey vessel; the support column 2 has its lower end rotatably mounted on the base 1; the boom 3 has its first end rotatably mounted on the upper end of the support column 2; the cable unit 4, mounted on the support column 2 and the boom 3, is used for balancing and adjusting the boom 3; the hoisting unit 5, mounted on the boom 3, is used for hoisting and placing measuring equipment; and the damping unit 6, mounted on the support column 2 and the boom 3, is used to provide damping force to the boom 3 during operation.

[0051] The base 1 includes a seat 11, a cylinder 12, and a rotating mechanism. The seat 11 has bolt holes for mounting on a survey vessel. The cylinder 12 is positioned above the seat 11. The rotating mechanism includes a rotary drive motor 131, a worm gear 132, and a worm wheel 133 that cooperate with each other. The drive motor is connected to the worm gear 132, which is mounted on the wall of the cylinder 12. The worm wheel 133 is fitted onto the support column 2 and located inside the cylinder 12. The drive motor drives the worm gear 132 to rotate, which in turn drives the worm wheel 133 to rotate, ultimately rotating the support column 2. In this embodiment, the worm gear 132 and worm wheel 133 have a self-locking function. When the worm gear 132 stops rotating, a self-locking structure is formed between the worm gear 132 and the worm wheel 133, preventing the support column 2 from rotating arbitrarily.

[0052] The entire system adopts the survey vessel coordinate system, with the center of the survey vessel as the origin, the bow direction as the y-axis (positive forward), the starboard direction as the x-axis (positive to the right), and the vertical direction as the z-axis (positive upward).

[0053] The rotating mechanism allows the support column 2 to rotate ±180° in the yox plane. The motor drives the worm gear 133 and worm 132 to rotate around the z-axis in the yox plane, thus enabling the boom 3 to rotate ±180°.

[0054] The cable unit 4 includes a cable adjustment mechanism 41, a turntable 42, a primary cable 43, and a secondary cable 442 assembly. The cable adjustment mechanism 41 includes an adjustment motor 411, a cable adjustment screw 412, a slide rail 413, and a slider 414. The adjustment motor 411 and the slide rail 413 are mounted on the boom 3. One end of the cable adjustment screw 412 passes through and is rotatably mounted on the slide rail 413, while the other end is located outside the slide rail 413 and is connected to the adjustment motor 411. The slider 414 is slidably mounted within the slide rail 413 and threadedly connected to the cable adjustment screw 412.

[0055] A turntable 42 is rotatably mounted on the upper end of the support column 2; a primary cable 43 has its first end connected to a slider 414 and wound around the turntable 42; a secondary cable 442 assembly includes a movable pulley 441, a secondary cable 442, a cable spring 443, and a cable anchor frame 444. The movable pulley 441 is rotatably connected to the second end of the primary cable 43, the cable anchor frame 444 is connected to the support column 2, one end of the secondary cable 442 is connected to the cable anchor frame 444, and the other end is wound around the movable pulley 441 and then connected to the cable anchor frame 444 via the cable spring 443.

[0056] Furthermore, the cable unit 4 also includes an attitude sensor 45, which is located at the second end of the boom 3 and is used to collect the tilt angle signal of the boom 3. The cable anchor frame 444 is a right triangle, wherein the inclined plane of the right triangle faces upwards away from the support column 2, and one of the right-angled sides is parallel to the support column 2 and fixed to the support column 2.

[0057] During use, the tension of the cable and cable spring 443 can be adjusted according to the weight of the suspended measuring equipment. The DC motor drives the cable adjustment screw 412 to rotate forward and backward, causing the slider 414 to move back and forth, thus adjusting the tension of the cable spring 443 to accommodate different measuring equipment, maintain the boom 3 horizontally, and provide a buffering effect. In this way, when the survey vessel experiences a large roll acceleration, it can provide a certain degree of buffering, preventing the cable 54 from suddenly breaking under stress and preventing excessive acceleration of the measuring equipment from damaging its internal sensors.

[0058] The hoisting unit 5 includes a reel 51, a winding motor 52, an adjusting assembly 53, and a sling 54. The reel 51 is rotatably mounted on the boom 3; the winding motor 52 is mounted on the boom 3 and is connected to the reel 51 in a transmission manner; the adjusting assembly 53 is located at the second end of the boom 3 and includes two fixed pulleys and an adjuster, with the two fixed pulleys located on either side of the adjuster; the sling 54 has one end wound around the reel 51 and the other end wound around the adjusting assembly 53 before passing through.

