Ocean engineering module weighing and hoisting integrated construction method

Abstract

The invention discloses a weighing and hoisting integrated construction method for an ocean engineering module, which comprises the following steps: completing the weighing process of the ocean engineering module in two hoisting processes through a position sensor and a tension sensor, and obtaining the mass center of the ocean engineering module through calculation; and the optimal hoisting point location for the ocean engineering module is calculated by using the center of mass. When the ocean engineering module is hoisted at the point position, the stress condition of the module is optimal, and the conditions of deviation, overturning and the like are avoided. By adopting the method, potential safety hazards can be eliminated, and construction cost is reduced.

Description

Technical Field

[0001] The invention relates to a method for constructing an ocean engineering module, and in particular to a method for constructing an ocean engineering module by integrating weighing and hoisting. Background Art

[0002] In the current construction process of offshore oil platforms, modular construction is a more advanced construction method. In the process of modular construction, the modules need to be weighed first, and then they need to be hoisted and spliced. However, the modular equipment involved in marine engineering is relatively large in size and weight, making it difficult to weigh. In addition, during hoisting, it is easy to cause the hoisting rope to break, the hoisted object to flip over, etc., resulting in safety accidents. Summary of the invention

[0003] The purpose of the present invention is to overcome the shortcomings of the prior art and provide a method for hoisting an ocean engineering module which can detect the quality of the ocean engineering module and provide a safe hoisting solution.

[0004] In order to achieve the above object, the technical solution adopted by the present invention is:

[0005] A method for integrating weighing and hoisting of a marine engineering module of the present invention comprises the following steps:

[0006] Step 1: Preliminary work preparation: Before weighing and hoisting operations, arrange tension sensors and position sensors, which are wirelessly connected to the computer;

[0007] The preliminary work preparation includes the following steps:

[0008] Step 101, establishing a spatial rectangular coordinate system with a corner of the marine engineering module as the coordinate origin;

[0009] Step 102, four points are selected on the top of the marine engineering module as the connection points of the lifting rope, the connection points of the lifting rope are installed with module hooks by bolts, and the position sensors are fixed at the module hooks. The position sensors can obtain the position information of the connection points of the lifting rope relative to the origin of the coordinate system of the spatial rectangular coordinate system; they are marked as the first position sensor, the second position sensor, the third position sensor, and the fourth position sensor in the counterclockwise direction;

[0010] A1=(x1,y1,z1), A2=(x2,y2,z2), A3=(x3,y3,z3), A4=(x4,y4,z4)

[0011] Where A1 is the position coordinate of the first position sensor at the connection point of the lifting rope, A2 is the position coordinate of the second position sensor at the connection point of the lifting rope, A3 is the position coordinate of the third position sensor at the connection point of the lifting rope, A4 is the position coordinate of the fourth position sensor at the connection point of the lifting rope, x i ,y i , z i The three-dimensional coordinate information of the center point of each position sensor at the connection point of the lifting rope relative to the origin of the spatial rectangular coordinate system, i = 1, 2, 3, 4;

[0012] Step 103, a mechanical arm hook is installed at the end of the mechanical arm of the hoisting machine, and the fifth position sensor is fixed on the mechanical arm hook; the hoisting rope is a steel wire rope with adjustable length, the upper end of which is connected to a safety buckle, and the lower end is connected to a tension sensor and a safety buckle by bolts, one end of the four hoisting ropes with tension sensors is connected to a module hook respectively through the safety buckle, and the other end is connected to the mechanical arm hook through the safety buckle, and the hoisting ropes are marked as the first hoisting rope, the second hoisting rope, the third hoisting rope, and the fourth hoisting rope in sequence according to the connected hoisting rope connection points, and the tension sensor is used to obtain tension information on the hoisting rope, and is marked as the first tension sensor, the second tension sensor, the third tension sensor, and the fourth tension sensor in sequence according to the hoisting rope;

