Offshore lifting appliance, measurement and control system applying same and square block lifting method

Abstract

The invention relates to an offshore lifting appliance, a measurement and control system applying the offshore lifting appliance and a square block lifting method, and belongs to the technical field of underwater square block lifting. The offshore lifting appliance comprises a lifting frame, a lifting hook, an unhooking device and a measuring tower, wherein the hoisting frame is used for being connected with hoisting equipment; the lifting hook is installed below the lifting frame, hinged to the lifting frame and used for being connected with a lifting hole of the prefabricated square block. The unhooking device comprises an unhooking frame, a driver and a connecting rod and is used for realizing automatic hooking and automatic unhooking of the lifting hook; the measuring tower is fixedly installed above the hoisting frame, comprises stand columns installed on the periphery of the hoisting frame and an upper measuring platform on the tops of the stand columns, and is used for measuring positioning data of the offshore hoisting tool. The offshore lifting appliance, the measurement and control system applying the offshore lifting appliance and the square block lifting method are combined with a measurement tower and an unhooking device, so that positioning information of the lifting appliance can be obtained in real time, the positions of the lifting appliance and the square block are adjusted in time, and the installation precision of the square block is ensured; and meanwhile, the risk of manual operation can be reduced through underwater automatic unhooking.

Description

Technical Field

[0001] The present invention belongs to the technical field of underwater block hoisting, and in particular relates to an offshore hoisting device, a measurement and control system using the same, and a block hoisting method. Background Art

[0002] Underwater block lifting is one of the key technologies in marine engineering, bridge construction and wharf construction, and is mainly used for the underwater installation of large concrete structures.

[0003] Currently, the main types of block installation lifting equipment include T-shaped horse leg hooks, L-shaped hooks, nylon slings, manual hooking and unhooking lifting equipment, etc., which require manual cooperation in hooking and unhooking. The weight of the lifting blocks is within 500t, which is difficult to meet the needs of engineering projects with large blocks and large quantities. Moreover, in deep water, the blocks will be affected by the water flow after entering the water, causing the position and posture of the blocks to shift, affecting the construction accuracy and efficiency.

[0004] Therefore, how to provide an underwater block lifting device suitable for deep water is a technical problem that urgently needs to be solved. Summary of the Invention

[0005] In response to the shortcomings of the existing technology, the present invention provides an offshore sling and a measurement and control system and a block lifting method using the same. By combining a measuring tower and a decoupling device, the positioning information of the sling can be obtained in real time, and the position of the sling and the block can be adjusted in time to ensure the accuracy of the block installation; at the same time, automatic underwater decoupling can reduce the risks of manual operation.

[0006] In a first aspect, the present invention provides an offshore spreader, comprising:

[0007] Lifting frame, used to connect lifting equipment;

[0008] A lifting hook is installed below the lifting frame and is hinged to the lifting frame, and is used to connect to the lifting holes of the prefabricated blocks;

[0009] The unhooking device includes an unhooking frame, a driver, and a connecting rod, and is used to realize automatic hooking and unhooking of the hook; wherein the unhooking frame is parallel to the lifting frame and is slidably connected to the lifting frame in a vertical direction; the driver is fixed in the lifting frame, and the output end of the driver is connected to the unhooking frame, and is used to drive the unhooking frame to slide up and down; one end of the connecting rod is hinged to the bottom of the unhooking frame, and the other end is connected to the hook, and is used to drive the hook to rotate relative to the lifting frame to realize hooking and unhooking;

[0010] The measuring tower is fixedly installed above the lifting frame. The measuring tower includes columns installed around the lifting frame and an upper measuring platform on the top of the columns, which is used to measure the positioning data of the offshore spreader.

[0011] By combining a measuring tower and a decoupling device, this technical solution can obtain the positioning information of the spreader in real time, and then adjust the position of the spreader and the block in a timely manner to ensure the accuracy of the block installation; at the same time, automatic underwater decoupling can reduce the risks of manual operation.

[0012] In some embodiments, the hook includes at least a first hook piece and a second hook piece arranged crosswise, and the first hook piece and the second hook piece are both connected to the unhooking frame through a connecting rod; when hooking, the first hook piece and the second hook piece are crosswise opened; when unhooking, the first hook piece and the second hook piece are closed.

[0013] The technical solution makes the hooking and unhooking actions more flexible and reliable by disposing the first hook piece and the second hook piece, and can adapt to prefabricated blocks of different shapes and sizes.

[0014] In some embodiments, the driver adopts a hydraulic cylinder, and a top plate is provided at the end of the piston rod of the hydraulic cylinder, and the top plate is fixedly connected to the unhooking frame; when the hydraulic cylinder drives the piston rod to extend, the top plate drives the unhooking frame to move upward, and the connecting rod drives the first hook piece and the second hook piece to close; when the hydraulic cylinder drives the piston rod to retract, the top plate drives the unhooking frame to move downward, and the connecting rod drives the first hook piece and the second hook piece to open.

[0015] This technical solution realizes the automatic operation of the hook through the hydraulic cylinder. The driving force of the hydraulic cylinder is large and can meet the needs of lifting heavy blocks.

[0016] In some embodiments, a magnetostrictive displacement sensor is installed in the hydraulic cylinder, and the magnetostrictive displacement sensor is used to monitor the displacement of the piston rod to obtain the hook status.

[0017] This technical solution uses a magnetostrictive displacement sensor to monitor the opening and closing status of the hook in real time, ensuring the accuracy and safety of the lifting process. It also provides real-time feedback to the operator, facilitating timely adjustments and exception handling.

[0018] In a second aspect, the present invention further provides a measurement and control system, which is applied to the above-mentioned offshore spreader, wherein the lifting frame serves as the lower measurement platform of the measurement and control system, and the measurement and control system comprises:

[0019] At least three BeiDou receivers are provided and installed at the corner points of the upper measurement platform, respectively, for obtaining real-time positioning of the corner points of the upper measurement platform;

[0020] The light source is installed at the bottom of the column, and the interior of the column is hollow;

[0021] A camera is installed at the top of the column of the measurement tower, with its lens facing the bottom of the column. It is used to capture the light source and monitor the position change of the light source, thereby obtaining the real-time deformation of the column of the measurement tower;

[0022] Targets, of which multiple targets are provided and respectively installed on the surface of the hoisted object to assist in identifying the position and posture of the hoisted object;

[0023] An underwater camera is installed on the lower measurement platform and above the target to photograph the target and monitor its position and height changes, thereby obtaining the position and attitude changes of the hoisted object;

[0024] Inclinometer, which is installed on the upper measurement platform and is used to monitor the attitude changes of the offshore spreader;

[0025] Inertial navigation, which is installed on the upper measurement platform and installed at the same place as the inclinometer, is used to assist in monitoring the attitude changes of the sling and the hoisted object;

[0026] The processor is respectively connected to the Beidou receiver, camera, underwater camera, inclinometer and inertial navigation communication, and is used to obtain the real-time deformation of the measuring tower column according to the change of the light source position obtained by the camera, and then obtain the real-time relative position of the upper measuring platform and the lower measuring platform; and in combination with the target position change obtained by the underwater camera, the real-time positioning obtained by the Beidou receiver is used to calculate the real-time position of the hoisted object; the processor is also used to obtain the attitude change of the hoisted object according to the target position change obtained by the underwater camera, and in combination with the attitude change of the offshore hoist obtained by the inclinometer and the data change of the inertial navigation during the hoisting process, calculate the real-time attitude of the hoisted object.

[0027] This technical solution can adapt to complex environmental conditions at sea, such as the impact of factors such as water currents, wind and waves on lifting equipment and hoisted objects; through the coordinated monitoring and data processing of multiple devices, various information required for lifting can still be accurately obtained in complex environments, ensuring the smooth progress of lifting operations.

[0028] In some embodiments, the measurement and control system further includes a controller, which is communicatively connected to the processor and is configured to control the offshore hoist to lift the hoisted object to the designed position based on the real-time position and real-time posture of the hoisted object and the designed lifting position of the hoisted object.