[0059] Furthermore, the hoisting unit 5 also includes a length counter 55, which is mounted on the boom 3 and used to measure the length of the sling 54. The adjuster includes an outer cylinder, an adjusting spring, an adjusting rod, and a rotating wheel. The outer cylinder is connected to the boom 3, the upper end of the adjusting spring is fixed to the boom 3 and located inside the outer cylinder, the upper end of the adjusting rod is connected to the adjusting spring, and the lower end extends out of the outer cylinder. The rotating wheel is rotatably mounted on the adjusting rod. In this embodiment, the sling 54 is a steel wire rope. By setting the length counter 55, the winding length l of the sling 54 can be measured. Based on the winding length of the sling 54 and the distance h from the top of the boom 3 to the water surface, the water depth d of the underwater equipment can be measured.

[0060] The damping unit 6 includes a damping adjustment mechanism 61 and a damper 62. The damping adjustment mechanism 61, mounted on the boom 3, includes a sliding rail 611, a sliding block 612, an adjusting damping screw 613, and an adjusting damping motor 614. The first end of the damping screw is rotatably mounted on the sliding rail 611, and the second end of the damping screw protrudes from the sliding rail 611 and is connected to the adjusting damping motor 614. The sliding block 612 is slidably mounted on the sliding rail 611 and threadedly connected to the adjusting damping screw 613. The damper 62 has one end rotatably connected to the support column 2 and the other end rotatably connected to the sliding block 612.

[0061] Furthermore, the damping unit 6 also includes a mounting bracket 63, which is fixed to the support column 2. The lower end of the damper 62 is rotatably connected to the mounting bracket 63. In this embodiment, the mounting bracket 63 is a right-angled triangle with its hypotenuse facing downwards, and one of its right-angled sides is parallel to and fixed to the support column 2. The damper 62 can be, for example, a telescopic rod structure, with a spring between the telescopic rod and the cylinder to achieve damping. Of course, the specific structure of the damper 62 is not limited to this.

[0062] By setting up the damping unit 6, the damping arm can be adjusted according to sea conditions, wave height, period, etc. The DC motor drives the damping adjustment screw 613 to rotate forward and backward, causing the sliding block 612 to move back and forth, adjusting the damping arm, changing the simple harmonic motion period of the system, avoiding the rolling period of the survey vessel caused by waves, preventing the system from resonating with the survey vessel's rolling, adapting to different periods, wave heights, and other sea conditions, and maintaining relative stability at the end of the boom 3.

[0063] In this embodiment, the rotary drive motor 131, the damping motor 614, the adjusting motor 411, and the winding motor 52 are all DC motors.

[0064] The wave compensation device also includes an electrical control system, which includes a power battery 75 and four branches. The four branches are connected in parallel and are connected to the power battery 75 to form a circuit. The first to fourth branches are respectively connected to a rotary drive motor 131, a damping motor 614, an adjusting motor 411, and a winding motor 52. Each branch is equipped with a motor forward / reverse controller 71, a motor control switch 72, and a motor fuse 73. The four branches are connected to a common main switch 74. The motor forward / reverse controller 71, the motor control switch 72, the motor fuse 73, and the main switch 74 are all covered by a controller housing to enclose the motor forward / reverse controller 71, the motor control switch 72, the motor fuse 73, and the main switch 74.

[0065] The wave compensation device in this application can be used as follows:

[0066] 1. Before using the wave compensation device, turn on the power in the laboratory, fully retract the wire rope, and adjust the slider 414 of the cable adjustment mechanism 41 to the innermost side (i.e., the side closest to the support column 2) to loosen the cable and minimize the tension of the cable spring 443. Then disconnect the power.

[0067] 2. The entire system is fixed to one side of the center of gravity along the length of the survey vessel using base 1;

[0068] 3. Connect the power supply, rotate the boom 3 to the inside of the survey vessel, release the sling 54, connect the end of the sling 54 to the underwater towed fish of the side-scan sonar, the underwater towed fish of the ocean magnetometer, the underwater towed body of the shallow seismic profiler, the single-point current meter, the sound velocity meter, the temperature, salinity and depth meter, the seabed surface sampler and other underwater measurement equipment, and retrieve the sling 54 to make the steel wire rope straighten under the force;

[0069] 4. Adjust the slider 414 of the cable adjustment mechanism 41 to slide it outward (away from the support column 2) to increase the cable tension until it is balanced with the weight of the measuring equipment. Then continue to return the sling 54 to lift the measuring equipment above the ship's side. Then rotate the boom 3 to the outside of the survey vessel and release the sling 54 until the measuring equipment contacts the water surface.

