Overwater square block hoisting method and system

Abstract

The invention relates to an overwater square block hoisting method and system, and belongs to overwater square block hoisting. The overwater square block hoisting method comprises the steps of hoisting a square block, obtaining the relative position relation between a hoisting device and the square block, obtaining the real-time position of the square block, obtaining the relative posture data of a hoisting system and the square block, obtaining the real-time posture of the square block and guiding square block hoisting. According to the above-water square block hoisting method, a camera, a Beidou receiver, a clinometer, an inertial navigation device and other devices are used for obtaining the relative position and posture data of a hoisting device and a square block in real time, the square block is accurately guided to be hoisted to the designed position through a data processing and feedback mechanism, and all-directional monitoring and accurate control in the square block hoisting process are achieved.

Description

Technical Field

[0001] The invention belongs to underwater block hoisting, and in particular relates to an underwater block hoisting method and a system thereof. 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. In addition, after the blocks enter the water, they will be affected by the water flow, causing the position and posture of the blocks to shift, affecting the construction accuracy and efficiency.

[0004] Therefore, how to provide a block lifting system suitable for underwater work 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 underwater block lifting method and system, which uses cameras, Beidou receivers, inclinometers, inertial navigation equipment and other equipment to obtain the relative position and posture data between the lifting device and the block in real time, and through data processing and feedback mechanism, accurately guides the block to be lifted to the designed position, realizing all-round monitoring and precise control of the block lifting process.

[0006] The present invention provides a method for hoisting blocks in water, comprising the following steps:

[0007] Lifting the cube: Install the measuring tower above the spreader. The measuring tower consists of an upper measuring platform and a hollow column. The upper measuring platform is installed on the top of the column. The bottom of the column is fixedly connected to the spreader. The bottom of the column is sealed with a transparent seal. Connect the spreader to the cube for lifting.

[0008] Obtain the relative position relationship between the upper measuring platform and the block: Set multiple targets on the top surface of the block, use the camera installed on the top of the column to obtain the position changes of the targets, obtain the relative position relationship between the upper measuring platform and the targets, and then obtain the relative position relationship between the upper measuring platform and the block;

[0009] Obtain the real-time position of the block: Use the Beidou receivers at the corners of the upper measurement platform to obtain the positioning data of each corner of the upper measurement platform, and combine the relative position relationship between the upper measurement platform and the block to obtain the real-time position of the block;

[0010] Obtaining the relative posture data between the upper measuring platform and the block: The position and height change of the target are acquired through the camera, thereby obtaining the relative posture data between the target and the camera, and then obtaining the relative posture data between the upper measuring platform and the block;

[0011] Obtaining the real-time attitude of the cube: The attitude data of the lifting device is obtained through the inclinometer and inertial navigation installed at the center of the upper measurement platform. The real-time attitude of the cube is obtained by combining the relative attitude data between the upper measurement platform and the cube;

[0012] Guide the block hoisting: According to the real-time position and real-time posture of the block and the designed position of the block hoisting, control the hoisting equipment to hoist the block to the designed position.

[0013] This technical solution uses cameras, Beidou receivers, inclinometers, inertial navigation equipment and other equipment to obtain real-time relative position and attitude data between the lifting device and the block, and through data processing and feedback mechanism, accurately guides the lifting of the block to the designed position, realizing all-round monitoring and precise control of the block lifting process.

[0014] In some embodiments, the step of lifting the block also includes the installation and calibration of the Beidou receiver, camera, target, inclinometer, and inertial navigation, specifically including: setting Beidou receivers at at least three corner points of the upper measuring platform, and installing cameras on the top of the columns, with the camera lenses facing the bottom of the columns, for photographing the targets through transparent blocking parts; installing the inclinometer and inertial navigation at the center of the upper measuring platform, and the inertial navigation is installed directly above the inclinometer, so that the changes of the inertial navigation and inclinometer remain consistent during the lifting process; after the installation is completed, obtaining the initial position and initial attitude data of the Beidou receiver, camera, target, inclinometer, and inertial navigation respectively.

[0015] This technical solution effectively eliminates initial equipment errors through calibration of each device, providing reliable basic data for subsequent real-time monitoring and precise control, thereby improving the accuracy and stability of the entire lifting process.

