Underwater block hoisting method and system thereof

Abstract

The present application relates to a kind of underwater block hoisting method and system thereof, belong to underwater block hoisting.The underwater block hoisting method includes lifting block, obtaining the relative position relationship of hoisting device and block, obtaining the real-time position of block, obtaining the relative attitude data of hoisting system and block, obtaining the real-time attitude of block, guiding block hoisting step.The underwater block hoisting method utilizes camera, beidou receiver, inclinometer and inertial navigation equipment, obtains the relative position and attitude data of hoisting device and block in real time, and accurately guides block hoisting to design position by data processing and feedback mechanism, realizes the all-around monitoring and precision control of block hoisting process.

Description

Technical Field

[0001] This invention pertains to underwater block hoisting, specifically relating to an underwater block hoisting method and system. 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 tools for block installation, including T-shaped hooks, L-shaped hooks, nylon slings, and manual hook-and-unhook lifting tools. These tools require manual assistance for hooking and unhooking, and are suitable for blocks weighing less than 500 tons. This makes them unsuitable for projects with large blocks of heavy weight and numerous blocks. Furthermore, the blocks are affected by water flow after being submerged in water, causing their position and orientation to shift, which affects construction accuracy and efficiency.

[0004] Therefore, how to provide a block hoisting system suitable for underwater operations 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 underwater block hoisting method and system. By utilizing equipment such as cameras, Beidou receivers, inclinometers, and inertial navigation systems, the relative position and attitude data between the hoisting device and the block are acquired in real time. Through data processing and feedback mechanisms, the method precisely guides the block to the designed position, achieving comprehensive monitoring and precise control of the block hoisting process.

[0006] This invention provides a method for hoisting underwater blocks, comprising the following steps:

[0007] Lifting the block: The measuring tower is installed above the lifting device. The measuring tower includes an upper measuring platform and an internally hollow column. The upper measuring platform is installed on the top of the column, and the bottom of the column is fixedly connected to the lifting device. The bottom of the column is sealed with a transparent sealing material. The lifting device is then connected to the block for lifting.

[0008] To obtain the relative positional relationship between the upper measuring platform and the cube: multiple targets are set on the top surface of the cube, and the positional changes of the targets are obtained using a camera installed on the top of the column. The relative positional relationship between the upper measuring platform and the targets is then obtained, and thus the relative positional relationship between the upper measuring platform and the cube is obtained.

[0009] Obtain the real-time position of the block: Use the Beidou receiver at the corner of the upper measurement platform to obtain the positioning data of each corner of the upper measurement platform, and combine it with the relative positional relationship between the upper measurement platform and the block to obtain the real-time position of the block.

[0010] Acquire the relative attitude data between the upper measurement platform and the cube: The position and height changes of the target are obtained through the camera, thereby obtaining the relative attitude data between the target and the camera, and then obtaining the relative attitude data between the upper measurement platform and the cube.

[0011] Obtain the real-time attitude of the block: The attitude data of the hoisting device is obtained by using the inclinometer and inertial navigation system installed at the center of the upper measurement platform. Combined with the relative attitude data between the upper measurement platform and the block, the real-time attitude of the block is obtained.

[0012] Guided block hoisting: Based on the real-time position and attitude of the block and the designed hoisting position, control the hoisting equipment to hoist the block to the designed position.

[0013] This technical solution utilizes equipment such as cameras, Beidou receivers, inclinometers, and inertial navigation systems 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 precisely guides the hoisting of the block to the designed position, achieving comprehensive monitoring and precise control of the block hoisting process.

[0014] In some embodiments, the lifting block step also includes the installation and calibration of BeiDou receivers, cameras, targets, inclinometers, and inertial navigation systems. Specifically, this includes: setting up BeiDou receivers at at least three corners of the upper measurement platform, and installing cameras on the top of the columns, with the camera lenses facing the bottom of the columns to photograph the target through the transparent sealing components; installing the inclinometer and inertial navigation system at the center of the upper measurement platform, with the inertial navigation system directly above the inclinometer, so that the changes of the inertial navigation system and the inclinometer remain consistent during the lifting process; and acquiring the initial position and initial attitude data of the BeiDou receiver, camera, target, inclinometer, and inertial navigation system after installation.