[0070] 5. Turn on the length counter 55, clear it to zero, start counting, release the wire rope to allow the underwater survey equipment to enter the water, adjust the slider 414 of the cable adjustment mechanism 41 to make it slide inward to reduce the cable tension until it is nearly balanced with the underwater weight of the measuring equipment and the boom 3 is basically horizontal. Adjust the damping slider 414 according to the sea conditions to change the simple harmonic motion period of the system.

[0071] Specifically, marine engineering surveys typically operate in sea states 2 and below, where wave heights are generally less than 0.5m, periods are typically less than 4s, wavelengths range from 13m to 25m, and wave speeds are 4.36m / s to 6.24m / s. Nearshore survey vessels, however, are typically 20m to 30m long and experience significant rolling in sea state 2. When conducting underway surveys, the vessel speed is usually 4 knots (2.06m / s). During underway surveys, the vessel may be in phase with, in opposite direction to, or intersect with the waves, with relative wave periods ranging from 2.02s to 5.98s. Maintaining the underwater stability of the measuring equipment during the survey can be achieved by considering the boom tip as relatively stationary, while the boom shaft and the survey vessel rise and fall with the waves. Assuming the roll period of the survey vessel coincides with the wave period, the proportional lengths of the primary cables of the measuring equipment on the boom and the cable adjustment mechanism are L1 and L2 respectively, the underwater weight of the measuring equipment is G1, the mass of the measuring equipment is m1, the cable spring stiffness coefficient is k, and the wave period is T. The waveform is a sine curve. acceleration is The force on the spring is:

[0072]

[0073] The up-and-down movement of the measuring equipment causing the cable spring to extend and retract can be simplified to simple harmonic motion of the spring, with a period of:

[0074]

[0075] When the wave period T is close to the simple harmonic motion period T′ of the cable spring, the passive wave compensation system of the survey vessel and measuring equipment will resonate, increasing the up-and-down movement of the measuring equipment. By adjusting the damping slider, the simple harmonic motion period T′ of the system is changed, moving away from the wave period / survey vessel roll period, thereby suppressing the up-and-down movement of the measuring equipment with the waves.

[0076] 5. After the measurement is completed, turn on the power, fully retract the sling, and lift the measuring equipment out of the water. At the same time, adjust the slider of the cable adjustment mechanism to increase the cable tension and make the boom more balanced. Rotate the boom to the inside of the ship's side, release the sling, place the measuring and surveying equipment on the deck, and simultaneously adjust the slider of the cable adjustment mechanism to the innermost side to release the cable tension. Adjust the sliding block of the damping adjustment mechanism to the innermost side, untie the sling, fully retract the sling, turn off the power, disassemble the entire system, rinse it with fresh water, let it dry, and then apply grease evenly to the rotating parts and bolts to prevent rust and lubricate them.

[0077] In summary, the principle of this invention is as follows: the support device adjusts the cable tension to accommodate measuring equipment of different weights. During marine engineering surveys in sea states 2 and below, when the survey vessel rolls, the damping device alters the system's simple harmonic motion period, distancing it from the wave period and preventing resonance between the system and the survey vessel. This suppresses the underwater measuring equipment's up-and-down movement with the waves. The wave compensation device in this invention is particularly suitable for use in shallow waters of sea states 2 and below with small survey vessels conducting marine engineering surveys, where the survey vessel rolls but underwater measuring equipment (side-scan sonar towed fish, marine magnetometer towed fish, shallow seismic profiler towed body) cannot use wave compensation cranes or attitude compensation devices. It ensures that the underwater measuring equipment maintains a relatively stable underwater attitude when the survey vessel rolls, improving data measurement accuracy and quality, and providing more accurate and reliable data. The wave compensation device in this invention can be used on various small survey vessels and is easy to install.

[0078] The wave compensation device described in this application uses a cable adjustment mechanism to adjust the tension of the cable to accommodate measuring equipment of different weights. When conducting marine engineering surveys in sea states of 2 and below, if the survey vessel rolls, the damping adjustment mechanism alters the system's simple harmonic motion period, distancing it from the wave period and preventing resonance between the system and the survey vessel. This suppresses the up-and-down movement of the underwater measuring equipment with the waves. This wave compensation device is particularly suitable for use in shallow waters of 2 and below with small survey vessels conducting marine engineering surveys, where the survey vessel rolls but the underwater measuring equipment (side-scan sonar towed fish, marine magnetometer towed fish, shallow seismic profiler towed body) cannot use a wave compensation crane or an attitude compensator for attitude compensation. It ensures that the underwater measuring equipment maintains a relatively stable underwater attitude when the survey vessel rolls, improving data measurement accuracy and quality, and providing more accurate and reliable data.