[0013] Step 2, first hoisting, adjust the length of the hoisting rope and hoist the marine engineering module until the module is 300-500 mm from the ground, read the value of the fifth position sensor and the value of the tension sensor on the four hoisting ropes by a computer, and obtain the first gravity information of the marine engineering module by calculation, wherein the first gravity information includes the weight G1 of the marine engineering module and the first gravity vector α1 of the center of gravity in the spatial rectangular coordinate system;

[0014] Step 3, the second hoisting, shorten the length of the two hoisting ropes on the left side, lengthen the length of the two hoisting ropes on the right side, the length of the two hoisting ropes on the left side is longer than the length of the two hoisting ropes on the right side, and then hoist the marine engineering module until the module is 300-500 mm from the ground, read the value of the fifth position sensor and the value of the tension sensor on the four hoisting ropes by computer, and obtain the second gravity information of the module by calculation, the second gravity information includes the weight G2 of the marine engineering module and the second gravity vector α2 where the center of gravity is located in the spatial rectangular coordinate system;

[0015] Step 4: Calculate the final gravity of the marine engineering module and the best lifting point information based on the gravity information obtained from the two liftings;

[0016] Step 5. Adjust the length of the four lifting ropes so that the hoisting machine's mechanical arm can move freely. While the hoisting machine moves the mechanical arm, read the value of the fifth position sensor so that the numerical position output by the fifth position sensor coincides with the calculated optimal lifting point. Then adjust the length of the four lifting ropes and hook the four lifting ropes with the mechanical arm hook. The mechanical arm hook is connected to the four lifting ropes and remains in place.

[0017] The beneficial effects of the present invention are as follows: the method can detect the quality of the module, obtain the center of mass of the module, provide a safe lifting solution, eliminate potential safety hazards, and reduce construction costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a structural schematic diagram of a method for integrated weighing and hoisting construction of an ocean engineering module of the present invention.

[0019] Legend: 1. Hoisting machine; 2. Fifth position sensor; 3. First position sensor; 4. Second position sensor; 5. Marine engineering module; 6. Spatial rectangular coordinate system; 7. First tension sensor; 8. Fourth tension sensor; 9. Fourth position sensor; 10. Third tension sensor; 11. Second tension sensor; 12. Third position sensor. DETAILED DESCRIPTION

[0020] The present invention is described in detail below in conjunction with the accompanying drawings and specific embodiments:

[0021] As shown in the accompanying drawings, a method for integrated weighing and hoisting construction of an offshore engineering module of the present invention comprises the following steps:

[0022] Step 1, preliminary work preparation: establish a spatial rectangular coordinate system 6, and arrange tension sensors and position sensors before weighing and lifting operations. The tension sensors and position sensors are wirelessly connected to the computer to facilitate data collection during subsequent weighing and lifting processes.

[0023] The preliminary work preparation includes the following steps:

[0024] Step 101, establishing a spatial rectangular coordinate system with a corner of the marine engineering module 5 as the coordinate origin.

[0025] Step 102, four points are selected on the top of the marine engineering module as the connection points of the lifting ropes, the connection points of the lifting ropes are bolted with module hooks, and position sensors are fixed at the module hooks, which are marked as the first position sensor 3, the second position sensor 4, the third position sensor 12, and the fourth position sensor 9 in a counterclockwise direction. The position sensors can obtain the position information of the connection points of the lifting ropes relative to the origin of the coordinate system of the spatial rectangular coordinate system;

[0026] A1=(x1,y1,z1), A2=(x2,y2,z2), A3=(x3,y3,z3), A4=(x4,y4,z4)

[0027] Where A1 is the position coordinate of the first position sensor at the connection point of the lifting rope, A2 is the position coordinate of the second position sensor at the connection point of the lifting rope, A3 is the position coordinate of the third position sensor at the connection point of the lifting rope, A4 is the position coordinate of the fourth position sensor at the connection point of the lifting rope, x i ,y i , z i , i=1, 2, 3, 4, are the three-dimensional coordinate information of the center points of each position sensor at the connection point of the lifting rope relative to the origin of the spatial rectangular coordinate system.