[0015] This technical solution effectively eliminates initial equipment errors through the 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 hoisting process.

[0016] In some embodiments, the method of connecting the lifting device to the block in the lifting block step includes: automatically opening the first and second hook plates of the hook, inserting the first and second hook plates into the lifting hole of the block and hooking them, and controlling the lifting frame hinged to the hook to rise, thereby lifting the block; in the block lifting guide step, the method of controlling the lifting device to lift the block to the design position includes: controlling the lifting frame to move, moving the block to the design position, and then automatically closing the first and second hook plates of the hook, controlling the lifting frame to rise, and disengaging the hook from the block, thereby lifting the block.

[0017] In some embodiments, the method for automatically opening or closing the first and second hook plates of the hook includes: setting up a disengagement frame parallel to the lifting frame, sliding the disengagement frame and the lifting frame in a vertical direction, driving the disengagement frame to slide up and down using a driver fixed on the lifting frame, and connecting the disengagement frame to the first and second hook plates respectively through a connecting rod; when the driver drives the disengagement frame to slide downward, the connecting rod drives the first and second hook plates to open; when the driver drives the disengagement frame to slide upward, the connecting rod drives the first and second hook plates to close.

[0018] 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.

[0019] This technical solution combines the advantages of short-term stability of the inclinometer and long-term stability of the inertial navigation system, reducing the impact of errors from a single sensor and ensuring the accuracy of attitude data from the upper measurement platform.

[0020] Based on the above-mentioned underwater block hoisting method, the present invention also provides an underwater block hoisting system. The underwater block hoisting system includes 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 attitude of the hoisting device and the block.

[0021] The hoisting device includes a hoisting tool and a measuring tower. The measuring tower is installed above the hoisting tool and includes an upper measuring platform and a vertically installed column. The upper measuring platform is installed on the top of the column, and the bottom of the column is fixedly connected to the hoisting tool. The column is hollow inside, and the bottom of the column is sealed with a transparent sealing element.

[0022] The monitoring and control device includes:

[0023] 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.

[0024] Multiple targets are provided and installed on the top surface of the cube to assist in identifying the position and orientation of the cube.

[0025] The camera is mounted on the top of the column of the measuring tower, with its lens facing the bottom of the column. It is used to photograph the target and monitor the changes in the target's position and height, thereby obtaining the position and orientation changes of the cube.

[0026] Inclinometer, which is installed on the upper measuring platform, is used to monitor the attitude changes of the hoisting device;

[0027] 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 hoisting device and the block.

[0028] This technical solution, through the coordinated operation of the measurement and control device and the hoisting device, can monitor the position and attitude of the block in real time, accurately control the hoisting 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 and target is clearer, further improving construction efficiency.

[0029] In some embodiments, the telemetry and control device further includes a processor, which is connected to a Beidou receiver, a camera, an inclinometer, and an inertial navigation system, respectively. The processor is used to calculate 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 hoisting device obtained by the inclinometer, and the data changes of the inertial navigation system during the hoisting process.

[0030] This technical solution uses processor settings to accurately calculate the position and orientation changes of the blocks, enabling rapid response and adjustment of the hoisting process, thus ensuring the accuracy of block installation and construction efficiency.

[0031] In some embodiments, the measurement and control device further includes a controller, which is communicatively connected to the processor and is used to control the hoisting device to hoist the block to the design position based on the block's real-time position, real-time attitude, and the design position for hoisting the block.

[0032] This technical solution, through the setting of the controller, enables the measurement and control device to automatically adjust the hoisting action and accurately hoist the block to the design position.

[0033] In some embodiments, the lifting device includes:

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

[0035] A hook, installed below and hinged to the lifting frame, is used to connect to the lifting holes of the precast blocks; 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.

[0036] The unhooking device includes an unhooking frame, a driver, and a connecting rod, used to realize the 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 realize hooking and unhooking.

[0037] This technical solution enables automatic hooking and unhooking; it requires no manual intervention, reduces human error, improves operational efficiency, and meets the engineering needs of large-scale block hoisting.