[0016] In some embodiments, in the step of lifting the block, the method of connecting the sling to the block for lifting includes: automatically making the first hook piece and the second hook piece of the hook cross and open, the first hook piece and the second hook piece extend into the lifting hole of the block and hook with the lifting hole, controlling the lifting frame hinged to the hook to rise, thereby lifting the block; in the step of guiding the lifting of the block, the method of controlling the sling to lift the block to the designed position includes: controlling the movement of the lifting frame, after moving the block to the designed position, automatically closing the first hook piece and the second hook piece of the hook, controlling the lifting frame to rise, and separating the hook from the block, thereby lifting the block.

[0017] In some embodiments, the method for automatically making the first hook piece and the second hook piece of the hook cross and open or close includes: setting a decoupling frame parallel to the lifting frame, so that the decoupling frame is slidably connected to the lifting frame in a vertical direction, using a driver fixed on the lifting frame to drive the decoupling frame to slide up and down, and connecting the decoupling frame to the first hook piece and the second hook piece respectively through a connecting rod; when the driver drives the decoupling frame to slide downward, the connecting rod drives the first hook piece and the second hook piece to open; when the driver drives the decoupling frame to slide upward, the connecting rod drives the first hook piece and the second hook piece to close.

[0018] 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.

[0019] This technical solution combines the short-term stability of the inclinometer and the long-term stability of the inertial navigation system, reduces the error influence of a single sensor, and ensures the accuracy of the attitude data of the upper measurement platform.

[0020] Based on the above-mentioned method for hoisting blocks in water, the present invention further provides an underwater block hoisting system, which adopts the above-mentioned method for hoisting blocks in water and comprises a hoisting device and a measurement and control device, wherein the measurement and control device is fixedly connected to the hoisting device, the hoisting device is used to lift and install blocks, and the measurement and control device is used to monitor the position and posture of the hoisting device and the blocks;

[0021] The hoisting device includes a sling and a measuring tower. The measuring tower is installed above the sling. The measuring tower includes an upper measuring platform and a vertical column. The upper measuring platform is installed on the top of the column, and the bottom of the column is fixedly connected to the sling. The column is hollow inside, and the bottom of the column is sealed with a seal made of transparent material.

[0022] The measurement and control device includes:

[0023] 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;

[0024] Targets, of which there are multiple targets, which are respectively installed on the top surface of the block to assist in identifying the position and posture of the block;

[0025] A camera is installed at the top of the column of the measurement tower, with the lens of the camera facing the bottom of the column. It is used to shoot the target and monitor the position and height changes of the target, thereby obtaining the position and posture changes of the block;

[0026] An inclinometer, which is installed on the upper measuring platform and is used to monitor the posture changes of the lifting device;

[0027] The inertial navigation system is installed on the upper measuring platform and at the same place as the inclinometer to assist in monitoring the attitude changes of the lifting device and the block.

[0028] Through the coordinated work of the measurement and control device and the lifting device, this technical solution can monitor the position and posture of the blocks in real time, accurately control the lifting process, reduce manual intervention, and avoid offset problems caused by factors such as water flow; especially in shallow water areas, due to the shallow water depth, the monitoring effect of the camera and target is clearer, further improving construction efficiency.

[0029] In some embodiments, the measurement and control device also includes a processor, which is respectively connected to the Beidou receiver, camera, inclinometer and inertial navigation system for calculating the real-time position and attitude of the block based on the target position and attitude changes obtained by the camera, combined with the real-time positioning obtained by the Beidou receiver, the attitude changes of the lifting device obtained by the inclinometer and the data changes of the inertial navigation system during the lifting process.

[0030] This technical solution uses the processor setting to accurately calculate the position and posture changes of the blocks, so as to quickly respond and adjust the lifting process to ensure the accuracy of block installation and construction efficiency.

[0031] In some embodiments, the measurement and control device also includes a controller, which is communicatively connected to the processor and is used to control the lifting device to lift the block to the designed position based on the real-time position and real-time posture of the block and the designed position of the block.

[0032] Through the setting of the controller, the measurement and control device of this technical solution can automatically adjust the lifting action and accurately lift the block to the designed position.

