A marine lifting spreader, a measurement and control system applying the same and a block hoisting method

Abstract

The present application relates to a kind of offshore spreader and the measuring and controlling system of application thereof, block hoisting method, belong to underwater block hoisting technical field.The offshore spreader includes lifting frame, hook, unhooking device and measuring tower;Wherein, lifting frame is used to connect hoisting equipment;Hook is installed below lifting frame and is hinged with lifting frame, for connecting the lifting hole of prefabricated block;Unhooking device includes unhooking frame, driver and connecting rod, for realizing the automatic hooking and automatic unhooking of hook;Measuring tower is fixedly installed above lifting frame, and measuring tower includes column installed around lifting frame and upper measuring platform on the top of column, for measuring the positioning data of offshore spreader.The offshore spreader and the measuring and controlling system of application thereof, block hoisting method combine measuring tower and unhooking device, can obtain the positioning information of spreader in real time, and then timely adjust the position of spreader and block, ensure the precision of block installation;While underwater automatic unhooking can reduce the risk of manual operation.

Description

Technical Field

[0001] This invention belongs to the field of underwater block hoisting technology, specifically relating to an offshore lifting device and a measurement and control system and block hoisting method using the same. Background Technology

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

[0003] Currently, there are various types of lifting equipment for block installation, including T-shaped hooks, L-shaped hooks, nylon slings, and manual hook-and-unhook lifting equipment. These require manual assistance in hooking and unhooking, and are suitable for blocks weighing less than 500 tons. This makes it difficult to meet the needs of projects with large blocks of heavy weight and many blocks. Furthermore, in deep water, the blocks are affected by the water flow after entering the water, causing the block's position and posture to shift, which affects the construction accuracy and efficiency.

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

[0005] To address the shortcomings of existing technologies, this invention provides an offshore spreader and a measurement and control system and a block lifting method using the same. By combining a measuring tower and a release device, the positioning information of the spreader can be obtained in real time, thereby adjusting the position of the spreader and the block in a timely manner to ensure the accuracy of block installation. At the same time, the underwater automatic release can reduce the risks of manual operation.

[0006] In a first aspect, the present invention provides a marine lifting device, comprising:

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

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

[0009] The unhooking device includes an unhooking frame, a driver, and a connecting rod, used to achieve 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 the vertical direction; the driver is fixed inside the lifting frame, and the output end of the driver is connected to the unhooking frame 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, used to drive the hook to rotate relative to the lifting frame to achieve 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 top of the columns, and is used to measure the positioning data of the offshore lifting equipment.

[0011] This technical solution, by combining a measuring tower and a release device, can obtain the positioning information of the lifting equipment in real time, and then adjust the position of the lifting equipment and the block in a timely manner to ensure the accuracy of the block installation; at the same time, the underwater automatic release can reduce the risk of manual operation.

[0012] In some embodiments, the hook includes at least a first hook plate and a second hook plate arranged in a cross configuration, both of which are connected to the unhooking frame via a connecting rod; when hooked, the first hook plate and the second hook plate open in a cross configuration; when unhooked, the first hook plate and the second hook plate close together.

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

[0014] In some embodiments, the actuator is a hydraulic cylinder, and the piston rod end 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 plate and the second hook plate to tend 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 plate and the second hook plate to tend to open.

[0015] This technical solution uses a hydraulic cylinder to automate the operation of the hook. The hydraulic cylinder has a large driving force, which can meet the lifting needs of heavy blocks.

[0016] In some embodiments, a magnetostrictive displacement sensor is installed inside the hydraulic cylinder to monitor the displacement of the piston rod, thereby obtaining the hook status.

[0017] This technical solution, through the installation of a magnetostrictive displacement sensor, can monitor the opening and closing status of the hook in real time, ensuring the accuracy and safety of the lifting process, while providing real-time feedback to operators for timely adjustments and handling of abnormalities.

[0018] Secondly, the present invention also provides a measurement and control system applied to the aforementioned offshore lifting equipment, wherein the lifting frame serves as the lower measurement platform of the measurement and control system, and the measurement and control system includes:

[0019] At least three Beidou receivers are provided and installed at the corner points of the upper measurement platform to obtain the real-time positioning of the corner points of the upper measurement platform.

[0020] The light source is installed at the bottom of the column, which is hollow inside.

[0021] A camera is mounted on top of the column of the measuring tower, with its lens facing the bottom of the column. It is used to capture images of the light source and monitor changes in the position of the light source, thereby obtaining the real-time deformation of the measuring tower column.

[0022] Multiple targets are provided and installed on the surface of the hoisted object to help identify the position and orientation of the hoisted object.

[0023] An underwater camera is installed on the lower measurement platform and correspondingly above the target. It is used to photograph the target and monitor changes in the target's position and height, thereby obtaining the position and attitude changes of the suspended object.

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

[0025] The inertial navigation system, installed on the upper measurement platform and in the same location as the inclinometer, is used to assist in monitoring the attitude changes of the lifting equipment and the lifted object;

[0026] The processor, which is connected to the Beidou receiver, camera, underwater camera, inclinometer, and inertial navigation system respectively, is used to obtain the real-time deformation of the measuring tower column based on the changes in the position of the light source acquired by the camera, and then obtain the real-time relative position of the upper and lower measuring platforms; and, combined with the changes in the target position acquired by the underwater camera and the real-time positioning acquired by the Beidou receiver, calculates the real-time position of the hoisted object; the processor is also used to obtain the attitude changes of the hoisted object based on the changes in the target position acquired by the underwater camera, and, combined with the attitude changes of the offshore lifting equipment acquired by the inclinometer and the data changes of the inertial navigation system during the hoisting process, calculates the real-time attitude of the hoisted object.

[0027] This technical solution can adapt to complex marine environmental conditions, such as the impact of water flow, wind and waves on the lifting equipment and the object being lifted; through the coordinated monitoring and data processing of multiple devices, it can still accurately obtain various information required for lifting in complex environments, ensuring the smooth progress of lifting operations.