[0038] 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.

[0039] 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.

[0040] Based on the above scheme, the underwater block hoisting method in this embodiment of the invention utilizes equipment such as cameras, Beidou receivers, inclinometers, and inertial navigation systems to acquire real-time relative position and attitude data between the hoisting device and the block. Through data processing and feedback mechanisms, it precisely guides the block hoisting 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 the installation of heavy, high-precision blocks, while also enhancing the safety and controllability of the construction process. Attached Figure Description

[0041] 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:

[0042] Figure 1 This is a flowchart of the underwater block hoisting method in an embodiment of the present invention;

[0043] Figure 2 This is a schematic diagram of the underwater block hoisting system in an embodiment of the present invention;

[0044] Figure 3 This is a top view schematic diagram of the underwater block hoisting system in an embodiment of the present invention;

[0045] Figure 4 This is a perspective view of the hoisting device in an embodiment of the present invention;

[0046] Figure 5 This is a perspective view of the lifting device in an embodiment of the present invention;

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

[0048] Figure 7 This is a schematic diagram of the hook in the open state in an embodiment of the present invention;

[0049] Figure 8 This is a side view of the lifting device;

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

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

[0052] Figure 11 This 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. Actuator; 6. Connecting rod; 7. Precast blocks;

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

[0056] 201. First hook plate; 202. Second hook plate; 203. First pad;

[0057] 301. Guide post; 302. Crossbar;

[0058] 401. Upper measuring platform; 402. Column; 403. Reinforcing rib; 404. Sleeve; 405. Beidou receiver; 406. Inertial navigation system; 407. Camera; 408. Inclinometer; 409. Sealing components;

[0059] 601. First support rod; 602. Second support rod;

[0060] 701. Lifting hole; 702. Second pad; 703. Target. Detailed Implementation

[0061] 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.

[0062] 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.

[0063] 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.

[0064] 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.

[0065] like Figures 1-11 As shown, in one embodiment of the underwater block hoisting method and system of the present invention, as Figure 1As shown, the underwater block hoisting method includes hoisting the block, obtaining the relative positional relationship between the hoisting device and the block, obtaining the real-time position of the block, obtaining the relative attitude data between the hoisting system and the block, obtaining the real-time attitude of the block, and guiding the block hoisting steps. The block hoisting step includes: installing a measuring tower 4 above the lifting device; the measuring tower 4 includes an upper measuring platform 401 and a hollow column 402; the upper measuring platform 401 is installed on top of the column 402; the bottom of the column 402 is fixedly connected to the lifting device; the bottom of the column 402 is sealed with a transparent sealing element 409; and the lifting device is then connected to the block for hoisting. The step of obtaining the relative positional relationship between the upper measuring platform 401 and the block includes: setting multiple targets 703 on the top surface of the block; using a camera 407 installed on top of the column 402 to obtain the positional changes of the targets 703; obtaining the relative positional relationship between the upper measuring platform 401 and the targets 703; and thus obtaining the relative positional relationship between the upper measuring platform 401 and the block. The steps for obtaining the real-time position of the block include: using the Beidou receiver 405 at the corner of the upper measurement platform 401 to obtain the positioning data of each corner of the upper measurement platform 401, and combining the relative positional relationship between the upper measurement platform 401 and the block to obtain the real-time position of the block; the steps for obtaining the relative attitude data between the upper measurement platform 401 and the block include: using the camera 407 to obtain the position and height changes of the target 703, thereby obtaining the relative attitude data between the target 703 and the camera 407, and then obtaining the relative attitude data between the upper measurement platform 401 and the block; the steps for obtaining the real-time attitude of the block include: using the inclinometer 408 and inertial navigation system 406 installed at the center of the upper measurement platform 401 to obtain the attitude data of the hoisting device, and combining the relative attitude data between the upper measurement platform 401 and the block to obtain the real-time attitude of the block; the steps for guiding the hoisting of the block include: controlling the hoisting device to hoist the block to the designed position according to the real-time position, real-time attitude and designed hoisting position of the block.