[0033] In some embodiments, the spreader comprises:

[0034] Lifting frame, used to connect lifting equipment;

[0035] The hook is installed below the lifting frame and is hinged to the lifting frame for connecting to the lifting hole of the prefabricated block. The hook comprises 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 crosswise open; when unhooking, the first hook piece and the second hook piece close.

[0036] The unhooking device includes an unhooking frame, a driver and a connecting rod, which are used to realize automatic hooking and automatic 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 in the lifting frame, and the output end of the driver is connected to the unhooking frame, which 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, which is used to drive the hook to rotate relative to the lifting frame to realize hooking and unhooking.

[0037] This technical solution can achieve automatic hooking and unhooking; without manual intervention, it can reduce human operating errors, improve operating efficiency, and meet the engineering needs of large-scale block lifting.

[0038] 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.

[0039] 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.

[0040] Based on the above scheme, the underwater block hoisting method in the embodiment of the present invention utilizes a camera, Beidou receiver, inclinometer, and inertial navigation equipment to acquire real-time data on the relative position and attitude of the hoisting device and the block. Through data processing and feedback mechanisms, it accurately guides the hoisting of the block to the designed position, achieving comprehensive monitoring and precise control of the block hoisting process. This method significantly improves hoisting accuracy and construction efficiency, reduces manual intervention and errors, and is particularly suitable for heavyweight, high-precision block installation projects, while also enhancing the safety and controllability of the construction process. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] 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:

[0042] Figure 1 Flowchart of a method for hoisting blocks in water according to an embodiment of the present invention;

[0043] Figure 2 Schematic diagram of the structure of the underwater block hoisting system in an embodiment of the present invention;

[0044] Figure 3 Schematic top view of the underwater block hoisting system according to an embodiment of the present invention;

[0045] Figure 4 A perspective view of a lifting device according to an embodiment of the present invention;

[0046] Figure 5 is a three-dimensional diagram of a spreader in an embodiment of the present invention;

[0047] Figure 6 This is a schematic diagram of the hook closed state in an embodiment of the present invention;

[0048] Figure 7 Schematic diagram of the hook in the open state according to an embodiment of the present invention;

[0049] Figure 8 is a side view of the spreader;

[0050] Figure 9 This is an exploded view of the spreader;

[0051] Figure 10 This is a schematic structural diagram of the upper measurement platform in an embodiment of the present invention;

[0052] Figure 11 2 is a cross-sectional view of a prefabricated block in an embodiment of the present invention.

[0053] In the picture:

[0054] 1. Lifting frame; 2. Hook; 3. Unhooking frame; 4. Measuring tower; 5. Drive; 6. Connecting rod; 7. Prefabricated block;

[0055] 101. Guide tube; 102. Support leg; 103. Mounting lug; 104. Pin; 105. Lifting lug;

[0056] 201, first hook piece; 202, second hook piece; 203, first pad;

[0057] 301, guide column; 302, crossbar;

[0058] 401, upper measuring platform; 402, column; 403, reinforcement; 404, casing; 405, Beidou receiver; 406, inertial navigation; 407, camera; 408, inclinometer; 409, seal;

[0059] 601, first pole; 602, second pole;

[0060] 701. Lifting hole; 702. Second pad; 703. Target. DETAILED DESCRIPTION

[0061] 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.

[0062] 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.

[0063] 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.

[0064] 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.