[0028] In some embodiments, the telemetry and control system further includes a controller, which is communicatively connected to the processor and is used to control the offshore spreader to lift the object to the design position based on the real-time position and attitude of the object and the design position of the object.

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

[0030] Thirdly, the present invention also provides a method for hoisting a block, employing the aforementioned measurement and control system, comprising the following steps:

[0031] Lifting the block: Install the monitoring and control system, and connect the lifting equipment to the block for lifting;

[0032] To obtain the relative positional relationship between the upper measuring platform and the cube: use a camera to capture changes in the position of the light source to monitor whether the column deforms, thereby obtaining the deformation of the measuring tower; based on the deformation of the measuring tower, obtain the relative positional relationship between the upper measuring platform and the plane where the light source is located; then, based on the relative position of the light source and the lower measuring platform, obtain the relative positional relationship between the upper and lower measuring platforms; combine the relative position of the underwater camera and the cube to obtain the relative positional relationship between the upper measuring platform and the cube.

[0033] Obtain the real-time position of the block: Based on the positioning data obtained by the Beidou receiver, combined with the relative positional relationship between the measurement platform and the block, the real-time position of the block is obtained.

[0034] Real-time attitude of the cube: The position and height changes of the target are obtained through the underwater camera, 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 attitude data of the upper measurement platform is obtained through the inclinometer and inertial navigation, and combined with the relative attitude between the upper measurement platform and the cube, the real-time attitude of the cube is obtained.

[0035] Guided block hoisting: Based on the real-time position and attitude of the block, as well as the designed hoisting position of the block, control the offshore lifting equipment to hoist the block to the designed position.

[0036] This technical solution can accurately guide the offshore spreader to lift the blocks to the designed position, achieving precise control of the block lifting process, significantly improving lifting accuracy and efficiency, reducing manual intervention and operational errors, and effectively coping with the impact of complex environmental factors such as water flow and water depth, thereby enhancing construction safety and reliability.

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

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

[0039] In some embodiments, the method for obtaining the relative positional relationship between the upper measuring platform and the cube in the step of obtaining the relative positional 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 coordinate system of the upper measuring platform, and obtaining the coordinates of the initial position of the light source in the coordinate system of the upper measuring platform; establishing a rectangular coordinate system in the plane where the underwater camera is located as the coordinate system of the lower measuring platform, and obtaining the coordinates of the initial position of the light source in the coordinate system of the lower measuring platform; 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 coordinate system of the upper measuring platform; and then combining the coordinates of the light source in the coordinate system of the lower measuring platform to obtain the coordinate transformation parameters between the coordinate systems of the upper and lower measuring platforms.

[0040] This technical solution and method achieves precise positioning between the upper and lower measurement platforms through coordinate transformation parameters, effectively solving the impact of structural deformation on hoisting accuracy in deep water environments, and significantly improving the accuracy and reliability of position monitoring during hoisting, thereby ensuring that the block can be accurately hoisted to the design position.

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

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

[0043] Based on the above solutions, the offshore spreader and its associated measurement and control system and block lifting method in this embodiment of the invention, combined with a measuring tower and a release device, can acquire the spreader's positioning information in real time, thereby adjusting the position of the spreader and the block in a timely manner to ensure the accuracy of block installation. Simultaneously, underwater automatic release reduces the risk of manual operation. The release frame is driven to slide up and down by a driver; the bottom of the release frame is hinged to a connecting rod, which in turn drives the connecting rod to rotate the hook, thus achieving automatic hooking and unhooking. No manual intervention is required, reducing human error, improving operational efficiency, and meeting the engineering needs of large-scale block lifting. The measurement and control system can adapt to complex marine environmental conditions, such as the influence of water currents and waves on the spreader and the lifted object. Through the coordinated monitoring and data processing of multiple devices, it can accurately acquire various information required for lifting even in complex environments, ensuring the smooth progress of lifting operations. The block hoisting method can accurately guide the offshore spreader to hoist the block to the design position, achieving precise control of the block hoisting process, significantly improving hoisting accuracy and efficiency, reducing manual intervention and operational errors, and effectively coping with the impact of complex environmental factors such as water flow and water depth, thereby enhancing construction safety and reliability. Attached Figure Description

[0044] The accompanying drawings, which are included to provide a further understanding of the invention and form part of this application, illustrate exemplary embodiments of the invention and, together with their description, serve to explain the invention and do not constitute an undue limitation thereof. In the drawings:

[0045] Figure 1 This is a perspective view of the marine lifting gear in an embodiment of the present invention;

[0046] Figure 2 This is a partial three-dimensional view of the marine lifting gear in an embodiment of the present invention;

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

[0048] Figure 4 This is a schematic diagram of the hook in the open state in an embodiment of the present invention;

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

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

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

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

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

[0054] Figure 10 This is a top view schematic diagram of the measurement and control system in an embodiment of the present invention;

[0055] Figure 11 This is a schematic diagram of the measurement platform on the measurement and control system in an embodiment of the present invention;

[0056] Figure 12 This is a 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. Actuator; 6. Connecting rod; 7. Precast blocks;

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

[0060] 201. First hook plate; 202. Second hook plate; 203. First pad;

[0061] 301. Guide post; 302. Crossbar;

[0062] 401. Upper measuring platform; 402. Column; 403. Reinforcing rib; 404. Sleeve; 405. Beidou receiver; 406. Light source; 407. Camera; 408. Inclinometer; 409. Inertial navigation system;

[0063] 601. First support rod; 602. Second support rod;

[0064] 701. Lifting hole; 702. Second pad; 703. Target. Detailed Implementation

[0065] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0066] In the description of this invention, it should be understood that the terms "center", "lateral", "longitudinal", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0067] The terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature.