[0029] This technical solution significantly improves hoisting accuracy and efficiency through real-time data feedback and automatic adjustment, ensuring that hoisted objects can reach the designed position quickly and accurately.

[0030] In a third aspect, the present invention further provides a block hoisting method, which uses the above-mentioned measurement and control system and includes the following steps:

[0031] Lifting the cube: Install the measurement and control system, and connect the lifting device to the cube for lifting;

[0032] Obtain the relative positional relationship between the upper measurement platform and the block: Use a camera to capture the position change of the light source to monitor whether the column has deformed, thereby obtaining the deformation of the measurement tower. Based on the deformation of the measurement tower, the relative positional relationship between the upper measurement platform and the plane where the light source is located is obtained. Then, based on the relative position of the light source and the lower measurement platform, the relative positional relationship between the upper measurement platform and the lower measurement platform is obtained. Combined with the relative position of the underwater camera and the block, the relative positional relationship between the upper measurement platform and the block is obtained.

[0033] Get the real-time position of the block: Based on the positioning data obtained by the Beidou receiver and the relative position relationship between the measurement platform and the block, get the real-time position of the block;

[0034] Obtaining the real-time attitude of the cube: The underwater camera obtains the position and height change of the target, thereby obtaining the relative attitude data between the cube and the underwater camera, and then obtaining the relative attitude data between the upper measurement platform and the cube; the inclinometer and inertial navigation obtain the attitude data of the upper measurement platform, and combine the relative attitude of the upper measurement platform and the cube to obtain the real-time attitude of the cube;

[0035] Guide the block lifting: According to the real-time position and real-time posture of the block and the designed lifting position of the block, control the offshore lifting equipment to lift the block to the designed position.

[0036] This technical solution can accurately guide the offshore lifting equipment to lift the blocks to the designed position, realize precise control of the block lifting process, significantly improve the lifting accuracy and efficiency, reduce manual intervention and operational errors, and effectively cope with the influence of complex environmental factors such as water flow and water depth, thereby improving construction safety and reliability.

[0037] In some embodiments, the lifting block step also includes calibration of the measurement and control system, which includes obtaining the initial position and initial attitude data of the Beidou receiver, light source, camera, target, underwater camera, inclinometer, and inertial navigation in the measurement and control system.

[0038] This technical solution can improve the initial accuracy of the measurement and control system and provide a reliable data basis for subsequent real-time monitoring and control.

[0039] In some embodiments, in the step of obtaining the relative position relationship between the upper measuring platform and the block, the method for obtaining the relative position relationship between the upper measuring platform and the lower measuring platform includes: establishing a rectangular coordinate system in the plane where the camera is located as the upper measuring platform coordinate system, and obtaining the coordinates of the initial position of the light source in the upper measuring platform coordinate system; establishing a rectangular coordinate system in the plane where the underwater camera is located as the lower measuring platform coordinate system, and obtaining the coordinates of the initial position of the light source in the lower measuring platform coordinate system; during the hoisting process, using the camera to monitor the light source, and obtaining the real-time coordinate change of the light source in the upper measuring platform coordinate system; and then combining the coordinates of the light source in the lower measuring platform coordinate system to obtain the coordinate conversion parameters of the upper measuring platform coordinate system and the lower measuring platform coordinate system.

[0040] This technical solution and method achieves precise positioning between the upper and lower measuring platforms through coordinate conversion parameters, effectively solves the impact of structural deformation on lifting accuracy in deep water environments, and significantly improves the accuracy and reliability of position monitoring during the lifting process, thereby ensuring that the blocks can be accurately lifted to the designed position.

[0041] In some embodiments, in the step of obtaining the real-time posture of the block, the method of obtaining the posture data of the upper measuring platform through the inclinometer and the inertial navigation includes: the inclinometer and the inertial navigation jointly output the posture data of the upper measuring platform; when the output data of the inclinometer and the inertial navigation are the same, the output data are used as the posture data of the upper measuring platform; when the output data of the inclinometer and the inertial navigation are different, the weighted average of the output data of the inclinometer and the inertial navigation is calculated according to the preset inclinometer data weight and the inertial navigation data weight, and the weighted average is used as the posture data of the upper measuring platform.

[0042] This technical solution fully considers the characteristics of the two devices and possible errors. By reasonably allocating weights and integrating the data of both, it reduces the impact of errors that may be caused by a single device and further improves the accuracy and credibility of the posture data.

[0043] Based on the above scheme, the offshore sling and the measurement and control system and block lifting method using the same in the embodiment of the present invention, the offshore sling is combined with a measuring tower and a decoupling device, which can obtain the positioning information of the sling in real time, and then adjust the position of the sling and the block in time to ensure the accuracy of the block installation; at the same time, underwater automatic decoupling can reduce the risk of manual operation; the decoupling frame is driven up and down by the driver, the bottom of the decoupling frame is hinged with the connecting rod, the decoupling frame drives the connecting rod to move, and the connecting rod drives the hook to rotate, thereby realizing automatic hooking and automatic decoupling; without manual intervention, it can reduce human operational errors, improve operational efficiency, and meet the engineering requirements of large-scale block lifting. The measurement and control system can adapt to complex environmental conditions at sea, such as the impact of factors such as water flow, wind and waves on the sling and the hoisted objects; through the coordinated monitoring and data processing of multiple devices, various information required for lifting can still be accurately obtained in complex environments to ensure the smooth progress of lifting operations. The block lifting method can accurately guide the offshore lifting equipment to lift the blocks to the designed position, realize the precise control of the block lifting process, significantly improve the lifting accuracy and efficiency, reduce manual intervention and operational errors, and effectively cope with the influence of complex environmental factors such as water flow and water depth, thereby improving construction safety and reliability. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of this application. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0045] Figure 1 A perspective view of an offshore spreader according to an embodiment of the present invention;

[0046] Figure 2 A partial structural perspective view of an offshore spreader according to an embodiment of the present invention;

[0047] Figure 3 This is a schematic diagram of the hook closed state in an embodiment of the present invention;

[0048] Figure 4 Schematic diagram of the hook in the open state according to an embodiment of the present invention;

[0049] Figure 5 for Figure 2 Side view of the mid-structure;

[0050] Figure 6 for Figure 2 Exploded view of the structure;

[0051] Figure 7 This is a schematic structural diagram of the upper measurement platform in an embodiment of the present invention;

[0052] Figure 8 is a cross-sectional view of a prefabricated block according to an embodiment of the present invention;

[0053] Figure 9 A schematic diagram of the structure of a measurement and control system in an embodiment of the present invention;

[0054] Figure 10 A schematic top view of a measurement and control system according to an embodiment of the present invention;

[0055] Figure 11 Schematic diagram of a measurement platform on a measurement and control system according to an embodiment of the present invention;

[0056] Figure 12 Flowchart of the block hoisting method in an embodiment of the present invention.

[0057] In the picture:

[0058] 1. Lifting frame; 2. Hook; 3. Unhooking frame; 4. Measuring tower; 5. Drive; 6. Connecting rod; 7. Prefabricated block;

[0059] 101. Guide tube; 102. Outrigger; 103. Mounting lug; 104. Pin; 105. Lifting lug; 106. Underwater camera;

[0060] 201, first hook piece; 202, second hook piece; 203, first pad;

[0061] 301, guide column; 302, crossbar;

[0062] 401, upper measuring platform; 402, column; 403, reinforcement; 404, casing; 405, Beidou receiver; 406, light source; 407, camera; 408, inclinometer; 409, inertial navigation;

[0063] 601, first pole; 602, second pole;

[0064] 701. Lifting hole; 702. Second pad; 703. Target. DETAILED DESCRIPTION

[0065] The following will provide a clear and complete description of the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making any creative efforts are within the scope of protection of the present invention.

[0066] In the description of the present invention, it should be understood that the terms "center", "transverse", "longitudinal", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as limiting the present invention.

[0067] The terms "first" and "second" are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly specify the quantity of the technical features indicated. Therefore, a feature specified as "first" or "second" may explicitly or implicitly include one or more of the features.