[0028] Step 103, as Figure 1 As shown, a mechanical arm hook is installed at the end of the mechanical arm of the hoisting machine 1, and the fifth position sensor 2 is fixed on the mechanical arm hook. The hoisting rope is a steel wire rope with adjustable length (available on the market), the upper end is connected to a safety buckle, and the lower end is connected to a tension sensor and a safety buckle by bolts. One end of the four hoisting ropes with tension sensors is connected to a module hook through a safety buckle, and the other end is connected to the mechanical arm hook through the safety buckle. The hoisting ropes are marked as the first hoisting rope, the second hoisting rope, the third hoisting rope, and the fourth hoisting rope according to the connected hoisting rope connection points. The tension sensor can obtain the tension information on the rope, and is marked as the first tension sensor 7, the second tension sensor 11, the third tension sensor 10 and the fourth tension sensor 8 according to the hoisting rope.

[0029] Step 2: First hoisting: adjust the length of the hoisting rope and hoist the marine engineering module until the module is 300-500 mm above the ground. Read the value of the fifth position sensor and the value of the tension sensor on the four hoisting ropes by computer, and obtain the first gravity information of the marine engineering module by calculation. The first gravity information includes the weight G1 of the marine engineering module and the first gravity vector of the center of gravity in the spatial rectangular coordinate system. The following steps may be included:

[0030] Step 201, adjust the length of the hoisting rope so that the first hoisting rope and the second hoisting rope on the left are equal in length, and the third hoisting rope and the fourth hoisting rope on the right are equal in length. The length of the two hoisting ropes on the left is longer than the length of the two hoisting ropes on the right, and then lift the marine engineering module by a hoisting machine.

[0031] Step 202, read the value of the fifth position sensor and record it as B1 = (u1, v1, w1), B1 is the center position coordinate of the fifth sensor, u1, v1, w1 is the three-dimensional coordinate information of the center of the fifth position sensor relative to the origin of the spatial rectangular coordinate system. Read the first tension sensor information F1, the second tension sensor information F2, the third tension sensor information F3, and the fourth tension sensor information F4, and then put down the marine engineering module.

[0032] Step 203, calculate the pulling force vector The calculation formula is as follows:

[0033]

[0034] In the formula, x i ,y i , z i , i=1, 2, 3, 4, are the three-dimensional coordinate information of the position sensor of the lifting rope connection point relative to the origin of the spatial rectangular coordinate system in step 102. u1, v1, w1 are the three-dimensional coordinate information of the fifth position sensor relative to the origin of the spatial rectangular coordinate system in step 202.

[0035] Step 204, calculate the first gravity vector And the first analytical expression of the gravity line, where the first gravity vector The calculation formula is:

[0036]

[0037] Where: is the tension vector of the straight line where the first hoisting rope is located, is the tension vector of the line where the second lifting rope is located, is the tension vector of the line where the third hoisting rope is located, is the tension vector of the straight line where the fourth lifting rope is located.

[0038] The first analytical formula for the straight line where gravity lies is:

[0039]

[0040] Wherein: u1, v1, w1 are the three-dimensional coordinate information of the fifth position sensor relative to the origin of the spatial rectangular coordinate system in step 202, x, y, z are the variables of the first analytical expression, a1, b1, c1 are the first gravity vector 3D coordinate information.

[0041] Step 205, calculate the angle between each lifting rope and the first gravity vector, wherein the angle between the first lifting rope and the first gravity vector is θ1, the angle between the second lifting rope and the first gravity vector is θ2, the angle between the third lifting rope and the first gravity vector is θ3, the angle between the fourth lifting rope and the first gravity vector is θ4, and the first gravity G1 of the marine engineering module, and the calculation formula is as follows:

[0042]

[0043] G1=F1 cosθ1+F2 cosθ2+F3 cosθ3+F4 cosθ4

[0044] In the formula, is the first gravity vector, is the tension vector, and F1, F2, F3, and F4 are the tension information of the tension sensors on the four lifting ropes read in step 202.