[0068] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal communication between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0069] like Figure 1 As shown, in one embodiment of the offshore lifting equipment and the measurement and control system and block lifting method using the same, in a first aspect, the offshore lifting equipment includes a lifting frame 1, a hook 2, a release device, and a measuring tower 4; wherein, the lifting frame 1 is used to connect lifting equipment; the hook 2 is installed below the lifting frame 1 and hinged to the lifting frame 1, and is used to connect the lifting hole 701 of the prefabricated block 7; the release device includes a release frame 3, a driver 5, and a connecting rod 6, and is used to realize the automatic hooking and automatic release of the hook 2; wherein, the release frame 3 is parallel to the lifting frame 1 and is connected to the lifting frame 1. The frame 1 is slidably connected in the vertical direction; the driver 5 is fixed inside the lifting frame 1, and the output end of the driver 5 is connected to the unhooking frame 3 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 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. The measuring tower 4 includes columns 402 installed around the lifting frame 1 and an upper measuring platform 401 on the top of the columns 402 for measuring the positioning data of the marine lifting equipment.

[0070] In the above illustrative embodiment, the offshore spreader, 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 a timely manner to ensure the accuracy of the block installation. At the same time, the underwater automatic unhooking can reduce the risk of manual operation. The unhooking frame 3 is driven to slide up and down by the driver 5. 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 manual intervention is required, which can reduce human error, improve operation efficiency, and meet the engineering needs of large-scale block hoisting.

[0071] In some embodiments, such as Figure 1 As shown, reinforcing ribs 403 are also provided between the columns 402 to enhance structural stability. During offshore hoisting operations, the measuring tower 4 will be subjected to various external forces, such as water flow impact and vibration during hoisting. The reinforcing ribs 403 can effectively disperse these external forces, reduce the risk of deformation and damage to the columns 402, and ensure that the measuring tower 4 can work stably in complex environments.

[0072] In some embodiments, such as Figure 7 As shown, the upper measuring platform 401 is fitted onto the top of the column 402. Specifically, the upper measuring platform 401 has an opening that matches the column 402, and a sleeve 404 is provided at the top of the opening, which is fitted onto the outer periphery of the column 402. Through the sleeve 404, when the column 402 of the measuring tower 4 deforms, it will not affect the shooting angle of the camera 407, thus making the data more reliable.

[0073] It should be noted that the height of the measuring tower 4 is set according to the water depth during hoisting. The height of the measuring tower 4 ensures that the upper measuring platform 401 is not submerged at the maximum working water depth during hoisting. Preventing the upper measuring platform 401 from being submerged effectively protects the measuring equipment installed on it, preventing damage due to water immersion, extending the service life of the equipment, and reducing construction costs. At the same time, it also reduces problems such as inaccurate measurement data or construction interruption caused by equipment damage, ensuring the smooth progress of construction.

[0074] In some embodiments, such as Figure 2 As shown, the hook 2 includes at least a first hook piece 201 and a second hook piece 202 arranged in a cross configuration. Both the first hook piece 201 and the second hook piece 202 are connected to the unhooking frame 3 via a connecting rod 6; as shown Figure 3 As shown, when hooked, the first hook piece 201 and the second hook piece 202 open in a cross shape; as Figure 3 As shown, during unhooking, the first hook piece 201 and the second hook piece 202 close together. 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, thus improving the versatility and operational efficiency of the lifting device.

[0075] Furthermore, such as Figure 3 As shown, the hook 2 includes two first hook plates 201 and one second hook plate 202. When closed, the second hook plate 202 is located between the two first hook plates 201. The multiple hook plates enhance the stability and load-bearing capacity of the hook 2, meeting the requirements for lifting heavy blocks; at the same time, they can distribute the load more evenly, avoiding excessive stress on a single point, and improving the safety and reliability of the lifting process.

[0076] In some embodiments, such as Figure 6 As shown, the actuator 5 uses a hydraulic cylinder, and the piston rod end of the hydraulic cylinder is equipped with a top plate, 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 to move upward, and the connecting rod 6 drives the first hook plate 201 and the second hook plate 202 to tend to close. When the hydraulic cylinder drives the piston rod to retract, the top plate drives the unhooking frame 3 to move downward, and the connecting rod 6 drives the first hook plate 201 and the second hook plate 202 to tend to open. The hydraulic cylinder realizes the automated operation of the hook 2. The hydraulic cylinder has a large driving force and can meet the lifting needs of large weight blocks.

[0077] In some embodiments, a magnetostrictive displacement sensor is installed inside the hydraulic cylinder to monitor the displacement of the piston rod, thereby obtaining the state of the hook 2. By setting up the magnetostrictive displacement sensor, the opening and closing state of the hook 2 can be monitored 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 handling of anomalies, further improving the reliability and intelligence of the lifting operation. Specifically, in this embodiment, the prefabricated block 7 lifting device is also communicatively connected to the control system, which 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. The control system determines the position of the piston rod based on the changes in displacement data, thereby inferring the state of the hook 2.

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

[0079] It should be noted that, as Figure 6 As shown, a crossbar 302 is also provided at the bottom of the guide post 301 used to connect the first hook piece 201. The crossbar 302 is set perpendicular to the guide post 301, and its two ends are respectively hinged to the connecting rod 6 to achieve synchronous rotation of the two first hook pieces 201. The crossbar 302 ensures that the two first hook pieces 201 can rotate synchronously, thereby ensuring the consistency of the hook 2's actions during hooking and unhooking operations.

[0080] In some embodiments, such 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 post 301, and one end of the second support rod 602 is hinged to the first support rod 601, while the other end is connected to the hook 2. The segmented design of the first support rod 601 and the second support rod 602 makes the movement of the connecting rod 6 more flexible, better adapting to the opening and closing movements of the hook 2, while reducing friction and resistance during movement, thus improving the operating efficiency and service life of the lifting device.