[0068] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood broadly. For example, they may refer to fixed connections, detachable connections, or integral connections; they may refer to direct connections, indirect connections through an intermediary, or internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on the specific circumstances.

[0069] like Figure 1 As shown, in an embodiment of the offshore sling and the measurement and control system and block lifting method using the same of the present invention, in the first aspect, the offshore sling includes a lifting frame 1, a hook 2, a decoupling device and a measuring tower 4; wherein the lifting frame 1 is used to connect the lifting equipment; the hook 2 is installed below the lifting frame 1 and is hinged to the lifting frame 1, and is used to connect the lifting hole 701 of the prefabricated block 7; the decoupling device includes a decoupling frame 3, a driver 5 and a connecting rod 6, which are used to realize automatic hooking and automatic decoupling of the hook 2; wherein the decoupling frame 3 is parallel to the lifting frame 1 and is connected to the lifting frame 1. The frame 1 is connected in a sliding manner in the vertical direction; the driver 5 is fixed in the lifting frame 1, and the output end of the driver 5 is connected to the unhooking frame 3, which is used to drive the unhooking frame 3 to slide up and down; one end of the connecting rod 6 is hinged to the bottom of the unhooking frame 3, and the other end is connected to the hook 2, which is used to drive the hook 2 to rotate relative to the lifting frame 1 to achieve hooking and unhooking; the measuring tower 4 is fixedly installed above the lifting frame 1, and the measuring tower 4 includes columns 402 installed around the lifting frame 1 and an upper measuring platform 401 on the top of the column 402, which is used to measure the positioning data of the offshore sling.

[0070] In the above-mentioned schematic embodiment, the offshore spreader is combined with the measuring tower 4 and the unhooking device, which can obtain the positioning information of the spreader in real time, and then adjust the position of the spreader and the block in time to ensure the accuracy of the block installation; at the same time, underwater automatic unhooking can reduce the risk of manual operation; the unhooking frame 3 is driven up and down by the driver 5, and the bottom of the unhooking frame 3 is hinged to the connecting rod 6, the unhooking frame 3 drives the connecting rod 6 to move, and the connecting rod 6 drives the hook 2 to rotate, thereby realizing automatic hooking and automatic unhooking; no human intervention is required, which can reduce human operational errors, improve operational efficiency, and meet the engineering needs of large-scale block lifting.

[0071] In some embodiments, as Figure 1 As shown, reinforcing ribs 403 are provided between columns 402 to enhance structural stability. During offshore installation, measurement tower 4 is subject to various external forces, such as water impact and vibration during installation. Ribs 403 effectively disperse these forces, reducing the risk of deformation and damage to columns 402 and ensuring stable operation of measurement tower 4 in complex environments.

[0072] In some embodiments, as Figure 7 As shown, upper measurement platform 401 is sleeved onto the top of column 402. Specifically, upper measurement platform 401 has an opening that matches column 402, and a sleeve 404 is installed at the top of the opening. Sleeve 404 sleeves the outer circumference of column 402. The provision of sleeve 404 ensures that deformation of column 402 of measurement tower 4 will not affect the shooting angle of camera 407, thereby ensuring more reliable data.

[0073] It should be noted that the height of the measurement tower 4 is set according to the hoisting water depth. The height of the measurement tower 4 is sufficient to ensure that the upper measurement platform 401 does not submerge at the maximum operating water depth. Preventing the upper measurement platform 401 from being submerged effectively protects the measurement equipment installed on the upper measurement platform 401, preventing damage due to water immersion, extending the equipment's service life, and reducing construction costs. It also reduces problems such as inaccurate measurement data and construction interruptions caused by equipment damage, ensuring smooth construction progress.

[0074] In some embodiments, as Figure 2 As shown, the hook 2 comprises at least a first hook piece 201 and a second hook piece 202 arranged crosswise, and the first hook piece 201 and the second hook piece 202 are both connected to the unhooking frame 3 through a connecting rod 6; Figure 3 As shown, when hooking, the first hook piece 201 and the second hook piece 202 are crossed and opened; Figure 3 As shown, when unhooking, the first hook piece 201 and the second hook piece 202 are closed. The arrangement of the first hook piece 201 and the second hook piece 202 makes the hooking and unhooking actions more flexible and reliable, and can adapt to prefabricated blocks 7 of different shapes and sizes, thereby improving the versatility and operating efficiency of the spreader.

[0075] Furthermore, if Figure 3 As shown, the hook 2 includes two first hooks 201 and a second hook 202. When closed, the second hook 202 is located between the two first hooks 201. The multiple hooks enhance the stability and load-bearing capacity of the hook 2, enabling the lifting of heavy objects. It also distributes the load more evenly, preventing excessive force on a single point and improving the safety and reliability of the lifting process.

[0076] In some embodiments, as Figure 6 As shown, the actuator 5 is a hydraulic cylinder with a top plate at the end of the piston rod, which is fixedly connected to the unhooking frame 3. When the hydraulic cylinder drives the piston rod to extend, the top plate drives the unhooking frame 3 upward, and the connecting rod 6 drives the first hook piece 201 and the second hook piece 202 to close. When the hydraulic cylinder drives the piston rod to retract, the top plate drives the unhooking frame 3 downward, and the connecting rod 6 drives the first hook piece 201 and the second hook piece 202 to open. The hydraulic cylinder realizes the automated operation of the hook 2, and the hydraulic cylinder has a high driving force, which can meet the needs of lifting heavy blocks.

[0077] In some embodiments, a magnetostrictive displacement sensor is installed in the hydraulic cylinder to monitor the displacement of the piston rod, thereby obtaining the status of the hook 2. By setting up the magnetostrictive displacement sensor, the opening and closing status of the hook 2 can be monitored in real time, ensuring the accuracy and safety of the lifting process. At the same time, it provides real-time feedback to the operator, facilitating timely adjustments and abnormal handling, and further improving the reliability and intelligence level of the lifting operation. Specifically, the prefabricated block 7 hoist in this embodiment is also connected to a control system for communication, and the control system controls the operation of the hydraulic cylinder; when the hydraulic cylinder drives the piston rod to extend, the magnetostrictive displacement sensor detects the extension displacement of the piston rod; when the hydraulic cylinder drives the piston rod to retract, the magnetostrictive displacement sensor detects the retraction displacement of the piston rod; the magnetostrictive displacement sensor transmits the extension and retraction displacements of the piston rod to the control system, and the control system determines the position of the piston rod based on the changes in the displacement data, thereby inferring the status of the hook 2.

[0078] In some embodiments, as Figure 6 As shown, the lifting frame 1 is equipped with a guide tube 101, and guide posts 301 are located on both sides of the top of the hook 2. The unhooking device also includes guide posts 301, which are sleeved inside the guide tube 101 and slidably connected to the guide tube 101. The upper end of the guide post 301 is fixedly connected to the unhooking frame 3, and the lower end is hinged to the connecting rod 6. The arrangement of the guide tube 101 and the guide post 301 ensures the stability and accuracy of the unhooking frame 3 as it slides up and down, preventing the unhooking frame 3 from shaking or deflecting during movement, thereby improving the reliability and operational efficiency of the hoist.

[0079] It should be noted that if Figure 6 As shown, a crossbar 302 is provided at the bottom of the guide post 301 for connecting the first hook pieces 201. The crossbar 302 is arranged perpendicular to the guide post 301. The ends of the crossbar 302 are respectively hinged to the connecting rod 6 to achieve synchronous rotation of the two first hook pieces 201. The provision of the crossbar 302 ensures that the two first hook pieces 201 can achieve synchronous rotation, thereby ensuring consistent movement of the hook 2 during hooking and unhooking operations.

[0080] In some embodiments, as Figure 6 As shown, the connecting rod 6 includes a first support rod 601 and a second support rod 602. The first support rod 601 is hinged to the guide column 301. The second support rod 602 is hinged to the first support rod 601 at one end and connected to the hook 2 at the other end. The segmented design of the first and second support rods 601 and 602 makes the movement of the connecting rod 6 more flexible, better adapting to the opening and closing of the hook 2. At the same time, it reduces friction and resistance during movement, thereby improving the operating efficiency and service life of the spreader.