[0045] Step 3, the second hoisting, shorten the length of the two hoisting ropes on the left, lengthen the length of the two hoisting ropes on the right, the length of the two hoisting ropes on the left is longer than the length of the two hoisting ropes on the right, and then lift the marine engineering module until the module is 300 to 500 mm from the ground, read the value of the fifth position sensor and the value of the tension sensor on the four hoisting ropes by computer, and obtain the second gravity information of the module by calculation, the second gravity information includes the weight G2 of the marine engineering module and the second gravity vector at the center of gravity in the spatial rectangular coordinate system The following steps may be included:

[0046] Step 301, adjust the length of the hoisting rope so that the lengths of the first hoisting rope and the second hoisting rope on the left are equal, and the lengths of the third hoisting rope and the fourth hoisting rope on the right are equal. The lengths of the two hoisting ropes on the left are shorter than the lengths of the two hoisting ropes on the right, and then lift the marine engineering module by a hoisting machine.

[0047] Step 302, read the value of the fifth position sensor, recorded as B2 = (u2, v2, w2), B2 is the center position coordinate of the fifth sensor in the second hoisting, u2, v2, w2 is the three-dimensional coordinate information of the center of the fifth position sensor relative to the origin of the spatial rectangular coordinate system. Read the first tension sensor information F5, the second tension sensor information F6, the third tension sensor information F7, the fourth tension sensor information F8, and then put down the marine engineering module.

[0048] Step 303, calculate the pulling force vector The calculation formula is as follows:

[0049]

[0050] In the formula, x i ,y i , z i is the three-dimensional coordinate information of the position sensor of the lifting rope connection point relative to the origin of the spatial rectangular coordinate system in step 102, i = 1, 2, 3, 4. u2, v2, w2 is the three-dimensional coordinate information of the fifth position sensor relative to the origin of the spatial rectangular coordinate system in step 302.

[0051] Step 304, calculate the second gravity vector And the second analytical expression of the gravity line, where the second gravity vector The calculation formula is:

[0052]

[0053] Where: is the tension vector of the straight line where the first hoisting rope is located, is the tension vector of the line where the second lifting rope is located, is the tension vector of the line where the third hoisting rope is located, is the tension vector of the straight line where the fourth lifting rope is located.

[0054] The second analytical formula for the straight line where gravity lies is:

[0055]

[0056] Wherein: u2, v2, w2 are the three-dimensional coordinate information of the fifth position sensor relative to the origin of the spatial rectangular coordinate system in step 302, x, y, z are the variables of the second analytical expression, a2, b2, c2 are the second gravity vector 3D coordinate information.

[0057] Step 305, calculate the angle between each lifting rope and the second gravity vector, wherein the angle between the first lifting rope and the second gravity vector is θ5, the angle between the second lifting rope and the second gravity vector is θ6, the angle between the third lifting rope and the second gravity vector is θ7, the angle between the fourth lifting rope and the second gravity vector is θ8, and the second gravity G2 of the marine engineering module, and the calculation formula is as follows:

[0058]

[0059] G2=F5 cosθ5+F6 cosθ6+F7 cosθ7+F8 cosθ8

[0060] In the formula, is the second gravity vector, is the tension vector, and F5, F6, F7, and F8 are the tension information of the tension sensors on the four lifting ropes read in step 302.

[0061] Step 4, calculating the final gravity of the marine engineering module and the optimal lifting point information based on the gravity information obtained from the two liftings, including the following steps:

[0062] Step 401, calculate the final gravity G of the marine engineering module based on the two hoisting operations, and the calculation formula is as follows:

[0063]

[0064] Among them: G1 is the first gravity, G2 is the second gravity.