[0081] In some embodiments, such as Figure 4 As shown, a support leg 102 is also provided below the lifting frame 1. When the lifting device for the precast block 7 extends into the lifting hole 701, the support leg 102 rests against the top of the precast block 7. The support leg 102 provides additional support during the lifting process, preventing the lifting device from tilting or swaying due to uneven force, and improving the stability and safety of the lifting process.

[0082] In some embodiments, such 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 provided with a pin 104, and the hook 2 is suspended from the pin 104 and hinged to the lug 103. The lug 103 and pin 104 allow the hook 2 to rotate freely, adapting to different lifting angles, while simplifying the installation and disassembly process of the hook 2, and improving the flexibility and ease of maintenance of the lifting equipment. 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, such as Figure 6 As shown, lifting lugs 105 for connecting lifting equipment are installed on the top of the lifting frame 1. The lifting lugs 105 make the connection between the lifting device and the lifting equipment more stable, can withstand greater loads, and facilitate quick installation and disassembly.

[0084] In some embodiments, such as Figure 5As shown, both the first hook piece 201 and the second hook piece 202 are provided with bent portions for hooking onto the lifting hole 701; furthermore, each of the bent portions of the first hook piece 201 and the second hook piece 202 is provided with a first pad 203, which elastically retracts after being subjected to force, thereby balancing the force on each of the first hook pieces 201 and the second hook piece 202. As an illustrative embodiment, the first pad 203 is made of high-pressure resistant and wear-resistant MGE composite material, which can generate 1-5mm of elastic compression after being subjected to force.

[0085] In some embodiments, such as Figure 3 As shown, the first hook piece 201 has a beveled portion near the bottom of the second hook piece 202. By setting the beveled portion, the area occupied by the first hook piece 201 and the second hook piece 202 when they are closed can be reduced, thereby reducing the prefabricated diameter of the lifting hole 701 and reducing the impact of the prefabricated lifting hole 701 on the strength of the block.

[0086] In some embodiments, such as Figure 7 As shown, the prefabricated block 7 has a lifting hole 701, and a step for hooking is provided in the lifting hole 701. A second pad 702 is provided on the surface of the step that contacts the hook 2. The step and the second pad 702 ensure that the hook 2 is securely engaged with the step when hooked, preventing the hook 2 from slipping or disengaging during lifting, thus improving the safety and stability of the lifting process. This embodiment does not impose specific limitations on the shape of the lifting hole 701.

[0087] Secondly, such as Figure 9 As shown, this invention provides a measurement and control system applied to the aforementioned 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... Figure 10As shown, at least three Beidou receivers 405 are installed at the corners of the upper measurement platform 401 to obtain the real-time positioning of the corners of the upper measurement platform 401; a light source 406 is installed at the bottom of the column 402, which is hollow inside; a camera 407 is installed at the top of the column 402 of the measurement tower 4, with its lens facing the bottom of the column 402, to photograph the light source 406 and monitor the positional changes of the light source 406, thereby obtaining the real-time deformation of the column 402 of the measurement tower 4; multiple targets 703 are provided and installed on the surface of the hoisted object to assist in identifying the position and attitude of the hoisted object; an underwater camera 106 is installed on the lower measurement platform and correspondingly installed above the targets 703 to photograph the targets 703 and monitor the position and height changes of the targets 703, thereby obtaining the position and attitude changes of the hoisted object; a tiltmeter 408 is installed on the upper measurement platform 401 to monitor the attitude changes of the offshore lifting equipment. An inertial navigation system (INS) 409 is installed on the upper measurement platform 401 and at the same location as the inclinometer 408 to assist in monitoring the attitude changes of the lifting equipment and the object being lifted. The processor is communicatively connected to the Beidou receiver 405, camera 407, underwater camera 106, inclinometer 408, and INS 409. It is used to obtain the real-time deformation of the column 402 of the measurement tower 4 based on the position change of the light source 406 obtained by the camera 407, and then obtain the real-time relative position of the upper and lower measurement platforms. Combined with the position change of the target 703 obtained by the underwater camera 106 and the real-time positioning obtained by the Beidou receiver 405, the processor calculates the real-time position of the object being lifted. The processor is also used to obtain the attitude change of the object being lifted based on the position change of the target 703 obtained by the underwater camera 106, and to calculate the real-time attitude of the object being lifted based on the attitude change of the offshore lifting equipment obtained by the inclinometer 408 and the data changes of the INS 409 during the lifting process.

[0088] In the above illustrative embodiment, through the coordinated operation of multiple Beidou receivers 405, the position information of the offshore lifting equipment on the upper measurement platform 401 can be accurately determined using satellite positioning technology, providing a reliable position reference for the entire lifting process. By capturing images of the light source 406 and monitoring its positional changes through camera 407, the deformation of the measuring tower 4 column 402 can be obtained in real time. By capturing images of the target 703 and monitoring its position and height changes through underwater camera 106, the position and attitude changes of the lifted object can be obtained, thereby accurately identifying the specific position and attitude information of the lifted object underwater. Through the coordinated operation of the inclinometer 408 and inertial navigation system 409, the attitude of the lifting equipment and the lifted object is monitored from multiple dimensions, enabling a more comprehensive and accurate grasp of the attitude information during the lifting process. In summary, the measurement and control system in this embodiment can adapt to complex marine environmental conditions, such as the influence of water currents and waves on the lifting equipment and the lifted object. Through the coordinated monitoring and data processing of multiple devices, it can still accurately obtain various information required for lifting in complex environments, ensuring the smooth progress of the lifting operation.

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

[0090] In some embodiments, the measurement and control system further includes a controller, which is communicatively connected to the processor. The controller is used to control the offshore lifting equipment to lift the object to its designed position based on the object's real-time location and attitude, and the designed lifting position. By configuring the controller, closed-loop control of the lifting process is achieved. Through real-time data feedback and automatic adjustment, lifting accuracy and efficiency are significantly improved, ensuring that the object can quickly and accurately reach its designed position, thereby enhancing the overall safety and reliability of the construction.