[0081] In some embodiments, as Figure 4 As shown, a support leg 102 is further provided under the lifting frame 1. When the lifting tool of the prefabricated block 7 is inserted into the lifting hole 701, the support leg 102 abuts against the top of the prefabricated block 7. The provision of the support leg 102 provides additional support during the lifting process, prevents the lifting tool from tilting or shaking due to uneven force, and improves the stability and safety of the lifting process.

[0082] In some embodiments, as Figure 6 As shown, the bottom of the lifting frame 1 is provided with a lug 103 for mounting the hook 2. The lug 103 is equipped with a pin 104. The hook 2 is suspended from the pin 104 and hinged to the lug 103. The arrangement of the lug 103 and the pin 104 allows the hook 2 to rotate freely to accommodate various lifting angles. This simplifies the installation and removal of the hook 2, improving the flexibility and maintenance convenience of the sling. Specifically, the first hook piece 201 and the second hook piece 202 of the hook 2 are suspended from the pin 104.

[0083] In some embodiments, as Figure 6 As shown, a lifting lug 105 for connecting a lifting device is installed above the lifting frame 1. By the provision of the lifting lug 105, the connection between the sling and the lifting device is more stable, can withstand a larger load, and is convenient for quick installation and removal.

[0084] In some embodiments, as Figure 5As shown, both the first hook piece 201 and the second hook piece 202 have a bent portion for hooking into the hanging hole 701. Furthermore, the bent portion of each of the first hook piece 201 and the second hook piece 202 is provided with a first pad 203. When subjected to force, the first pad 203 elastically retracts to balance the force applied to the first hook piece 201 and the second hook piece 202. As an exemplary embodiment, the first pad 203 is made of a high-pressure and wear-resistant MGE composite material pad, which can produce 1-5mm of elastic compression when subjected to force.

[0085] In some embodiments, as Figure 3 As shown, the first hook piece 201 is provided with a beveled portion at the bottom near the second hook piece 202. The beveled portion can reduce the occupied area when the first hook piece 201 and the second hook piece 202 are closed, thereby reducing the prefabricated diameter of the hanging hole 701 and reducing the impact of the prefabricated hanging hole 701 on the strength of the block.

[0086] In some embodiments, as Figure 7 As shown, the prefabricated block 7 is provided with a lifting hole 701. A step for hooking is provided within the lifting hole 701. The surface of the step that contacts the hook 2 is provided with a second pad 702. The provision of the step and second pad 702 allows the hook 2 to be securely engaged with the step when hooked, preventing it from slipping or becoming unhooked during the lifting process, thereby improving the safety and stability of the lifting process. This embodiment does not impose any specific restrictions on the shape of the lifting hole 701.

[0087] Second, as Figure 9 As shown, the present invention provides a measurement and control system, which is applied to the above-mentioned offshore lifting equipment. The lifting frame 1 serves as the lower measurement platform of the measurement and control system. The measurement and control system includes a Beidou receiver 405, a light source 406, a target 703, an underwater camera 106, an inclinometer 408, an inertial navigation system 409 and a processor: wherein, as shown in FIG. Figure 10As shown, at least three Beidou receivers 405 are provided and are respectively installed at the corner points of the upper measuring platform 401, for obtaining the real-time positioning of the corner points of the upper measuring platform 401; the light source 406 is installed at the bottom of the column 402, and the column 402 is hollow inside; the camera 407 is installed at the top of the column 402 of the measuring tower 4, and the lens of the camera 407 is facing the bottom of the column 402, for photographing the light source 406 and monitoring the position change of the light source 406, thereby obtaining the real-time deformation of the column 402 of the measuring tower 4; there are multiple targets 703, which are respectively installed on the surface of the hoisted object, for assisting in identifying the position and posture of the hoisted object; the underwater camera 106 is installed on the lower measuring platform and correspondingly installed above the target 703, for photographing the target 703 and monitoring the position and height change of the target 703, thereby obtaining the position and posture change of the hoisted object; the inclinometer 408 is installed on the upper measuring platform 401, for monitoring the posture change of the offshore spreader; The inertial navigation system 409 is installed on the upper measuring platform 401 and is installed at the same place as the inclinometer 408, and is used to assist in monitoring the posture changes of the sling and the hoisted object; the processor is respectively communicated with the Beidou receiver 405, the camera 407, the underwater camera 106, the inclinometer 408 and the inertial navigation system 409, and is used to obtain the real-time deformation of the column 402 of the measuring tower 4 according to the position change of the light source 406 obtained by the camera 407, and then obtain the real-time relative position of the upper measuring platform 401 and the lower measuring platform; and in combination with the position change of the target 703 obtained by the underwater camera 106, the real-time positioning obtained by the Beidou receiver 405 is used to calculate the real-time position of the hoisted object; the processor is also used to obtain the posture change of the hoisted object according to the position change of the target 703 obtained by the underwater camera 106, and in combination with the posture change of the offshore sling obtained by the inclinometer 408 and the data change of the inertial navigation system 409 during the hoisting process, to calculate the real-time posture of the hoisted object.

[0088] In the above exemplary embodiment, through the coordinated operation of multiple Beidou receivers 405, satellite positioning technology can be used to accurately determine the position information of the offshore hoist on the upper measurement platform 401, providing a reliable position reference for the entire hoisting process; by using the camera 407 to capture the light source 406 and monitor its position changes, the deformation of the column 402 of the measurement tower 4 can be obtained in real time; by using the underwater camera 106 to capture the target 703 and monitor its position and height changes, the position and attitude changes of the hoisted object can be obtained, thereby accurately identifying the specific position and attitude information of the hoisted object underwater; through the coordinated operation of the inclinometer 408 and the inertial navigation system 409, the attitude of the hoist and the hoisted object can be monitored from multiple dimensions, which can more comprehensively and accurately grasp the attitude information during the hoisting process. In summary, the measurement and control system in this embodiment can adapt to complex environmental conditions at sea, such as the influence of factors such as water currents, wind and waves on the hoist and the hoist; through the coordinated monitoring and data processing of multiple devices, various information required for hoisting can still be accurately obtained in complex environments, ensuring the smooth progress of the hoisting operation.

[0089] It should be noted that at least three non-collinear Beidou receivers 405 and three non-collinear targets 703 are set.

[0090] In some embodiments, the measurement and control system also includes a controller, communicatively connected to the processor, configured to control the offshore spreader to lift the object to its designed position based on the object's real-time position and posture, as well as its designed lifting position. This controller achieves closed-loop control of the lifting process, significantly improving lifting accuracy and efficiency through real-time data feedback and automatic adjustments, ensuring that the object reaches its designed position quickly and accurately, thereby enhancing the safety and reliability of the overall operation.

[0091] In some embodiments, as Figure 7 As shown, upper measurement platform 401 is sleeved onto the top of column 402. Specifically, upper measurement platform 401 has an opening that matches column 402, with a sleeve 404 located at the top of the opening. Sleeve 404 sleeves onto the outer perimeter of column 402, and camera 407 is secured to sleeve 404 via a steel plate. Sleeve 404 prevents deformation of column 402 of measurement tower 4 from affecting the camera 407's shooting angle, thus ensuring more reliable data.