[0065] Step 402, combining the first analytical expression and the second analytical expression obtained by two hoisting operations, to obtain the coordinates of the center of mass Z = (x0, y0, z0) of the marine engineering module, the calculation formula of which is as follows:

[0066]

[0067]

[0068] Wherein, u1, v1, w1 are the three-dimensional coordinate information of the fifth position sensor relative to the origin of the spatial rectangular coordinate system in step 202, u2, v2, w2 are the three-dimensional coordinate information of the fifth position sensor relative to the origin of the spatial rectangular coordinate system in step 302, a1, b1, c1 are the first gravity vector The three-dimensional coordinate information of a2, b2, c2 is the second gravity vector 3D coordinate information.

[0069] Step 403, calculate the end position B of the hoisting rope mechanical arm of the hoisting machine according to the centroid coordinates of the marine engineering module, and the calculation formula is as follows:

[0070]

[0071] In the formula, x0, y0 are the center of mass coordinates of the marine engineering module, z1 is the z-axis coordinate information of the first position sensor in step 102, z2 is the z-axis coordinate information of the second position sensor in step 102, z3 is the z-axis coordinate information of the third position sensor in step 102, and z4 is the z-axis coordinate information of the fourth position sensor in step 102.

[0072] Step 5: Adjust the length of the four lifting ropes so that the mechanical arm of the lifting machine can move freely. While the lifting machine moves the mechanical arm, read the value of the fifth position sensor so that the value position output by the fifth position sensor coincides with the calculated optimal lifting point (position B calculated in step 403), and then adjust the length of the four lifting ropes to hook the four lifting ropes with the mechanical arm hook and keep the mechanical arm hook at position B after connecting with the four lifting ropes. At this point, the entire marine engineering module is lifted with the best force and will not flip.

Claims

1. A method for integrating weighing and hoisting of marine engineering modules, characterized in that The following steps are involved: Step 1: Preliminary work preparation: Before weighing and hoisting operations, arrange tension sensors and position sensors, which are wirelessly connected to the computer; The preliminary work preparation includes the following steps: Step 101, establishing a spatial rectangular coordinate system with a corner of the marine engineering module as the coordinate origin; Step 102, four points are selected on the top of the marine engineering module as the connection points of the lifting rope, the connection points of the lifting rope are installed with module hooks by bolts, and the position sensors are fixed at the module hooks. The position sensors can obtain the position information of the connection points of the lifting rope relative to the origin of the coordinate system of the spatial rectangular coordinate system; they are marked as the first position sensor, the second position sensor, the third position sensor, and the fourth position sensor in the counterclockwise direction; A1=(x1,y1,z1), A2=(x2,y2,z2), A3=(x3,y3,z3), A4=(x4,y4,z4) Where A1 is the position coordinate of the first position sensor at the connection point of the lifting rope, A2 is the position coordinate of the second position sensor at the connection point of the lifting rope, A3 is the position coordinate of the third position sensor at the connection point of the lifting rope, A4 is the position coordinate of the fourth position sensor at the connection point of the lifting rope, x i ,y i , z i The three-dimensional coordinate information of the center point of each position sensor at the connection point of the lifting rope relative to the origin of the spatial rectangular coordinate system, i = 1, 2, 3, 4; Step 103, a mechanical arm hook is installed at the end of the mechanical arm of the hoisting machine, and the fifth position sensor is fixed on the mechanical arm hook; the hoisting rope is a steel wire rope with adjustable length, the upper end of which is connected to a safety buckle, and the lower end is connected to a tension sensor and a safety buckle by bolts, one end of the four hoisting ropes with tension sensors is connected to a module hook respectively through the safety buckle, and the other end is connected to the mechanical arm hook through the safety buckle, and the hoisting ropes are marked as the first hoisting rope, the second hoisting rope, the third hoisting rope, and the fourth hoisting rope in sequence according to the connected hoisting rope connection points, and the tension sensor is used to obtain tension information on the hoisting rope, and is marked as the first tension sensor, the second tension sensor, the third tension sensor, and the fourth tension sensor in sequence according to the hoisting rope; Step 2, first hoisting, adjust the length of the hoisting rope and hoist the marine engineering module until the module is 300-500 mm from the ground, read the value of the fifth position sensor and the value of the tension sensor on the four hoisting ropes by a computer, and obtain the first gravity information of the marine engineering module by calculation, wherein the first gravity information includes the weight G1 of the marine engineering module and the first gravity vector α1 of the center of gravity in the spatial rectangular coordinate system; Step 3, the second hoisting, shorten the length of the two hoisting ropes on the left side, lengthen the length of the two hoisting ropes on the right side, the length of the two hoisting ropes on the left side is longer than the length of the two hoisting ropes on the right side, and then hoist the marine engineering module until the module is 300-500 mm from the ground, read the value of the fifth position sensor and the value of the tension sensor on the four hoisting ropes by computer, and obtain the second gravity information of the module by calculation, the second gravity information includes the weight G2 of the marine engineering module and the second gravity vector α2 where the center of gravity is located in the spatial rectangular coordinate system; Step 4: Calculate the final gravity of the marine engineering module and the best lifting point information based on the gravity information obtained from the two liftings; Step 5. Adjust the length of the four lifting ropes so that the hoisting machine's mechanical arm can move freely. While the hoisting machine moves the mechanical arm, read the value of the fifth position sensor so that the numerical position output by the fifth position sensor coincides with the calculated optimal lifting point. Then adjust the length of the four lifting ropes and hook the four lifting ropes with the mechanical arm hook. The mechanical arm hook is connected to the four lifting ropes and remains in place.