[0065] like Figures 1-11 As shown, in one embodiment of the method and system for hoisting blocks in water of the present invention, as shown in FIG. Figure 1As shown, the method for lifting a block in water includes lifting the block, obtaining the relative position relationship between the lifting device and the block, obtaining the real-time position of the block, obtaining the relative posture data between the lifting system and the block, obtaining the real-time posture of the block, and guiding the block lifting steps; wherein, the step of lifting the block includes: installing a measuring tower 4 above the sling, the measuring tower 4 includes an upper measuring platform 401 and an internal hollow column 402, the upper measuring platform 401 is installed on the top of the column 402, the bottom of the column 402 is fixedly connected to the sling, the bottom of the column 402 is sealed with a transparent seal 409, and the sling is connected to the block for lifting; the step of obtaining the relative position relationship between the upper measuring platform 401 and the block includes: setting a plurality of targets 703 on the top surface of the block, using a camera 407 installed on the top of the column 402 to obtain the position change of the target 703, obtaining the relative position relationship between the upper measuring platform 401 and the target 703, and then 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: using the Beidou receiver 405 at the corner point of the upper measuring platform 401 to obtain the positioning data of each corner point of the upper measuring platform 401, and combining the relative position relationship between the upper measuring platform 401 and the block to obtain the real-time position of the block; the step of obtaining the relative posture data of the upper measuring platform 401 and the block includes: obtaining the position and height change of the target 703 through the camera 407, thereby obtaining the relative posture data of the target 703 and the camera 407, and then obtaining the relative posture data of the upper measuring platform 401 and the block; the step of obtaining the real-time posture of the block includes: obtaining the posture data of the lifting device through the inclinometer 408 and the inertial navigation 406 installed at the center of the upper measuring platform 401, and combining the relative posture data between the upper measuring platform 401 and the block to obtain the real-time posture of the block; the step of guiding the lifting of the block includes: controlling the lifting device to lift the block to the designed position according to the real-time position and real-time posture of the block and the designed position of the block.

[0066] In the above-described exemplary embodiment, the underwater block hoisting method utilizes equipment such as camera 407, Beidou receiver 405, inclinometer 408, and inertial navigation system 406 to acquire real-time data on the relative position and attitude of the hoisting device and the block. Through data processing and feedback mechanisms, the hoisting of the block to the designed position is precisely guided, achieving comprehensive monitoring and precise control of the block hoisting process. This method significantly improves hoisting accuracy and construction efficiency, reduces manual intervention and errors, and is particularly suitable for heavy, high-precision block installation projects, while also enhancing the safety and controllability of the construction process.

[0067] In some embodiments, the step of lifting the block also includes the installation and calibration of the Beidou receiver 405, the camera 407, the target 703, the inclinometer 408, and the inertial navigation 406, specifically including: setting the Beidou receiver 405 at at least three corner points of the upper measuring platform 401, and installing the camera 407 on the top of the column 402, with the lens of the camera 407 facing the bottom of the column 402, for shooting the target 703 through the transparent blocking piece; installing the inclinometer 408 and the inertial navigation 406 at the center of the upper measuring platform 401, and the inertial navigation 406 is installed directly above the inclinometer 408, so that the changes of the inertial navigation 406 and the inclinometer 408 during the lifting process are consistent; after the installation is completed, the initial position and initial attitude data of the Beidou receiver 405, the camera 407, the target 703, the inclinometer 408, and the inertial navigation 406 are obtained respectively. By calibrating each device, the initial error of the equipment can be effectively eliminated, providing reliable basic data for subsequent real-time monitoring and precise control, thereby improving the accuracy and stability of the entire lifting process.

[0068] In some embodiments, in the step of lifting the block, the method of connecting the sling to the block for lifting includes: automatically making the first hook piece 201 and the second hook piece 202 of the hook 2 cross and open, the first hook piece 201 and the second hook piece 202 extend into the lifting hole 701 of the block and hook with the lifting hole 701, controlling the lifting frame 1 hinged to the hook 2 to rise, thereby lifting the block; in the step of guiding the lifting of the block, the method of controlling the sling to lift the block to the designed position includes: controlling the movement of the lifting frame 1, and after moving the block to the designed position, automatically closing the first hook piece 201 and the second hook piece 202 of the hook 2, controlling the lifting frame 1 to rise, and separating the hook 2 from the block, thereby lifting the block.

[0069] In some embodiments, the method for automatically making the first hook piece 201 and the second hook piece 202 of the hook 2 cross and open or close includes: setting a decoupling frame 3 parallel to the lifting frame 1, so that the decoupling frame 3 is slidably connected to the lifting frame 1 in the vertical direction, using a driver 5 fixed on the lifting frame 1 to drive the decoupling frame 3 to slide up and down, and connecting the decoupling frame 3 to the first hook piece 201 and the second hook piece 202 respectively through a connecting rod 6; when the driver 5 drives the decoupling frame 3 to slide downward, the connecting rod 6 drives the first hook piece 201 and the second hook piece 202 to open; when the driver 5 drives the decoupling frame 3 to slide upward, the connecting rod 6 drives the first hook piece 201 and the second hook piece 202 to close.