[0092] Thirdly, as Figure 12As shown, the present invention also provides a block hoisting method, including lifting the block, obtaining the relative position relationship between the upper measuring platform 401 and the block, obtaining the real-time position of the block, obtaining the real-time posture of the block, and guiding the block hoisting steps; wherein, the block lifting step includes: installing a measurement and control system, and connecting the hoist to the block for lifting; the step of obtaining the relative position relationship between the upper measuring platform 401 and the block includes: using a camera 407 to obtain the position change of the light source 406 to monitor whether the column 402 is deformed, thereby obtaining the deformation of the measuring tower 4; obtaining the relative position relationship between the upper measuring platform 401 and the plane where the light source 406 is located according to the deformation of the measuring tower 4, and then obtaining the relative position relationship between the upper measuring platform 401 and the lower measuring platform according to the relative position of the light source 406 and the lower measuring platform; combining the relative position of the underwater camera 106 and the block , obtaining the relative position relationship between the upper measuring platform 401 and the block; the step of obtaining the real-time position of the block includes: obtaining the real-time position of the block according to the positioning data obtained by the Beidou receiver 405, combined with the relative position relationship between the upper measuring platform 401 and the block; the step of obtaining the real-time attitude of the block includes: obtaining the position and height change of the target 703 through the underwater camera 106, thereby obtaining the relative attitude data between the block and the underwater camera 106, and then obtaining the relative attitude data between the upper measuring platform 401 and the block; obtaining the attitude data of the upper measuring platform 401 through the inclinometer 408 and the inertial navigation 409, and obtaining the real-time attitude of the block in combination with the relative attitude of the upper measuring platform 401 and the block; the step of guiding the lifting of the block includes: controlling the offshore lifting equipment to lift the block to the designed position according to the real-time position and real-time attitude of the block and the designed lifting position of the block.

[0093] In the above-mentioned exemplary embodiment, by integrating the measurement and control system and multi-sensor data fusion technology, the relative position relationship between the upper measuring platform 401 and the block, the real-time position and attitude data of the block can be obtained in real time, and combined with the multi-source data of the Beidou receiver 405, camera 407, underwater camera 106, inclinometer 408 and inertial navigation 409, it is possible to accurately guide the offshore lifting equipment to lift the block to the designed position, thereby achieving precise control of the block lifting process, significantly improving the lifting accuracy and efficiency, reducing human intervention and operational errors, and effectively responding to the influence of complex environmental factors such as water flow and water depth, thereby improving construction safety and reliability.

[0094] In some embodiments, the hoisting block step also includes calibration of the measurement and control system, which includes obtaining the initial position and initial attitude data of the Beidou receiver 405, light source 406, camera 407, target 703, underwater camera 106, inclinometer 408, and inertial navigation system 409 in the measurement and control system. By obtaining the initial position and initial attitude data of the Beidou receiver 405, light source 406, camera 407, target 703, underwater camera 106, inclinometer 408, and inertial navigation system 409 in the measurement and control system, it is ensured that each sensor is in an accurate working state before the lifting begins, thereby improving the initial accuracy of the measurement and control system and providing a reliable data foundation for subsequent real-time monitoring and control, thereby significantly improving the overall accuracy and stability of the lifting process and reducing the lifting deviation caused by sensor errors.

[0095] In some embodiments, in the step of obtaining the relative position relationship between the upper measuring platform 401 and the block, the method for obtaining the relative position relationship between the upper measuring platform 401 and the lower measuring platform includes: establishing a rectangular coordinate system in the plane where the camera 407 is located as the upper measuring platform 401 coordinate system, and obtaining the coordinates of the initial position of the light source 406 in the upper measuring platform 401 coordinate system; establishing a rectangular coordinate system in the plane where the underwater camera 106 is located as the lower measuring platform coordinate system, and obtaining the coordinates of the initial position of the light source 406 in the lower measuring platform coordinate system; during the hoisting process, using the camera 407 to monitor the light source 406, and obtaining the real-time coordinate change of the light source 406 in the upper measuring platform 401 coordinate system. If the coordinates of the light source 406 change, it proves that the column 402 where the light source 406 is located has deformed, and the deformation of the measuring tower 4 is the coordinate change of the light source 406; and then combining the coordinates of the light source 406 in the lower measuring platform coordinate system, obtaining the coordinate conversion parameters of the upper measuring platform 401 coordinate system and the lower measuring platform coordinate system. Figure 11As shown, specifically, the coordinate system of the upper measuring platform 401 is established with the center point of the plane where the camera 407 is located as the origin O, and the straight lines passing through the point O and parallel to the direction of the line connecting the two adjacent cameras 407 as the X-axis and Y-axis; the coordinate system of the lower measuring platform is established with the center point of the plane where the underwater camera 106 is located as the origin O′, and the straight lines passing through the point O′ and parallel to the direction of the line connecting the two adjacent underwater cameras 106 as the x-axis and y-axis; according to the coordinate changes of the light source 406 in the coordinate system of the upper measuring platform 401, the plane deviation and deflection angle of the center point of the plane where the light source 406 is located relative to the point O are obtained; combined with the relative positional relationship between the light source 406 and the underwater camera 106, the plane deviation and deflection angle of the point O′ relative to the point O, that is, the relative positional relationship between the upper measuring platform 401 and the lower measuring platform, are obtained. This method achieves precise positioning between the upper and lower measuring platforms through coordinate conversion parameters, effectively solves the impact of structural deformation on lifting accuracy in deep water environments, and significantly improves the accuracy and reliability of position monitoring during the lifting process, thereby ensuring that the blocks can be accurately lifted to the designed position.

[0096] In some embodiments, in the step of obtaining the real-time attitude of the block, the method for obtaining attitude data of the upper measurement platform 401 through the inclinometer 408 and the inertial navigation system 409 includes: the inclinometer 408 and the inertial navigation system 409 jointly output the attitude data of the upper measurement platform 401; when the output data of the inclinometer 408 and the inertial navigation system 409 are the same, the output data is used as the attitude data of the upper measurement platform 401; when the output data of the inclinometer 408 and the inertial navigation system 409 are different, based on the preset weights of the inclinometer 408 data and the inertial navigation system 409 data, a weighted average of the output data of the inclinometer 408 and the inertial navigation system 409 is calculated as the attitude data of the upper measurement platform 401. This embodiment fully considers the characteristics and possible errors of the two devices, and by reasonably allocating weights and integrating the data of both, it reduces the impact of errors that may be generated by a single device, further improving the accuracy and reliability of the attitude data.

[0097] Example 1

[0098] This embodiment involves the construction of a gravity-type block wharf. Blocks weigh a maximum of 620 tons, vary in size, and total over 3,000 blocks. The maximum installation water depth is 27 meters. Due to the heavy weight, diverse sizes, and large number of blocks, and the deep water depth involved, this embodiment places high demands on both construction precision and efficiency. The offshore spreader, its measurement and control system, and block hoisting method provided by the present invention are employed to ensure high-precision and efficient construction.

[0099] In this embodiment, the above-mentioned offshore lifting equipment is used to lift the cube prefabricated block 7. Specifically, Figure 1As shown, the measuring tower 4 of the offshore spreader in this embodiment is 25m high, and there are four columns 402. The four columns 402 are vertically arranged, and the line connecting each column 402 and the two adjacent columns 402 is perpendicular to each other. The upper measuring platform 401 is a square platform.

[0100] Next, the measurement and control system and the block lifting method using the offshore lifting equipment in this embodiment will be described in detail. In particular, the measurement and control system uses the lifting frame 1 as the lower measurement platform.

[0101] (1) Measurement and control system

[0102] like Figure 9 As shown, the measurement and control system includes:

[0103] At least three BeiDou receivers 405 are provided and are installed at the corner points of the upper measurement platform 401 respectively, for obtaining the real-time positioning of the corner points of the upper measurement platform 401. Figure 11 As shown, in this embodiment, in order to ensure the accuracy of data, Beidou receivers 405 are installed at the four corner points of the upper measurement platform 401.

[0104] The light source 406 is mounted on the bottom of the pillar 402. The interior of the pillar 402 is hollow. In this embodiment, a light source 406 is provided at the bottom of each pillar 402, and a total of four light sources 406 are provided.

[0105] Camera 407 is mounted on the top of column 402 of measurement tower 4, with its lens facing the bottom of column 402. It is used to capture light source 406 and monitor its positional changes, thereby acquiring real-time deformation of column 402 of measurement tower 4. In this embodiment, a camera 407 is installed on the top of each column 402, for a total of four cameras 407. Cameras 407 are long-focal-length cameras.