[0079] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0080] Finally, it should be noted that the above embodiments are merely examples for clearly illustrating the present invention and are not intended to limit the implementation. Those skilled in the art will recognize that other variations or modifications can be made based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations. However, obvious variations or modifications derived therefrom are still within the scope of protection of this invention.

Claims

1. A wave compensation device, characterized in that, include: A base for securing the wave compensation device to the survey vessel; A support column, the lower end of which is rotatably mounted on the base; The boom, the first end of which is rotatably mounted on the upper end of the support column; A cable unit, mounted on the support column and the boom, is used for balance adjustment of the boom; A hoisting unit, mounted on the boom, is used to hoist and place the measuring equipment; A damping unit is provided on the support column and the boom to provide damping force to the boom during operation; The cable unit includes: The cable adjustment mechanism includes an adjustment motor, a cable adjustment screw, a slide rail, and a slider. The adjustment motor and the slide rail are mounted on the boom. One end of the cable adjustment screw passes through the slide rail and is rotatably mounted on the slide rail. The other end of the cable adjustment screw is located outside the slide rail and is connected to the adjustment motor for transmission. The slider is slidably mounted inside the slide rail and is threadedly connected to the cable adjustment screw. A turntable, rotatable, is mounted on the upper end of the support column; A primary cable, the first end of which is connected to the slider and wound around the turntable; The secondary cable assembly includes a movable pulley, a secondary cable, a cable spring, and a cable anchor frame. The movable pulley is rotatably connected to the second end of the primary cable. The cable anchor frame is connected to the support column. One end of the secondary cable is connected to the cable anchor frame, and the other end is wound around the movable pulley and then connected to the cable anchor frame via the cable spring. The damping unit includes: A damping adjustment mechanism is provided on the boom and includes a sliding rail, a sliding block, a damping adjustment screw, and a damping adjustment motor. The first end of the damping screw is rotatably disposed on the sliding rail, and the second end of the damping screw protrudes from the sliding rail and is connected to the damping adjustment motor for transmission. The sliding block is slidably disposed on the sliding rail and is threadedly connected to the damping adjustment screw. The damper has one end rotatably connected to the support column and the other end rotatably connected to the sliding block.

2. The wave compensation device according to claim 1, characterized in that, The base includes: seat body; A cylindrical body is provided on the base body; The rotating mechanism includes a rotary drive motor, a worm gear and a worm wheel that cooperate with each other. The drive motor is connected to the worm gear, the worm gear is located on the wall of the cylinder, and the worm wheel is sleeved on the support column and located inside the cylinder.

3. The wave compensation device according to claim 1, characterized in that, The cable unit also includes an attitude sensor, which is located at the second end of the boom and is used to collect the tilt angle signal of the boom.

4. The wave compensation device according to claim 1, characterized in that, The cable anchor frame is a right triangle, wherein the inclined plane of the right triangle faces upwards and away from the support column.

5. The wave compensation device according to claim 1, characterized in that, The hoisting unit includes: A reel, rotatably mounted on the boom; A winding motor is mounted on the boom and is connected to the winding shaft via a drive. An adjustment assembly is located at the second end of the boom. The adjustment assembly includes two fixed pulleys and an adjuster, with the two fixed pulleys located on both sides of the adjuster. The sling has one end wound around the reel and the other end wound around the adjustment assembly before passing through.

6. The wave compensation device according to claim 5, characterized in that, The hoisting unit also includes a length counter, which is mounted on the boom and used to measure the length of the hoisting cable. The regulator includes an outer cylinder, an adjusting spring, an adjusting rod, and a rotating wheel. The outer cylinder is connected to the boom. The upper end of the adjusting spring is fixed to the boom and is located inside the outer cylinder. The upper end of the adjusting rod is connected to the adjusting spring, and the lower end extends out of the outer cylinder. The rotating wheel is rotatably mounted on the adjusting rod.

7. The wave compensation device according to claim 1, characterized in that, The damping unit also includes a mounting bracket, which is fixed to the support column, and the lower end of the damper is rotatably connected to the mounting bracket.

8. The wave compensation device according to claim 7, characterized in that, The mounting bracket is a right triangle with its hypotenuse facing downwards.

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