[0070] In some embodiments, in the step of obtaining the real-time attitude of the block, the method of obtaining the attitude data of the upper measuring platform 401 through the inclinometer 408 and the inertial navigation system 406 includes: the inclinometer 408 and the inertial navigation system 406 jointly output the attitude data of the upper measuring platform 401; when the output data of the inclinometer 408 and the inertial navigation system 406 are the same, the output data is used as the attitude data of the upper measuring platform 401; when the output data of the inclinometer 408 and the inertial navigation system 406 are different, the weighted average of the output data of the inclinometer 408 and the inertial navigation system 406 is calculated according to the preset weight of the inclinometer 408 data and the inertial navigation system 406 data, and the weighted average is used as the attitude data of the upper measuring platform 401. This embodiment combines the short-term stability of the inclinometer 408 and the long-term stability of the inertial navigation system 406, reduces the error influence of a single sensor, ensures the accuracy of the attitude data of the upper measuring platform 401, and thus provides a more reliable basis for the precise lifting of the block.

[0071] Based on the above-mentioned water block lifting method, such as Figure 2 As shown, the present invention also provides an underwater block hoisting system, which adopts the above-mentioned underwater block hoisting method, including a hoisting device and a measurement and control device, the measurement and control device is fixedly connected to the hoisting device, the hoisting device is used to lift and install the block, and the measurement and control device is used to monitor the position and posture of the hoisting device and the block; wherein, Figure 4 As shown, the hoisting device includes a sling and a measuring tower 4. The measuring tower 4 is installed above the sling. The measuring tower 4 includes an upper measuring platform 401 and a vertical column 402. The upper measuring platform 401 is installed on the top of the column 402. The bottom of the column 402 is fixedly connected to the sling. The column 402 is hollow inside, and the bottom end of the column 402 is sealed with a seal 409. The seal 409 is made of a transparent material. Figure 2 As shown, the measurement and control device includes a Beidou receiver 405, a target 703, a camera 407, an inclinometer 408 and an inertial navigation system 406; specifically, 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; a plurality of targets 703 are provided and are respectively installed on the top surface of the block to assist in identifying the position and posture of the block; a camera 407 is installed on the top of the column 402 of the measuring tower 4, with the lens of the camera 407 facing the bottom of the column 402, for photographing the target 703 and monitoring the position and height changes of the target 703, thereby obtaining the position and posture changes of the block; an inclinometer 408 is installed on the upper measuring platform 401, for monitoring the posture changes of the hoisting device; as shown Figure 3 As shown, the inertial navigation system 406 is installed on the upper measuring platform 401 and is installed at the same place as the inclinometer 408 to assist in monitoring the attitude changes of the lifting device and the block.

[0072] In the above-mentioned illustrative embodiment, through the cooperation of the measurement and control device and the hoisting device, the position and posture of the block can be monitored in real time, the hoisting process can be accurately controlled, manual intervention can be reduced, and the offset problem caused by factors such as water flow can be avoided; especially in shallow water areas, due to the shallow water depth, the monitoring effect of camera 407 and target 703 is clearer, further improving the construction efficiency; and the water depth is shallow, and the change of the medium (air to water) on the shooting path of camera 407 has little effect on the monitoring accuracy and can be ignored. In summary, this embodiment solves the problems of low precision, low efficiency, frequent manual intervention, and poor safety in traditional hoisting methods by introducing a measurement and control device and optimizing the design of the hoisting device. Especially in shallow water areas, this solution can give full play to its advantages of high precision, strong stability, and high degree of automation, significantly improve the construction efficiency and safety of block hoisting, and meet the needs of large-weight and large-quantity engineering projects.