[0106] Target 703 is provided in multiple numbers and is respectively installed on the surface of the hoisted object to assist in identifying the position and posture of the hoisted object. In this embodiment, four targets 703 are provided, and the four targets 703 are respectively installed on the top surface of the block. After the target 703 is installed, the relative position of the target 703 and the corner point of the block is fixed; further, in order to ensure that the underwater camera 106 can clearly identify the target 703 in a deep water environment, the target 703 adopts a circular design with a black outer circle and a white center to correspond to the recognition of the underwater camera 106 and enhance the recognition contrast in a deep dark environment; in addition, the underwater camera 106 usually infers the target 703 by identifying the size of the white part in the center of the target 703. 3. The distance between the target 703 and the camera unit must be such that the white portion in the center of the target 703 is neither too small to be inconspicuous nor too large to be out of the range of the underwater camera 106. According to tests, in a water depth of 30 m, the most suitable size is an outer diameter of 8 cm for the target 703 and a diameter of 4 cm for the central white portion. To facilitate determination of the center position of the target 703, a crosshair is provided in the white portion of the target 703. The target 703 is made of acrylic, and its surface is polished to a frosted finish to ensure durability and reduce specular reflection.

[0107] The underwater camera 106 is installed on the lower measuring platform and correspondingly installed above the target 703. It is used to shoot the target 703 and monitor the position and height changes of the target 703, so as to obtain the position and posture changes of the hoisted object. In order to ensure the shooting lighting of the underwater camera 106, a lighting lamp is installed under the underwater camera 106 to ensure the identification of the target 703.

[0108] The inclinometer 408 is installed on the upper measuring platform 401 and is used to monitor the attitude changes of the offshore spreader.

[0109] The inertial navigation system 409 is installed on the upper measuring platform 401 and is installed at the same place as the inclinometer 408 to assist in monitoring the posture changes of the sling and the hoisted object.

[0110] The processor is respectively connected to the Beidou receiver 405, the camera 407, the underwater camera 106, the inclinometer 408 and the inertial navigation system 409 for obtaining the real-time deformation of the column 402 of the measuring tower 4 according to the position change of the light source 406 obtained by the camera 407, and further obtaining the real-time relative position of the upper measuring platform 401 and the lower measuring platform; and combining the position change of the target 703 obtained by the underwater camera 106 with the real-time positioning obtained by the Beidou receiver 405 to calculate the real-time position of the hoisted object; the processor is also used to obtain the attitude change of the hoisted object according to the position change of the target 703 obtained by the underwater camera 106, and combining the attitude change of the offshore hoist obtained by the inclinometer 408 and the data change of the inertial navigation system 409 during the hoisting process to calculate the real-time attitude of the hoisted object.

[0111] a controller, which is in communication with the processor and is used to control the offshore spreader to lift the object to the designed position based on the real-time position and real-time posture of the object and the designed lifting position of the object;

[0112] The display is connected to the processor and the controller for displaying the real-time position and attitude of each device in the measurement and control system, and the real-time position and attitude of the block and the designed position.

[0113] (2) Block hoisting method

[0114] a. Lifting block steps

[0115] Installation and calibration of measurement and control system:

[0116] This step unifies the position and attitude data standards of all devices in the measurement and control system through the installation calibration, orientation calibration, and camera calibration of each device in the measurement and control system to achieve accurate positioning. The following uses the calibration of the upper measurement platform 401 device and the calibration of the lower measurement platform device as examples to illustrate the calibration of the measurement and control system:

[0117] The installation and calibration of the upper measurement platform 401 includes the installation and calibration of the BeiDou receiver 405, the inclinometer 408, the inertial navigation system 409, the camera 407, and the installation of the light source 406:

[0118] Installation and calibration of Beidou receiver 405: A 360° prism is set coaxially below the Beidou receiver 405, and the Beidou receiver 405 is calibrated using a total station; specifically, a coaxial bracket is used to make the Beidou receiver 405 antenna coaxial with the 360° prism (that is, the plane position is consistent, only the elevation is different), and the calibration data of the total station is the Beidou position; and in this embodiment, the upper measuring platform 401 is square, and the Beidou receiver 405 is installed at the four corner points of the upper measuring platform 401, which can represent the four corner points of the sling. After the position of the Beidou receiver 405 is calibrated, the center point of the upper measuring platform 401 is used as the origin, and the straight lines passing through the origin and parallel to the adjacent side lines of the upper measuring platform 401 are used as the horizontal and vertical axes to establish a calibration coordinate system for the upper measuring platform 401, and the calibration coordinate system is used as the benchmark for the calibration of other equipment.

[0119] Installation and calibration of inclinometer 408: Install inclinometer 408 at the origin of the calibration coordinate system, and make the heel axis and pitch axis inside inclinometer 408 coincide with the horizontal axis and vertical axis of the calibration coordinate system; after inclinometer 408 is installed in the specified position, calibrate it according to the actual tilt value displayed by Beidou receiver 405. The reading of inclinometer 408 after calibration is the true posture of the sling.

[0120] Installation and calibration of the inertial navigation system 409: The inertial navigation system 409 is installed above the inclinometer 408, and the coordinate axes inside the inertial navigation system 409 are parallel to the coordinate axes of the calibration coordinate system.

[0121] Installation and calibration of camera 407: The calibration of camera 407 includes two parts: land calibration and installation calibration. The land calibration method includes: placing camera 407 on the ground, making a marker of the same size as light source 406 and placing it on the ground. The distance between the marker and camera 407 is equal to the height of the column 402 of the measuring tower 4. In this embodiment, the distance between the marker and camera 407 is 25m. The number of pixels of the marker obtained by camera 407 is used to calibrate the internal orientation parameters of camera 407 and establish the internal coordinate system of camera 407. At this time, camera 407 can obtain the actual distance and plane position deviation between the two based on the pixel size and offset of the photographed marker. The installation and calibration method includes: the camera 407 is installed on the top of the column 402 of the measuring tower 4, and the lens is facing downward to shoot the bottom direction of the column 402. The tail of the camera 407 is welded to the sleeve 404 of the upper measuring platform 401 through a steel plate. A rectangular coordinate system consistent with the internal coordinate system of the camera 407 is specified on the steel plate. When installing the camera 407, the rectangular coordinate system on the steel plate is made parallel to the calibration coordinate system; after the installation is completed, the relative position relationship between the camera 407 and the Beidou receiver 405 at its corresponding corner point is calibrated using a total station, and the coordinates of the camera 407 are converted into the calibration coordinate system.

[0122] The installation and calibration of the lower measurement platform includes the installation and calibration of the underwater camera 106, the target 703, and the light source 406:

[0123] Installation and calibration of the underwater camera 106 and the light source 406: The light source 406 is installed at the bottom center of the column 402 of the measuring tower 4 and is fixedly connected to the column 402 through a flange; the underwater camera 106 is installed at the four corners of the lifting frame 1, and the target 703 is installed on the surface of the block replacement. The distance between the underwater camera 106 and the target 703 is equal to the height difference between the lifting frame 1 and the top surface of the block. The number of pixels of the target 703 obtained by the underwater camera 106 is used to calibrate the internal orientation parameters of the underwater camera 106, and establish an internal coordinate system of the underwater camera 106. At this time, the underwater camera 106 can obtain the actual distance and plane position deviation between the underwater camera 106 and the target 703 based on the pixel size and offset of the target 703. Use a total station to calibrate the relative position relationship between the underwater camera 106 and the corresponding corner point light source 406, turn on the camera 407 of the upper measuring platform 401 and record data, the camera 407 obtains the actual plane position of the light source 406, and calculates the relative position relationship between the light source 406 and the camera 407. Through the relative position relationship between the camera 407 and the light source 406, and the relative position relationship between the light source 406 and the underwater camera 106, the coordinates of the underwater camera 106 and the light source 406 are converted into the calibration coordinate system, the angle between the coordinate axes of the internal coordinate system of the underwater camera 106 and the calibration coordinate system is calculated, and the angle is corrected, and the parameters of the underwater camera 106 are changed so that the coordinate axis directions of the internal coordinate system of the underwater camera 106 are consistent with those of the calibration coordinate system.