[0091] In some embodiments, such as Figure 7 As shown, the upper measuring platform 401 is fitted onto the top of the column 402. Specifically, the upper measuring platform 401 has an opening that matches the column 402, and a sleeve 404 is provided at the top of the opening. The sleeve 404 is fitted onto the outer periphery of the column 402, and the camera 407 is fixed to the sleeve 404 by a steel plate. Through the sleeve 404, when the column 402 of the measuring tower 4 deforms, it will not affect the shooting angle of the camera 407, thus making the data more reliable.

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

[0093] In the above illustrative embodiment, by integrating the measurement and control system and multi-sensor data fusion technology, the relative positional relationship between the upper measurement platform 401 and the block, as well as the real-time position and attitude data of the block, can be acquired in real time. Combined with multi-source data from the Beidou receiver 405, camera 407, underwater camera 106, inclinometer 408, and inertial navigation system 409, the offshore lifting equipment can be precisely guided to lift the block to the designed position. This achieves precise control of the block lifting process, significantly improves lifting accuracy and efficiency, reduces manual intervention and operational errors, and effectively copes with the influence of complex environmental factors such as water flow and water depth, thereby improving construction safety and reliability.

[0094] In some embodiments, the lifting block step further includes the calibration of the measurement and control system. The calibration includes acquiring the initial position and attitude data of the BeiDou receiver 405, light source 406, camera 407, target 703, underwater camera 106, inclinometer 408, and inertial navigation system 409 within the measurement and control system. By acquiring the initial position and attitude data of the BeiDou receiver 405, light source 406, camera 407, target 703, underwater camera 106, inclinometer 408, and inertial navigation system 409, it is ensured that each sensor is in an accurate working state before the lifting begins, improving the initial accuracy of the measurement and control system. This provides 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 lifting deviations caused by sensor errors.

[0095] In some embodiments, the method for obtaining the relative positional relationship between the upper measuring platform 401 and the block in the step of obtaining the relative positional 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 coordinate system of the upper measuring platform 401, and obtaining the coordinates of the initial position of the light source 406 in the coordinate system of the upper measuring platform 401; establishing a rectangular coordinate system in the plane where the underwater camera 106 is located, as the coordinate system of the lower measuring platform, and obtaining the coordinates of the initial position of the light source 406 in the coordinate system of the lower measuring platform; during the hoisting process, using the camera 407 to monitor the light source 406, obtaining the real-time coordinate change of the light source 406 in the coordinate system of the upper measuring platform 401, 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; then, combining the coordinates of the light source 406 in the coordinate system of the lower measuring platform, obtaining the coordinate transformation parameters between the coordinate system of the upper measuring platform 401 and the coordinate system of the lower measuring platform. Figure 11As shown, specifically, the coordinate system of the upper measurement 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, respectively. The coordinate system of the lower measurement 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, respectively. Based on the coordinate changes of the light source 406 in the coordinate system of the upper measurement 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 measurement platform 401 and the lower measurement platform. This method achieves precise positioning between the upper and lower measurement platforms through coordinate transformation parameters, effectively solving the impact of structural deformation on hoisting accuracy in deep water environments, and significantly improving the accuracy and reliability of position monitoring during hoisting, thereby ensuring that the block can be accurately hoisted to the design position.

[0096] In some embodiments, the method for acquiring the attitude data of the upper measurement platform 401 via the inclinometer 408 and inertial navigation system 409 in the step of acquiring the real-time attitude of the block 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, a weighted average of the output data of the inclinometer 408 and the inertial navigation system 409 is calculated according to the preset data weights of the inclinometer 408 and the inertial navigation system 409, and this average is used 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 combining the data of both devices, it reduces the influence of errors that may be generated by a single device, and further improves the accuracy and reliability of the attitude data.

[0097] Example 1

[0098] This embodiment describes the construction project of a gravity-type block wharf. The largest block weighs 620 tons, and the blocks vary in size, totaling over three thousand blocks. The maximum installation water depth is 27 meters. Due to the large weight, variety, quantity, and depth of the blocks in this embodiment, high requirements are placed on construction accuracy and efficiency. The marine lifting equipment and its associated measurement and control system, along with the block lifting method provided by this invention, are used to ensure high-precision and high-efficiency construction.

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

[0100] The following section focuses on the measurement and control system and block lifting method of the offshore lifting equipment used in this embodiment. 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 configured and installed at the corner points of the upper measurement platform 401 to obtain the real-time positioning of these corner points. For example... Figure 11 As shown in this embodiment, in order to ensure data accuracy, Beidou receivers 405 are installed at all four corners of the upper measurement platform 401.

[0104] A light source 406 is installed at the bottom of a column 402, which is hollow inside. In this embodiment, each column 402 has a light source 406 at its bottom, for a total of four light sources 406.

[0105] Camera 407 is mounted on top of column 402 of the measuring tower 4, with its lens facing the bottom of column 402. It is used to photograph light source 406 and monitor changes in its position, thereby obtaining real-time deformation of column 402. In this embodiment, each column 402 has a camera 407 on its top, for a total of four cameras 407. Long-focal-length cameras are used for the cameras 407.

[0106] Multiple targets 703 are provided and installed on the surface of the suspended object to assist in identifying the position and attitude of the suspended object. In this embodiment, four targets 703 are provided, and the four targets 703 are installed on the top surface of the block. After installation, the relative positions of the targets 703 and the corner points of the block are fixed. Furthermore, to ensure that the underwater camera 106 can clearly identify the targets 703 in deep water, the targets 703 adopt a circular design with a black outer ring and a white center to correspond to the identification by the underwater camera 106, while enhancing the identification contrast in dark deep water environments. In addition, the underwater camera 106 usually estimates the position of the target 703 by identifying the size of the white part in the center of the target 703. 3. The distance between the target and the camera is important. Therefore, it is necessary to ensure that the white area in the middle of the target 703 is not too small to be clearly displayed, nor too large to be outside the acquisition range of the underwater camera 106 lens. According to the test, in a deep water environment of 30m, the outer diameter of the target 703 is 8cm and the diameter of the white area in the center is 4cm. In order to facilitate the determination of the center position of the target 703, crosshairs are set in the white area of ​​the target 703. The target 703 is made of acrylic material and the surface of the target 703 is polished to a frosted state to ensure the durability of the target 703 and reduce the specular reflection of the target 703.