[0073] In some embodiments, the measurement and control device further includes a processor, which is in communication with the Beidou receiver 405, the camera 407, the inclinometer 408, and the inertial navigation system 406. The processor is configured to calculate the real-time position and attitude of the block based on the position and attitude changes of the target 703 acquired by the camera 407, combined with the real-time positioning acquired by the Beidou receiver 405, the attitude changes of the hoisting device acquired by the inclinometer 408, and the data changes of the inertial navigation system 406 during the hoisting process. The processor is configured to accurately calculate the position and attitude changes of the block, so as to quickly respond to and adjust the hoisting process, ensuring the accuracy and efficiency of the block installation.

[0074] In some embodiments, the measurement and control device further includes a controller, which is in communication with the processor and is configured to control the hoisting device to lift the block to the designed position based on the block's real-time position and posture, as well as the block's designed position. By configuring the controller, the measurement and control device can automatically adjust the lifting action to precisely lift the block to the designed position. This not only reduces manual intervention but also significantly improves lifting accuracy and construction efficiency, making it particularly suitable for heavyweight, high-precision block installation projects.

[0075] In some embodiments, the measurement and control device further includes a display, which is communicatively connected to the processor and controller, and is configured to display 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 its designed position. This display allows operators to intuitively view the real-time status of each device in the measurement and control system, the real-time position and attitude of the block, and compare it with the designed position, facilitating timely identification and adjustment of problems, further improving lifting accuracy and construction safety.

[0076] In some embodiments, as Figure 5As shown, the sling includes a lifting frame 1, a hook 2 and a decoupling device; 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 to the lifting hole 701 of the prefabricated block 7; the hook 2 includes 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 decoupling frame 3 through a connecting rod 6; as shown Figure 7 As shown, when hooking, the first hook piece 201 and the second hook piece 202 are crossed and opened; Figure 6 As shown, when unhooking, the first hook piece 201 and the second hook piece 202 are closed; the unhooking device includes an unhooking frame 3, a driver 5 and a connecting rod 6, which are used to realize automatic hooking and automatic unhooking of the hook 2; wherein, the unhooking frame 3 is parallel to the lifting frame 1, and is slidably connected to the lifting frame 1 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, and 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, and is used to drive the hook 2 to rotate relative to the lifting frame 1 to realize hooking and unhooking. The sling drives the unhooking frame 3 to slide up and down through 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 human intervention is required, which can reduce human operating errors, improve operating efficiency, and meet the engineering needs of large-scale block lifting; through the setting of the first hook piece 201 and the second hook piece 202, the hooking and unhooking actions are 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 sling.

[0077] Furthermore, if Figure 5 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.

[0078] In some embodiments, as Figure 7 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.

[0079] 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.

[0080] In some embodiments, as Figure 9 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.

[0081] It should be noted that if Figure 9 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.

[0082] In some embodiments, as Figure 8 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.

[0083] In some embodiments, as Figure 8As 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.

[0084] In some embodiments, as Figure 8 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.

[0085] In some embodiments, as Figure 8 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.

[0086] In some embodiments, as Figure 8 As 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.

[0087] In some embodiments, as Figure 8 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.

[0088] In some embodiments, as Figure 11 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.

[0089] In some embodiments, as Figure 4 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.

[0090] In some embodiments, as Figure 4 As shown, the upper measuring platform 401 is sleeved on the top of the column 402. Specifically, as shown in FIG. Figure 10 As shown, upper measurement platform 401 has an opening that matches column 402. A sleeve 404 is located at the top of the opening. Sleeve 404 is fitted around the periphery 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's shooting angle, thus ensuring more reliable data.

[0091] 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.

[0092] In some embodiments, four targets 703 are provided, and the four targets 703 are respectively installed on the top surface of the block. After the targets 703 are installed, the relative positions of the targets 703 and the corner points of the block are fixed. Furthermore, in order to ensure that the underwater camera target 703 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 and enhance the recognition contrast in a deep dark environment. In addition, the underwater camera usually calculates the distance between the target 703 and the camera component by identifying the size of the white part in the center of the target 703, so it is necessary to ensure that The white area in the center of target 703 should not be too small to be unclear, nor too large to be out of the range of the underwater camera lens. After testing, in a water depth of 30m, the most suitable size for target 703 is an outer diameter of 8cm and a central white area of 4cm in diameter. In shallow water, the size of the target can be appropriately changed according to the camera's shooting capabilities. To facilitate determining the center position of target 703, a crosshair is set in the white area of target 703. Target 703 is made of acrylic material, and the surface of target 703 is polished to a frosted state to ensure the durability of target 703 and reduce the mirror reflection of target 703.