[0124] Installation and calibration of target 703: Target 703 is fixed to the top surface of the block with anchor glue, and the intersection of a vertical line through the center of gravity of the block and the top surface of the block is used as the target layout center point. The targets are evenly arranged around the layout center point of the top surface of the block, and target 703 is located within the shooting range of the corresponding underwater camera 106 (for a regularly shaped block, target 703 is preferably installed directly below the underwater camera 106). After the target 703 is installed, its relative position relationship with the corner point of the block is first obtained. With the target layout center point as the origin, a block coordinate system is established with the horizontal line connecting the two targets 703 and the vertical line connecting the two targets 703 as the horizontal axis and the vertical axis respectively. The coordinates of each feature point of the block and target 703 in the block coordinate system are measured by a total station. When the block is installed, the coordinates of each feature point of the block are input accordingly, and positioning can be performed by the underwater camera 106, and the actual coordinates of the target 703 are calculated to the actual coordinates of the block feature point. After the installation and calibration of target 703 is completed, in order to ensure the accuracy of the installation and calibration data of the block and target 703, its position needs to be checked and verified. The verification methods include the ruler verification method and the measurement and control system verification method; among them, the ruler verification method includes: the coordinates of target 703 and the block feature points in the block coordinate system can be used to calculate the distance between target 703 and the distance between each feature point. A ruler sampling test is required before the block is shipped. If the ruler data is consistent with the calculated data, the data calculation is correct. The measurement and control system verification method includes: after the installation of the target 703 is completed, the hook 2 can be installed, and the installation and calibration position of the target 703 can be verified by the measurement and control system; first, the image interface captured by the underwater camera 106 is observed. The position of the target 703 in the image interface is roughly in the center, that is, the target 703 is installed correctly; secondly, the calibration data of the target 703 is checked. Since different blocks have different sizes and corresponding installation design positions, if the actual size between the corner feature points of the block calculated by observing the target 703 through the underwater camera 106 of the measurement and control system does not match the design position size of the block built into the software, then there is a problem with the calibration data of the target 703; finally, through diving verification, the relative misalignment of the installed block and the adjacent installed block is checked after diving into the water, and the measurement data of the measurement and control system are compared. If the two are consistent, the size design and calibration data of the target 703 are reasonable and accurate, and the positioning of the measurement and control system meets the accuracy requirements.

[0125] Connect the lifting device to the block for lifting:

[0126] Connect the lifting equipment to the lifting frame 1, control the movement of the lifting frame 1, and extend the hook 2 into the lifting hole 701. Use the driver 5 to drive the unhooking frame 3 to move upward, and the connecting rod 6 drives the hook 2 to open, and the hook 2 is engaged with the lifting hole 701.

[0127] b. Obtaining the relative position relationship between the upper measurement platform 401 and the block

[0128] The camera 407 is used to obtain the position change of the light source 406 to monitor whether the column 402 is deformed, thereby obtaining the deformation of the measuring tower 4; the relative position relationship between the upper measuring platform 401 and the plane where the light source 406 is located is obtained based on the deformation of the measuring tower 4, and then the relative position relationship between the upper measuring platform 401 and the lower measuring platform is obtained based on the relative position of the light source 406 and the lower measuring platform; combined with the relative position of the underwater camera 106 and the block, the relative position relationship between the upper measuring platform 401 and the block is obtained.

[0129] Specifically, if Figure 11 As shown, the coordinate system of the upper measuring platform 401 is established with the center point of the plane where the camera 407 is located as the origin O, and the straight lines passing through point O and parallel to the direction of the line connecting the two adjacent cameras 407 as the X-axis and Y-axis; the coordinate system of the lower measuring platform is established with the center point of the plane where the underwater camera 106 is located as the origin O′, and the straight lines passing through point O′ and parallel to the direction of the line connecting the two adjacent underwater cameras 106 as the x-axis and y-axis; according to the coordinate changes of the light source 406 in the coordinate system of the upper measuring platform 401, the plane deviation and deflection angle of the center point of the plane where the light source 406 is located relative to point O are obtained; combined with the relative positional relationship between the light source 406 and the underwater camera 106, the plane deviation and deflection angle of point O′ relative to point O are obtained, that is, the relative positional relationship between the upper measuring platform 401 and the lower measuring platform.

[0130] c. Steps to get the real-time position of the block

[0131] According to the positioning data obtained by the Beidou receiver 405, combined with the relative position relationship between the upper measurement platform 401 and the block, the real-time position of the block is obtained.

[0132] d. Get the real-time posture of the block

[0133] The position and height change of the target 703 are obtained through the underwater camera 106, thereby obtaining the relative posture data between the block and the underwater camera 106, and then obtaining the relative posture data between the upper measuring platform 401 and the block; the posture data of the upper measuring platform 401 is obtained through the inclinometer 408 and the inertial navigation 409, and the real-time posture of the block is obtained in combination with the relative posture of the upper measuring platform 401 and the block.

[0134] The method for obtaining the attitude data of the upper measuring platform 401 through the inclinometer 408 and the inertial navigation system 409 includes: the inclinometer 408 and the inertial navigation system 409 jointly output the attitude data of the upper measuring platform 401; when the output data of the inclinometer 408 and the inertial navigation system 409 are the same, the output data are used as the attitude data of the upper measuring platform 401; when the output data of the inclinometer 408 and the inertial navigation system 409 are different, the weighted average of the output data of the inclinometer 408 and the inertial navigation system 409 are calculated according to the preset inclinometer 408 data weight and the inertial navigation system 409 data weight, and used as the attitude data of the upper measuring platform 401.

[0135] After obtaining the posture data of the upper measuring platform 401, the measuring tower 4 and the sling are a fixedly connected whole, so the posture data of the upper measuring platform 401 and the lower measuring platform should be consistent; however, due to factors such as the prefabrication deviation of the block or the hook deviation of the hook 2, it is difficult for the sling and the block to be in a standard 90° vertical posture. In this embodiment, the method for obtaining the real-time posture of the block includes: using the data measured by the underwater camera 106 to measure the posture difference between the sling and the block, selecting three underwater cameras 106, and recording the height difference between each underwater camera 106 and the target 703 as H1, H2, and H3 respectively, recording the side length of the cube prefabricated block 7 as l, and the lateral inclination of the upper measuring platform 401 measured by the inclinometer 408 and the inertial navigation 409 as r, and the longitudinal inclination as p. The lateral inclination m of the block is calculated using formula (1), and the longitudinal inclination n of the block is calculated using formula (2). The expression of formula (1) is:

[0136] m=arcsin[(H1-H3) / l]+r (1);

[0137] The expression of formula (2) is:

[0138] n=arcsin[(H1-H2) / l]+p (2).

[0139] e. Guide the steps for hoisting blocks

[0140] According to the real-time position and real-time posture of the block, as well as the designed lifting position of the block, the deviation of the block from being lifted to the designed position is obtained, an autonomous navigation route is generated, and the offshore lifting device is controlled by the controller to lift the block to the designed position.

[0141] Through the description of multiple embodiments of the offshore spreader and the measurement and control system and block lifting method using the same, it can be seen that the offshore spreader and the measurement and control system and block lifting method using the same have at least one or more of the following advantages:

[0142] 1. The offshore spreader provided by the present invention, combined with the measuring tower 4 and the unhooking device, can obtain the positioning information of the spreader in real time, and then adjust the position of the spreader and the block in time to ensure the accuracy of the block installation; at the same time, the underwater automatic unhooking can reduce the risk of manual operation;

[0143] 2. The measurement and control system provided by the present invention can adapt to complex marine environmental conditions, such as the impact of factors such as water currents, wind and waves on slings and hoisted objects. Through the coordinated monitoring and data processing of multiple devices, it can still accurately obtain various information required for hoisting in complex environments, ensuring the smooth progress of hoisting operations.