[0066] In the above illustrative 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 relative position and attitude data between the hoisting device and the block. Through data processing and feedback mechanisms, it precisely guides the block hoisting 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 the installation of heavy, high-precision blocks, while also enhancing the safety and controllability of the construction process.

[0067] In some embodiments, the lifting block step further includes the installation and calibration of a Beidou receiver 405, a camera 407, a target 703, a tiltmeter 408, and an inertial navigation system 406. Specifically, this includes: setting up a Beidou receiver 405 at at least three corner points of the upper measurement platform 401, and installing a camera 407 on the top of the column 402, with the lens of the camera 407 facing the bottom of the column 402 to photograph the target 703 through the transparent sealing member; installing the tiltmeter 408 and the inertial navigation system 406 at the center of the upper measurement platform 401, with the inertial navigation system 406 directly above the tiltmeter 408, so that the changes of the inertial navigation system 406 and the tiltmeter 408 are consistent during the lifting process; and acquiring the initial position and initial attitude data of the Beidou receiver 405, camera 407, target 703, tiltmeter 408, and inertial navigation system 406 after installation. By calibrating each piece of equipment, initial equipment errors are effectively eliminated, providing reliable basic data for subsequent real-time monitoring and precise control, thereby improving the accuracy and stability of the entire hoisting process.

[0068] In some embodiments, the method of connecting the lifting device to the block in the lifting block step includes: automatically opening the first hook plate 201 and the second hook plate 202 of the hook 2, inserting the first hook plate 201 and the second hook plate 202 into the lifting hole 701 of the block and hooking them together, and controlling the lifting frame 1 hinged to the hook 2 to rise, thereby lifting the block; in the block lifting guide step, the method of controlling the lifting device to lift the block to the design position includes: controlling the lifting frame 1 to move, moving the block to the design position, and then automatically closing the first hook plate 201 and the second hook plate 202 of the hook 2, controlling the lifting frame 1 to rise, and disengaging the hook 2 from the block, thereby lifting the block.

[0069] In some embodiments, the method for automatically opening or closing the first hook piece 201 and the second hook piece 202 of the hook 2 includes: setting a disengagement frame 3 parallel to the lifting frame 1, making the disengagement frame 3 slide vertically connected to the lifting frame 1, using a driver 5 fixed on the lifting frame 1 to drive the disengagement frame 3 to slide up and down, and connecting the disengagement 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 disengagement 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 disengagement 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, the method for acquiring the attitude data of the upper measurement platform 401 via the inclinometer 408 and inertial navigation system 406 in the step of acquiring the real-time attitude of the block includes: the inclinometer 408 and the inertial navigation system 406 jointly output the attitude data of the upper measurement 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 measurement platform 401; when the output data of the inclinometer 408 and the inertial navigation system 406 are different, a weighted average of the output data of the inclinometer 408 and the inertial navigation system 406 is calculated according to the preset data weights of the inclinometer 408 and the inertial navigation system 406, and this average is used as the attitude data of the upper measurement platform 401. This embodiment combines the advantages of the short-term stability of the inclinometer 408 and the long-term stability of the inertial navigation system 406, reduces the influence of errors from a single sensor, ensures the accuracy of the attitude data of the upper measurement platform 401, and thus provides a more reliable basis for the precise hoisting of the block.

[0071] Based on the above-mentioned underwater submersible hoisting method, such as Figure 2 As shown, the present invention also provides an underwater block hoisting system, employing the aforementioned underwater block hoisting method, including a hoisting device and a monitoring and control device. The monitoring and control device is fixedly connected to the hoisting device. The hoisting device is used to lift and install the block, and the monitoring and control device is used to monitor the position and attitude of the hoisting device and the block; wherein, as... Figure 4 As shown, the hoisting device includes a lifting device and a measuring tower 4. The measuring tower 4 is installed above the lifting device and includes an upper measuring platform 401 and a vertically arranged column 402. The upper measuring platform 401 is installed on top of the column 402, and the bottom of the column 402 is fixedly connected to the lifting device. The column 402 is hollow inside, and the bottom of the column 402 is sealed with a sealing element 409, which is made of transparent material. Figure 2 As shown, the measurement and control device includes a Beidou receiver 405, a target 703, a camera 407, a tiltmeter 408, and an inertial navigation system 406. Specifically, at least three Beidou receivers 405 are provided and 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. Multiple targets 703 are provided and installed on the top surface of the block to assist in identifying the position and attitude of the block. The camera 407 is installed on the top of the column 402 of the measurement tower 4, with the lens of the camera 407 facing the bottom of the column 402, 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 block. The tiltmeter 408 is installed on the upper measurement platform 401 to monitor the attitude changes of the hoisting device. Figure 3 As shown, the inertial navigation system 406 is installed on the upper measurement platform 401 and is installed in the same place as the inclinometer 408 to assist in monitoring the attitude changes of the hoisting device and the block.