2. The method for integrated weighing and hoisting of marine engineering modules according to claim 1 is characterized in that: The step 2 comprises the following steps: Step 201, adjusting the length of the hoisting ropes so that the first hoisting rope and the second hoisting rope on the left are equal in length, and the third hoisting rope and the fourth hoisting rope on the right are equal in length; the length of the two hoisting ropes on the left are longer than the length of the two hoisting ropes on the right, and then hoisting the marine engineering module by a hoisting machine; Step 202, read the value of the fifth position sensor and record it as B1=(u1, v1, w1), B1 is the center position coordinate of the fifth sensor, u1, v1, w1 are the three-dimensional coordinate information of the center of the fifth position sensor relative to the origin of the spatial rectangular coordinate system; read the first tension sensor information F1, the second tension sensor information F2, the third tension sensor information F3, and the fourth tension sensor information F4, and then put down the marine engineering module; Step 203, calculate the pulling force vectors A1B1, A2B1, A3B1, A4B1, and the calculation formula is as follows: In the formula, x i ,y i , z i is the three-dimensional coordinate information of the position sensor of the lifting rope connection point relative to the origin of the spatial rectangular coordinate system in step 102; u1, v1, w1 are the three-dimensional coordinate information of the fifth position sensor relative to the origin of the spatial rectangular coordinate system in step 202, i=1, 2, 3, 4; Step 204, calculate the first gravity vector And the first analytical expression of the straight line where gravity is located, where the calculation formula of the first gravity vector is: Where: is the tension vector of the straight line where the first hoisting rope is located, is the tension vector of the line where the second lifting rope is located, is the tension vector of the line where the third hoisting rope is located, is the tension vector of the line where the fourth hoisting rope is located; the first analytical formula for the line where the gravity is located is: Wherein: u1, v1, w1 are the three-dimensional coordinate information of the fifth position sensor relative to the origin of the spatial rectangular coordinate system in step 202, x, y, z are the variables of the first analytical expression, a1, b1, c1 are the first gravity vector 3D coordinate information of Step 205, calculate the angle between each lifting rope and the first gravity vector, wherein the angle between the first lifting rope and the first gravity vector is θ1, the angle between the second lifting rope and the first gravity vector is θ2, the angle between the third lifting rope and the first gravity vector is θ3, the angle between the fourth lifting rope and the first gravity vector is θ4, and the first gravity G1 of the marine engineering module, the calculation formula is as follows: G1=F1 cosθ1+F2 cosθ2+F3 cosθ3+F4 cosθ4 In the formula, is the tension vector, and F1, F2, F3, and F4 are the tension information of the tension sensors on the four lifting ropes read in step 202.