[0107] The underwater camera 106 is installed on the lower measurement platform and correspondingly above the target 703. It is used to photograph the target 703 and monitor the position and height changes of the target 703, thereby obtaining the position and attitude changes of the suspended object. To ensure the illumination of the underwater camera 106, a light is installed below the underwater camera 106 to ensure the identification of the target 703.

[0108] Inclinometer 408, which is installed on the upper measuring platform 401, is used to monitor the attitude changes of the offshore spreader.

[0109] The inertial navigation system 409 is installed on the upper measurement platform 401 and in the same location as the inclinometer 408, and is used to assist in monitoring the attitude changes of the lifting equipment and the lifted object.

[0110] The processor, which is communicatively connected to the Beidou receiver 405, camera 407, underwater camera 106, inclinometer 408, and inertial navigation system 409, is used to obtain the real-time deformation of the column 402 of the measuring tower 4 based on 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, combined with the position change of the target 703 obtained by the underwater camera 106 and the real-time positioning obtained by the Beidou receiver 405, calculate the real-time position of the hoisted object; the processor is also used to obtain the attitude change of the hoisted object based on the position change of the target 703 obtained by the underwater camera 106, and, combined with the attitude change of the marine lifting equipment obtained by the inclinometer 408 and the data change of the inertial navigation system 409 during the hoisting process, calculate the real-time attitude of the hoisted object.

[0111] The controller, which communicates with the processor, is used to control the offshore spreader to lift the object to the design position based on the real-time position and attitude of the object and the design position of the object.

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

[0113] (2) Block hoisting method

[0114] a. Steps for lifting the block

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

[0116] This step standardizes the position and attitude data of all devices in the measurement and control system through three aspects: installation calibration, orientation calibration, and camera calibration, in order to achieve precise positioning. The following section uses the calibration of the upper measurement platform 401 device and 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, inclinometer 408, inertial navigation system 409, camera 407, and light source 406.

[0118] Installation and calibration of Beidou receiver 405: A 360° prism is set coaxially below Beidou receiver 405, and a total station is used to calibrate Beidou receiver 405. Specifically, a coaxial bracket is used to make the antenna of Beidou receiver 405 coaxial with the 360° prism (i.e., the plane positions are the same, only the elevations are different). The calibration data of the total station is the Beidou position. In this embodiment, the upper measuring platform 401 is square, and 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 hoist. After calibrating the position of Beidou receiver 405, 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, respectively, to establish the calibration coordinate system of the upper measuring platform 401. This calibration coordinate system is used as the reference 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 horizontal and vertical tilt axes inside inclinometer 408 coincide with the horizontal and vertical axes of the calibration coordinate system; after inclinometer 408 is installed in the designated position, calibrate it according to the actual tilt value displayed by Beidou receiver 405. The reading of inclinometer 408 after calibration is the true attitude of the lifting device.

[0120] Installation and calibration of inertial navigation system 409: Install inertial navigation system 409 above inclinometer 408, with the coordinate axes inside inertial navigation system 409 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 column 402 of measuring tower 4. In this embodiment, the distance between the marker and camera 407 is 25m. By measuring the number of pixels of the marker acquired by camera 407, the orientation parameters of camera 407 are calibrated, and an internal coordinate system of camera 407 is established. At this time, camera 407 can obtain the actual distance and planar position deviation between the two based on the pixel size and offset of the marker. The installation and calibration method includes: the camera 407 is installed on the top of the column 402 of the measuring tower 4, with the lens facing downwards to shoot the bottom 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 installation, a total station is used to calibrate the relative position relationship between the camera 407 and the Beidou receiver 405 of its corresponding corner point, and the coordinates of the camera 407 are transformed into the calibration coordinate system.

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

[0123] Installation and calibration of underwater camera 106 and light source 406: Light source 406 is installed at the center of the bottom of column 402 of measuring tower 4 and fixedly connected to column 402 via flange; underwater camera 106 is installed at the four corners of lifting frame 1, and target 703 is installed on the surface of block replacement material. The distance between underwater camera 106 and target 703 is equal to the height difference between lifting frame 1 and the top surface of block. The internal orientation parameters of underwater camera 106 are calibrated by the number of pixels of target 703 acquired by underwater camera 106, and an internal coordinate system of underwater camera 106 is established. At this time, underwater camera 106 can obtain the actual distance and planar position deviation between underwater camera 106 and target 703 based on the pixel size and offset of the captured target 703; The relative positional relationship between the underwater camera 106 and the corresponding corner light source 406 is calibrated using a total station. The camera 407 on the upper measuring platform 401 is turned on and data is recorded. The camera 407 acquires the actual planar position of the light source 406 and calculates the relative positional relationship between the light source 406 and the camera 407. Based on the relative positional relationship between the camera 407 and the light source 406, and the relative positional relationship between the light source 406 and the underwater camera 106, the coordinates of the underwater camera 106 and the light source 406 are transformed into the calibration coordinate system. The angle between the coordinate axes of the underwater camera 106's internal coordinate system and the calibration coordinate system is calculated and corrected. The parameters of the underwater camera 106 are changed to make the coordinate axis directions of the underwater camera 106's internal coordinate system 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 using anchoring adhesive. The intersection of a perpendicular line drawn from the center of gravity of the block and the top surface of the block is used as the target placement center point. Targets are evenly distributed around the placement center point on the top surface of the block, and target 703 is located within the shooting range of the corresponding underwater camera 106 (for regularly shaped blocks, target 703 is preferably installed directly below the underwater camera 106). After the target 703 is installed, its relative positional relationship with the corner points of the block is first obtained. Taking the target placement center point as the origin, a block coordinate system is established with the horizontal line connecting two targets 703 and the vertical line connecting two targets 703 as the horizontal and vertical axes, respectively. The coordinates of each feature point of the block and target 703 in the block coordinate system are measured using a total station. When installing the block, the coordinates of each feature point of the block are input accordingly, and the underwater camera 106 can be used for positioning, thus extrapolating the actual coordinates of the target 703 to the actual coordinates of the feature points of the block. After the target 703 is installed and calibrated, in order to ensure the accuracy of the installation and calibration data of the block and the target 703, their positions need to be checked and verified. The verification methods include the tape measure verification method and the measurement and control system verification method. The tape measure verification method includes: the distance between the target 703 and the distance between each feature point can be calculated by using the coordinates of the target 703 and the feature points of the block in the block coordinate system. Before the block is loaded onto the ship, the tape measure sampling test needs to be carried out. If the tape measure data matches the calculated data, the data calculation is correct. The verification method of the measurement and control system includes: After the target 703 is installed, the hook 2 can be installed. The installation and calibration position of the target 703 can be checked through the measurement and control system. First, observe the image interface collected by the underwater camera 106. If the target 703 is roughly in the center of the image interface, the target 703 is installed correctly. Second, check the calibration data of the target 703. 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 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, check by diving. After diving, check the relative misalignment of the installed block and the adjacent installed blocks, and compare it with the measurement data of the measurement and control system. If the two match, 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 equipment to the block for lifting:

[0126] Connect the lifting equipment to the lifting frame 1, control the movement of the lifting frame 1 so that the hook 2 extends 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 engages with the lifting hole 701.

[0127] b. Steps to obtain the relative positional relationship between the upper measuring platform 401 and the cube

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

[0129] Specifically, such as Figure 11 As shown, a coordinate system for the upper measurement 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, respectively. A coordinate system for the lower measurement 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, respectively. Based on the coordinate changes of the light source 406 in the coordinate system of the upper measurement 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. Combining 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 measurement platform 401 and the lower measurement platform.

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

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

[0132] d. Steps to obtain the real-time pose of the block

[0133] The position and height changes of the target 703 are obtained by the underwater camera 106, thereby obtaining the relative attitude data between the cube and the underwater camera 106, and then obtaining the relative attitude data between the upper measurement platform 401 and the cube; the attitude data of the upper measurement platform 401 is obtained by the inclinometer 408 and the inertial navigation system 409, and combined with the relative attitude between the upper measurement platform 401 and the cube, the real-time attitude of the cube is obtained.

[0134] 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, the weighted average of the output data of the inclinometer 408 and the inertial navigation system 409 is calculated according to the preset data weight of the inclinometer 408 and the data weight of the inertial navigation system 409, and used as the attitude data of the upper measurement platform 401.

[0135] After obtaining the attitude data of the upper measuring platform 401, the measuring tower 4 and the lifting device are a fixedly connected whole, so the attitude 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, the lifting device and the block are difficult to be in a standard 90° vertical posture. In this embodiment, the method for obtaining the real-time attitude of the block includes: using the data measured by the underwater camera 106 to measure the attitude difference between the lifting device 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, the lateral tilt of the upper measuring platform 401 measured by the inclinometer 408 and the inertial navigation 409 as r, and the longitudinal tilt as p, calculating the lateral tilt m of the block using formula (1), and calculating the longitudinal tilt n of the block using formula (2). The expression of formula (1) is:

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

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

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

[0139] e. Instructions for hoisting the blocks

[0140] Based on the real-time position and attitude of the block, as well as the design position for lifting the block, the deviation of the block from the design position is obtained, an autonomous navigation route is generated, and the offshore spreader is controlled by the controller to lift the block to the design position.

[0141] Through the description of several embodiments of the marine lifting device of the present invention and the measurement and control system and block lifting method thereof, it can be seen that the embodiments of the marine lifting device of the present invention and the measurement and control system and block lifting method thereof have at least one or more of the following advantages:

[0142] 1. The marine spreader provided by this 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 a timely manner 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 this invention can adapt to complex marine environmental conditions, such as the influence of water flow, wind and waves on the lifting equipment and the object being lifted; through the coordinated monitoring and data processing of multiple devices, it can still accurately obtain various information required for lifting in complex environments, ensuring the smooth progress of lifting operations;

[0144] 3. The block hoisting method provided by this invention can accurately guide the offshore lifting equipment to hoist the block to the design position, realize precise control of the block hoisting process, significantly improve hoisting 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, with each embodiment focusing on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other.

[0146] The above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them; although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications can still be made to the specific implementation of the present invention or equivalent substitutions can be made to some technical features without departing from the spirit of the technical solutions of the present invention, and all such modifications and substitutions should be covered within the scope of the technical solutions claimed in the present invention.

Claims

1. A type of offshore spreading gear, characterized in that, include: Lifting frame, used to connect lifting equipment; The hook, which is installed below the lifting frame and hinged to the lifting frame, is used to connect the lifting holes of the precast blocks; The unhooking device includes an unhooking frame, a driver, and a connecting rod, used to achieve 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 the vertical direction; the driver is fixed inside the lifting frame, and the output end of the driver is connected to the unhooking frame 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, used to drive the hook to rotate relative to the lifting frame to achieve 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 top of the columns, which is used to measure the positioning data of the offshore lifting equipment. The hook includes at least a first hook plate and a second hook plate arranged in a cross configuration. Both the first and second hook plates are connected to the unhooking frame via connecting rods. When hooking, the first and second hook plates open in a cross configuration; when unhooking, the first and second hook plates close together. The actuator is a hydraulic cylinder, with a top plate at the end of the piston rod. The top plate is fixedly connected to the unhooking frame. When the hydraulic cylinder drives the piston rod to extend, the top plate moves the unhooking frame upward, and the connecting rod causes the first and second hook plates to tend to close. When the hydraulic cylinder drives the piston rod to retract, the top plate moves the unhooking frame downward, and the connecting rod causes the first and second hook plates to tend to open. A magnetostrictive displacement sensor is installed inside the hydraulic cylinder to monitor the displacement of the piston rod, thereby obtaining the hook status. The lifting frame is equipped with guide tubes, which are located on both sides of the top of the hook. The unhooking device also includes guide columns, which are sleeved inside the guide tubes and slidably connected to the guide tubes. The upper end of the guide column is fixedly connected to the unhooking frame. The bottom of the guide column used to connect the first hook plate is also equipped with a crossbar, which is set perpendicular to the guide column. Both ends of the crossbar are hinged to the connecting rod. The connecting rod includes a first support rod and a second support rod. The first support rod is hinged to the guide column, and one end of the second support rod is hinged to the first support rod, while the other end is connected to the hook.