[0093] It should also be noted that in order to meet the requirements of underwater lifting operations for heavy blocks, the diameters of structural components such as the columns 402 and reinforcement ribs 403 of the measurement tower 4 are relatively thick. As an illustrative embodiment, the diameter of the column 402 is 30 cm. Therefore, even if the column 402 is slightly deformed, it will not affect the camera 407 from shooting the target 703.

[0094] Through the description of multiple embodiments of the underwater block hoisting method and system of the present invention, it can be seen that the underwater block hoisting method and system of the present invention have at least one or more of the following advantages:

[0095] 1. The method for hoisting blocks in water provided by the present invention utilizes devices such as a camera 407, a Beidou receiver 405, an inclinometer 408, and an inertial navigation system 406 to obtain the relative position and attitude data between the hoisting device and the blocks in real time. Furthermore, through data processing and a feedback mechanism, the method accurately guides the blocks to be hoisted to the designed position, thus achieving all-round monitoring and precise control of the block hoisting process.

[0096] 2. The underwater block hoisting method provided by the present invention significantly improves the hoisting accuracy and construction efficiency, reduces manual intervention and errors, is particularly suitable for heavy-weight, high-precision block installation projects, and enhances the safety and controllability of the construction process.

[0097] 3. The underwater block lifting system provided by the present invention can monitor the position and posture of the blocks in real time through the cooperation of the measurement and control device and the lifting device, can accurately control the lifting process, reduce manual intervention, and avoid deviation problems caused by factors such as water flow; especially in shallow water areas, due to the shallow water depth, the monitoring effect of the camera 407 and the target 703 is clearer, further improving the construction efficiency; and the shallow water depth means that the change of the medium (from air to water) on the shooting path of the camera 407 has little effect on the monitoring accuracy and can be ignored.

[0098] 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.

[0099] 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. A method for hoisting blocks in water, characterized in that: The following steps are involved: Lifting the cube: Install the measuring tower above the spreader. The measuring tower consists of an upper measuring platform and a hollow column. The upper measuring platform is installed on the top of the column. The bottom of the column is fixedly connected to the spreader. The bottom of the column is sealed with a transparent seal. Connect the spreader to the cube for lifting. Obtain the relative position relationship between the upper measuring platform and the block: Set multiple targets on the top surface of the block, use the camera installed on the top of the column to obtain the position changes of the targets, obtain the relative position relationship between the upper measuring platform and the targets, and then obtain the relative position relationship between the upper measuring platform and the block; Obtain the real-time position of the block: Use the Beidou receivers at the corners of the upper measurement platform to obtain the positioning data of each corner of the upper measurement platform, and combine the relative position relationship between the upper measurement platform and the block to obtain the real-time position of the block; Obtaining the relative posture data between the upper measuring platform and the block: The position and height change of the target are acquired through the camera, thereby obtaining the relative posture data between the target and the camera, and then obtaining the relative posture data between the upper measuring platform and the block; Obtaining the real-time attitude of the cube: The attitude data of the lifting device is obtained through the inclinometer and inertial navigation installed at the center of the upper measurement platform. The real-time attitude of the cube is obtained by combining the relative attitude data between the upper measurement platform and the cube; Guide the block hoisting: According to the real-time position and real-time posture of the block and the designed position of the block hoisting, control the hoisting equipment to hoist the block to the designed position.

2. The method for hoisting underwater blocks according to claim 1, characterized in that: The lifting block steps also include the installation and calibration of Beidou receivers, cameras, targets, inclinometers, and inertial navigation systems, specifically including: setting up Beidou receivers at at least three corner points of the upper measuring platform, and installing cameras on the top of the columns, with the camera lenses facing the bottom of the columns, for photographing the targets through transparent blocking pieces; installing the inclinometer and inertial navigation system at the center of the upper measuring platform, and the inertial navigation system directly above the inclinometer, so that the changes of the inertial navigation system and inclinometer remain consistent during the lifting process; after the installation is completed, obtaining the initial position and initial attitude data of the Beidou receiver, camera, target, inclinometer, and inertial navigation system respectively.