3. The method for integrated weighing and hoisting of marine engineering modules according to claim 2 is characterized in that: The step three comprises the following steps: Step 301, adjusting the length of the hoisting ropes so that the first hoisting rope and the second hoisting rope on the left are equal in length, and the third hoisting rope and the fourth hoisting rope on the right are equal in length, and the length of the two hoisting ropes on the left are shorter than the length of the two hoisting ropes on the right, and then hoisting the marine engineering module by a hoisting machine; Step 302, read the value of the fifth position sensor, recorded as B2 = (u2, v2, w2), B2 is the center position coordinate of the fifth sensor in the second hoisting, u2, v2, w2 is the three-dimensional coordinate information of the center of the fifth position sensor relative to the origin of the spatial rectangular coordinate system; read the first tension sensor information F5, the second tension sensor information F6, the third tension sensor information F7, the fourth tension sensor information F8, and then put down the marine engineering module; Step 303, calculate the pulling force vector The calculation formula is as follows: In the formula, x i ,y i , z i is the three-dimensional coordinate information of the position sensor of the lifting rope connection point relative to the origin of the spatial rectangular coordinate system in step 102, i=1, 2, 3, 4; u2, v2, w2 are the three-dimensional coordinate information of the fifth position sensor relative to the origin of the spatial rectangular coordinate system in step 302; Step 304, calculate the second gravity vector And the second analytical expression of the gravity line, where the second gravity vector The calculation formula is: Where: is the tension vector of the straight line where the first hoisting rope is located, is the tension vector of the line where the second lifting rope is located, is the tension vector of the line where the third hoisting rope is located, is the tension vector of the line where the fourth hoisting rope is located; the second analytical formula for the line where the gravity is located is: Wherein: u2, v2, w2 are the three-dimensional coordinate information of the fifth position sensor relative to the origin of the spatial rectangular coordinate system in step 302, x, y, z are the variables of the second analytical expression, a2, b2, c2 are the second gravity vector 3D coordinate information of Step 305, calculate the angle between each lifting rope and the second gravity vector, wherein the angle between the first lifting rope and the second gravity vector is θ5, the angle between the second lifting rope and the second gravity vector is θ6, the angle between the third lifting rope and the second gravity vector is θ7, the angle between the fourth lifting rope and the second gravity vector is θ8, and the second gravity G2 of the marine engineering module, the calculation formula is as follows: G2=F5 cosθ5+F6 cosθ6+F7 cosθ7+F8 cosθ8 In the formula is the tension vector, and F5, F6, F7, and F8 are the tension information of the tension sensors on the four lifting ropes read in step 302.

4. The method for integrated weighing and hoisting construction of marine engineering modules according to claim 3 is characterized in that: The step 4 comprises the following steps: Step 401, calculate the final ocean engineering module gravity G, the calculation formula is as follows: Step 402, combining the first analytical expression and the second analytical expression obtained by two hoisting operations, to obtain the coordinates of the center of mass Z = (x0, y0, z0) of the marine engineering module, the calculation formula is as follows: Wherein, u1, v1, w1 are the three-dimensional coordinate information of the fifth position sensor relative to the origin of the spatial rectangular coordinate system in step 202, u2, v2, w2 are the three-dimensional coordinate information of the fifth position sensor relative to the origin of the spatial rectangular coordinate system in step 302, a1, b1, c1 are the first gravity vector The three-dimensional coordinate information of a2, b2, c2 is the second gravity vector 3D coordinate information of Step 403, calculate the end position B of the hoisting rope mechanical arm of the hoisting machine according to the centroid coordinates of the marine engineering module, and the calculation formula is as follows: In the formula, x0, y0 are the center of mass coordinates of the marine engineering module, z1 is the z-axis coordinate information of the first position sensor in step 102, z2 is the z-axis coordinate information of the second position sensor in step 102, z3 is the z-axis coordinate information of the third position sensor in step 102, and z4 is the z-axis coordinate information of the fourth position sensor in step 102.

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