[0072] In the above illustrative embodiment, the coordinated operation of the measurement and control device and the hoisting device enables real-time monitoring of the block's position and orientation, precise control of the hoisting process, reduced manual intervention, and avoidance of deviations caused by factors such as water flow. Especially in shallow water areas, the monitoring effect of camera 407 and target 703 is clearer due to the shallow water depth, further improving construction efficiency. Furthermore, the change in medium (from air to water) along the camera 407's shooting path has a negligible impact on monitoring accuracy. In summary, this embodiment, by introducing a measurement and control device and optimizing the design of the hoisting device, solves the problems of low accuracy, low efficiency, excessive manual intervention, and poor safety inherent in traditional hoisting methods. Especially in shallow water areas, this solution fully leverages its advantages of high accuracy, strong stability, and high automation, significantly improving the construction efficiency and safety of block hoisting and meeting the needs of large-scale, high-volume engineering projects.

[0073] In some embodiments, the measurement and control device further includes a processor, which is communicatively connected to a Beidou receiver 405, a camera 407, a tiltmeter 408, and an inertial navigation system 406. The processor calculates 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 tiltmeter 408, and the data changes from the inertial navigation system 406 during the hoisting process. By configuring the processor, the position and attitude changes of the block are accurately calculated, enabling rapid response and adjustment of the hoisting process, ensuring the accuracy of the block installation and construction efficiency.

[0074] In some embodiments, the measurement and control device further includes a controller, which is communicatively connected to the processor and is used to control the hoisting device to hoist the block to the designed position based on the block's real-time position, real-time attitude, and the designed hoisting position. Through the controller's settings, the measurement and control device can automatically adjust the hoisting actions to accurately hoist the block to the designed position; this not only reduces manual intervention but also significantly improves hoisting accuracy and construction efficiency, making it particularly suitable for heavy, 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 the controller, respectively, for displaying 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. The 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 the comparison information with the designed position, facilitating timely problem identification and adjustments, and further improving hoisting accuracy and construction safety.

[0076] In some embodiments, such as Figure 5As shown, the lifting device includes a lifting frame 1, a hook 2, and a release device; wherein, the lifting frame 1 is used to connect the 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 precast block 7; the hook 2 includes at least a first hook piece 201 and a second hook piece 202 arranged in a cross configuration, and both the first hook piece 201 and the second hook piece 202 are connected to the release frame 3 through a connecting rod 6; as Figure 7 As shown, when hooked, the first hook piece 201 and the second hook piece 202 open in a cross shape; as Figure 6 As shown, during unhooking, the first hook piece 201 and the second hook piece 202 close together; the unhooking device includes a unhooking frame 3, a driver 5, and a connecting rod 6, which are used to realize the automatic hooking and 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 inside the lifting frame 1, and the output end of the driver 5 is connected to the unhooking frame 3, which is used to drive the unhooking frame 3 to slide up and down; one end of the connecting rod 6 is hinged to the bottom of the unhooking frame 3, and the other end is connected to the hook 2, which is used to drive the hook 2 to rotate relative to the lifting frame 1 to realize hooking and unhooking. The lifting device drives the unhooking frame 3 to slide up and down via 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 unhooking. No manual intervention is required, which can reduce human error, improve operating efficiency, and meet the engineering needs of large-scale block lifting. The setting of the first hook plate 201 and the second hook plate 202 makes the hooking and unhooking action more flexible and reliable, and can adapt to prefabricated blocks 7 of different shapes and sizes, improving the versatility and operating efficiency of the lifting device.