2. A measurement and control system, characterized in that, Applied to the offshore lifting equipment of claim 1, the lifting frame serves as the lower measurement platform of the measurement and control system, which includes: At least three Beidou receivers are provided and installed at the corner points of the upper measurement platform to obtain the real-time positioning of the corner points of the upper measurement platform. The light source is installed at the bottom of the column, which is hollow inside. A camera is mounted on top of the column of the measuring tower, with its lens facing the bottom of the column. It is used to capture images of the light source and monitor changes in the position of the light source, thereby obtaining the real-time deformation of the measuring tower column. Multiple targets are provided and installed on the surface of the hoisted object to help identify the position and orientation of the hoisted object. An underwater camera is installed on the lower measurement platform and correspondingly above the target. It is used to photograph the target and monitor changes in the target's position and height, thereby obtaining the position and attitude changes of the suspended object. Inclinometers, installed on the upper measurement platform, are used to monitor changes in the attitude of offshore spreader equipment; The inertial navigation system, installed on the upper measurement platform and in the same location as the inclinometer, is used to assist in monitoring the attitude changes of the lifting equipment and the lifted object; The processor, which is connected to the Beidou receiver, camera, underwater camera, inclinometer, and inertial navigation system respectively, is used to obtain the real-time deformation of the measuring tower column based on the changes in the position of the light source acquired by the camera, and then obtain the real-time relative position of the upper and lower measuring platforms; and, combined with the changes in the target position acquired by the underwater camera and the real-time positioning acquired by the Beidou receiver, calculates the real-time position of the hoisted object; the processor is also used to obtain the attitude changes of the hoisted object based on the changes in the target position acquired by the underwater camera, and, combined with the attitude changes of the offshore lifting equipment acquired by the inclinometer and the data changes of the inertial navigation system during the hoisting process, calculates the real-time attitude of the hoisted object.

3. The measurement and control system according to claim 2, characterized in that, Also includes: The controller, which communicates with the processor, is used to control the offshore lifting equipment to lift the object to the designed position based on the real-time position, real-time attitude, and designed lifting position of the object.

4. A method for hoisting a block, characterized in that, The measurement and control system described in claim 2 or 3 includes the following steps: Lifting the block: Install the monitoring and control system, and connect the lifting equipment to the block for lifting; To obtain the relative positional relationship between the upper measuring platform and the cube: use a camera to capture changes in the position of the light source to monitor whether the column deforms, thereby obtaining the deformation of the measuring tower; based on the deformation of the measuring tower, obtain the relative positional relationship between the upper measuring platform and the plane where the light source is located; then, based on the relative position of the light source and the lower measuring platform, obtain the relative positional relationship between the upper and lower measuring platforms; combine the relative position of the underwater camera and the cube to obtain the relative positional relationship between the upper measuring platform and the cube. Obtain the real-time position of the block: Based on the positioning data obtained by the Beidou receiver, combined with the relative positional relationship between the measurement platform and the block, the real-time position of the block is obtained. Real-time attitude of the cube: The position and height changes of the target are obtained through the underwater camera, 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 attitude data of the upper measurement platform is obtained through the inclinometer and inertial navigation, and combined with the relative attitude between the upper measurement platform and the cube, the real-time attitude of the cube is obtained. Guided block hoisting: Based on the block's real-time position, real-time attitude, and the block's designed hoisting position, control the offshore lifting equipment to hoist the block to the designed position.

5. The block hoisting method according to claim 4, characterized in that, The lifting of the block also includes the calibration of the telemetry and control system, which involves acquiring the initial position and attitude data of the Beidou receiver, light source, camera, target, underwater camera, inclinometer, and inertial navigation system in the telemetry and control system.

6. The block hoisting method according to claim 5, characterized in that, In the step of obtaining the relative positional relationship between the upper measuring platform and the cube, the method for obtaining the relative positional 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 coordinate system of the upper measuring platform, and obtaining the coordinates of the initial position of the light source in the coordinate system of the upper measuring platform; establishing a rectangular coordinate system in the plane where the underwater camera is located as the coordinate system of the lower measuring platform, and obtaining the coordinates of the initial position of the light source in the coordinate system of the lower measuring platform; 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 coordinate system of the upper measuring platform; and then combining the coordinates of the light source in the coordinate system of the lower measuring platform to obtain the coordinate transformation parameters between the coordinate systems of the upper and lower measuring platforms.

7. The block hoisting method according to claim 4, characterized in that, In the step of obtaining the real-time attitude of the block, the method of obtaining the attitude data of the upper measurement platform through the inclinometer and inertial navigation system includes: the inclinometer and inertial navigation system jointly output the attitude data of the upper measurement platform; when the output data of the inclinometer and inertial navigation system are the same, the output data is used as the attitude data of the upper measurement platform; when the output data of the inclinometer and inertial navigation system are different, the weighted average of the output data of the inclinometer and inertial navigation system is calculated according to the preset inclinometer data weight and inertial navigation system data weight, and used as the attitude data of the upper measurement platform.

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