3. The method for hoisting underwater blocks according to claim 1, characterized in that: In the step of lifting the block, the method of connecting the sling and the block for lifting includes: automatically making the first hook piece and the second hook piece of the hook cross and open, the first hook piece and the second hook piece extend into the lifting hole of the block and hook with the lifting hole, controlling the lifting frame hinged to the hook to rise, so as to realize the lifting of the block; in the step of guiding the lifting of the block, the method of controlling the sling to lift the block to the designed position includes: controlling the movement of the lifting frame, after moving the block to the designed position, automatically closing the first hook piece and the second hook piece of the hook, controlling the lifting frame to rise, so that the hook is separated from the block, so as to realize the lifting of the block.

4. The method for hoisting underwater blocks according to claim 3, characterized in that: The method for automatically making the first hook piece and the second hook piece of the hook cross open or close includes: setting a decoupling frame parallel to the lifting frame, so that the decoupling frame and the lifting frame are slidably connected in the vertical direction, using a driver fixed on the lifting frame to drive the decoupling frame to slide up and down, and connecting the decoupling frame to the first hook piece and the second hook piece respectively through a connecting rod; when the driver drives the decoupling frame to slide downward, the connecting rod drives the first hook piece and the second hook piece to open; when the driver drives the decoupling frame to slide upward, the connecting rod drives the first hook piece and the second hook piece to close.

5. The method for hoisting underwater blocks according to claim 1, 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.

6. An underwater block hoisting system, characterized in that: A method for lifting a block underwater as claimed in any one of claims 1 to 4 is used, comprising a lifting device and a measurement and control device, wherein the measurement and control device is fixedly connected to the lifting device, the lifting device is used to lift and install the block, and the measurement and control device is used to monitor the position and posture of the lifting device and the block; The hoisting device includes a sling and a measuring tower. The measuring tower is installed above the sling. The measuring tower includes an upper measuring platform and a vertical column. The upper measuring platform is installed on the top of the column, and the bottom of the column is fixedly connected to the sling. The interior of the column is hollow, and the bottom of the column is sealed with a seal made of transparent material; The measurement and control device includes: 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; Targets, of which there are multiple targets, which are respectively installed on the top surface of the block to assist in identifying the position and posture of the block; A camera is installed at the top of the column of the measurement tower, with the lens of the camera facing the bottom of the column. It is used to shoot the target and monitor the position and height changes of the target, thereby obtaining the position and posture changes of the block; An inclinometer, which is installed on the upper measuring platform and is used to monitor the posture changes of the lifting device; The inertial navigation system is installed on the upper measuring platform and at the same place as the inclinometer to assist in monitoring the attitude changes of the lifting device and the block.

7. The underwater block hoisting system according to claim 6, characterized in that: The measurement and control device also includes a processor, which is respectively connected to the Beidou receiver, camera, inclinometer and inertial navigation system for calculating the real-time position and attitude of the block based on the target position and attitude changes obtained by the camera, combined with the real-time positioning obtained by the Beidou receiver, the attitude changes of the lifting device obtained by the inclinometer and the data changes of the inertial navigation system during the lifting process.

8. The underwater block hoisting system according to claim 7, characterized in that: The measurement and control device also includes a controller, which is in communication with the processor and is used to control the lifting device to lift the block to the designed position based on the real-time position and real-time posture of the block and the designed position of the block.

9. The underwater block hoisting system according to claim 6, characterized in that: The spreader includes: Lifting frame, used to connect lifting equipment; The hook is installed below the lifting frame and is hinged to the lifting frame for connecting to the lifting hole of the prefabricated block. The hook comprises 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 crosswise open; when unhooking, the first hook piece and the second hook piece close. The unhooking device includes an unhooking frame, a driver and a connecting rod, which are used to realize automatic hooking and automatic 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 in the lifting frame, and the output end of the driver is connected to the unhooking frame, which 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, which is used to drive the hook to rotate relative to the lifting frame to realize hooking and unhooking.

10. The underwater block hoisting system according to claim 9, 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.

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