[0144] 3. The block lifting method provided by the present invention can accurately guide the offshore lifting equipment to lift the block to the designed position, realize the precise control of the block lifting process, significantly improve the lifting accuracy and efficiency, reduce manual intervention and operational errors, and effectively cope with the influence of complex environmental factors such as water flow and water depth, thereby improving construction safety and reliability.

[0145] Finally, it should be noted that the various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0146] The above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit the same. Although the present invention has been described in detail with reference to preferred embodiments, persons skilled in the art should understand that the specific implementation methods of the present invention may still be modified or some technical features may be replaced by equivalents without departing from the spirit of the technical solutions of the present invention, and all of these should fall within the scope of the technical solutions claimed for protection by the present invention.

Claims

1. An offshore spreader, characterized in that: include: Lifting frame, used to connect lifting equipment; A lifting hook is installed below the lifting frame and is hinged to the lifting frame, and is used to connect to the lifting holes of the prefabricated blocks; The unhooking device includes an unhooking frame, a driver, and a connecting rod, and is used to realize automatic hooking and unhooking of the hook; wherein the unhooking frame is parallel to the lifting frame and is slidably connected to the lifting frame in a vertical direction; the driver is fixed in the lifting frame, and the output end of the driver is connected to the unhooking frame, and is used to drive the unhooking frame to slide up and down; one end of the connecting rod is hinged to the bottom of the unhooking frame, and the other end is connected to the hook, and is used to drive the hook to rotate relative to the lifting frame to realize hooking and unhooking; The measuring tower is fixedly installed above the lifting frame. The measuring tower includes columns installed around the lifting frame and an upper measuring platform on the top of the columns, which is used to measure the positioning data of the offshore spreader.

2. The offshore spreader according to claim 1, characterized in that: The hook comprises at least a first hook piece and a second hook piece which are arranged crosswise, and the first hook piece and the second hook piece are connected to the unhooking frame through a connecting rod; when hooking, the first hook piece and the second hook piece are crosswise opened; when unhooking, the first hook piece and the second hook piece are closed.

3. The offshore spreader according to claim 2, characterized in that: The driver adopts a hydraulic cylinder, and the end of the piston rod of the hydraulic cylinder is provided with a top plate, which is fixedly connected to the unhooking frame; when the hydraulic cylinder drives the piston rod to extend, the top plate drives the unhooking frame to move upward, and the connecting rod drives the first hook piece and the second hook piece to close; when the hydraulic cylinder drives the piston rod to retract, the top plate drives the unhooking frame to move downward, and the connecting rod drives the first hook piece and the second hook piece to open.

4. The offshore spreader according to claim 3, characterized in that: A magnetostrictive displacement sensor is installed in the hydraulic cylinder to monitor the displacement of the piston rod and thus obtain the hook status.

5. A measurement and control system, characterized in that: The offshore spreader according to any one of claims 1 to 4 is applied, wherein the lifting frame serves as the lower measurement platform of a measurement and control system, and the measurement and control system comprises: At least three BeiDou receivers are provided and installed at the corner points of the upper measurement platform, respectively, for obtaining real-time positioning of the corner points of the upper measurement platform; The light source is installed at the bottom of the column, and the interior of the column is hollow; A camera is installed at the top of the column of the measurement tower, with the camera lens facing the bottom of the column. It is used to capture the light source and monitor the position change of the light source, thereby obtaining the real-time deformation of the column of the measurement tower; Targets, of which multiple targets are provided and respectively installed on the surface of the hoisted object to assist in identifying the position and posture of the hoisted object; An underwater camera is installed on the lower measurement platform and above the target to photograph the target and monitor its position and height changes, thereby obtaining the position and attitude changes of the hoisted object; Inclinometer, which is installed on the upper measurement platform and is used to monitor the attitude changes of the offshore spreader; Inertial navigation, which is installed on the upper measurement platform and installed at the same place as the inclinometer, is used to assist in monitoring the attitude changes of the sling and the hoisted object; The processor is respectively connected to the Beidou receiver, camera, underwater camera, inclinometer and inertial navigation communication, and is used to obtain the real-time deformation of the measuring tower column according to the change of the light source position obtained by the camera, and then obtain the real-time relative position of the upper measuring platform and the lower measuring platform; and in combination with the target position change obtained by the underwater camera, the real-time positioning obtained by the Beidou receiver is used to calculate the real-time position of the hoisted object; the processor is also used to obtain the attitude change of the hoisted object according to the target position change obtained by the underwater camera, and in combination with the attitude change of the offshore hoist obtained by the inclinometer and the data change of the inertial navigation during the hoisting process, calculate the real-time attitude of the hoisted object.

6. The measurement and control system according to claim 5, characterized in that: Also includes: The controller is in communication with the processor and is used to control the offshore spreader to lift the lift object to the designed position according to the real-time position and real-time posture of the lift object and the designed lifting position of the lift object.

7. A block hoisting method, characterized in that: The measurement and control system according to claim 5 or 6 comprises the following steps: Lifting the cube: Install the measurement and control system, and connect the lifting device to the cube for lifting; Obtain the relative positional relationship between the upper measurement platform and the block: Use a camera to capture the position change of the light source to monitor whether the column has deformed, thereby obtaining the deformation of the measurement tower. Based on the deformation of the measurement tower, the relative positional relationship between the upper measurement platform and the plane where the light source is located is obtained. Then, based on the relative position of the light source and the lower measurement platform, the relative positional relationship between the upper measurement platform and the lower measurement platform is obtained. Combined with the relative position of the underwater camera and the block, the relative positional relationship between the upper measurement platform and the block is obtained. Get the real-time position of the block: Based on the positioning data obtained by the Beidou receiver and the relative position relationship between the measurement platform and the block, get the real-time position of the block; Obtaining the real-time attitude of the cube: The underwater camera obtains the position and height change of the target, thereby obtaining the relative attitude data between the cube and the underwater camera, and then obtaining the relative attitude data between the upper measurement platform and the cube; the inclinometer and inertial navigation obtain the attitude data of the upper measurement platform, and combine the relative attitude of the upper measurement platform and the cube to obtain the real-time attitude of the cube; Guide the block lifting: According to the real-time position and real-time posture of the block and the designed lifting position of the block, control the offshore lifting equipment to lift the block to the designed position.

8. The block hoisting method according to claim 7, characterized in that: The lifting block step also includes the calibration of the measurement and control system, which includes obtaining the initial position and initial attitude data of the Beidou receiver, light source, camera, target, underwater camera, inclinometer, and inertial navigation in the measurement and control system.

9. The block hoisting method according to claim 8, characterized in that: In the step of obtaining the relative position relationship between the upper measuring platform and the block, the method for obtaining the relative position relationship between the upper measuring platform and the lower measuring platform includes: establishing a rectangular coordinate system in the plane where the camera is located as the upper measuring platform coordinate system, and obtaining the coordinates of the initial position of the light source in the upper measuring platform coordinate system; establishing a rectangular coordinate system in the plane where the underwater camera is located as the lower measuring platform coordinate system, and obtaining the coordinates of the initial position of the light source in the lower measuring platform coordinate system; during the hoisting process, using the camera to monitor the light source, and obtaining the real-time coordinate change of the light source in the upper measuring platform coordinate system; and then combining the coordinates of the light source in the lower measuring platform coordinate system to obtain the coordinate conversion parameters of the upper measuring platform coordinate system and the lower measuring platform coordinate system.

10. The block hoisting method according to claim 7, characterized in that: In the step of obtaining the real-time posture of the block, the method of obtaining the posture data of the upper measurement platform through the inclinometer and the inertial navigation includes: the inclinometer and the inertial navigation jointly output the posture data of the upper measurement platform; when the output data of the inclinometer and the inertial navigation are the same, the output data are used as the posture data of the upper measurement platform; when the output data of the inclinometer and the inertial navigation are different, the weighted average of the output data of the inclinometer and the inertial navigation is calculated according to the preset inclinometer data weight and the inertial navigation data weight, and the weighted average is used as the posture data of the upper measurement platform.

Images