[0077] Furthermore, such as Figure 5 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.

[0078] In some embodiments, such as Figure 7 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.

[0079] 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.

[0080] In some embodiments, such as Figure 9 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.

[0081] It should be noted that, as Figure 9 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.

[0082] In some embodiments, such 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 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.

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

[0084] In some embodiments, such 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 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.

[0085] In some embodiments, such as Figure 8 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.

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

[0087] In some embodiments, such as Figure 8 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.

[0088] In some embodiments, such as Figure 11 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.

[0089] In some embodiments, such as Figure 4 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.

[0090] In some embodiments, such as Figure 4 As shown, the upper measuring platform 401 is fitted onto the top of the column 402, specifically, as... Figure 10 As shown, the upper measuring platform 401 has an opening that matches the column 402. A sleeve 404 is provided at the top of the opening, and the sleeve 404 is fitted onto the outer periphery of the column 402. The camera 407 is fixed to the sleeve 404 by a steel plate. With 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.

[0091] 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.

[0092] In some embodiments, four targets 703 are provided, each mounted 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 clear identification of the underwater camera targets 703 in deep water, the targets 703 adopt a circular design with a black outer ring and a white center, corresponding to the underwater camera's identification and enhancing the contrast in dark deep-water environments. Additionally, underwater cameras typically estimate the distance between the target 703 and the camera component by recognizing the size of the white center portion of the target 703; therefore, it is necessary to ensure... The white area in the center of the target 703 should not be too small to be clearly visible, nor too large to be outside the range of the underwater camera 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 shallow water areas, the size of the target can be appropriately adjusted according to the shooting capability of the camera. To facilitate the determination of the center position of the target 703, a crosshair is 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 at the same time reduce the specular reflection of the target 703.

[0093] It should also be noted that, in order to meet the underwater hoisting operation of heavy blocks, the structural components such as the column 402 and the reinforcing rib 403 of the measuring tower 4 have a relatively large diameter. As an illustrative embodiment, the diameter of the column 402 is 30cm. Therefore, even if the column 402 undergoes slight deformation, it will not affect the camera 407 from shooting the target 703.

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

[0095] 1. The underwater block hoisting method provided by the present invention utilizes equipment such as camera 407, Beidou receiver 405, inclinometer 408 and inertial navigation 406 to acquire the relative position and attitude data of the hoisting device and the block in real time, and through data processing and feedback mechanism, accurately guides the block to be hoisted to the design position, realizing all-round monitoring and precise control of the block hoisting process.

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

[0097] 3. The underwater block hoisting system provided by this invention, through the coordinated operation of the measurement and control device and the hoisting device, can monitor the position and attitude of the block in real time, accurately control the hoisting 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 construction efficiency; and in shallow water, the change of medium (from air to water) along the shooting path of the camera 407 has little impact 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, 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.

[0099] 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 method for hoisting underwater blocks, characterized in that, Includes the following steps: Lifting the block: The measuring tower is installed above the lifting device. The measuring tower includes an upper measuring platform and an internally hollow column. The upper measuring platform is installed on the top of the column, and the bottom of the column is fixedly connected to the lifting device. The bottom of the column is sealed with a transparent sealing material. The lifting device is then connected to the block for lifting. To obtain the relative positional relationship between the upper measuring platform and the cube: multiple targets are set on the top surface of the cube, and the positional changes of the targets are obtained using a camera installed on the top of the column. The relative positional relationship between the upper measuring platform and the targets is then obtained, and thus the relative positional relationship between the upper measuring platform and the cube is obtained. Obtain the real-time position of the block: Use the Beidou receiver at the corner of the upper measurement platform to obtain the positioning data of each corner of the upper measurement platform, and combine it with the relative positional relationship between the upper measurement platform and the block to obtain the real-time position of the block. Acquire the relative attitude data between the upper measurement platform and the cube: The position and height changes of the target are obtained through the camera, thereby obtaining the relative attitude data between the target and the camera, and then obtaining the relative attitude data between the upper measurement platform and the cube. Obtain the real-time attitude of the block: The attitude data of the hoisting device is obtained by using the inclinometer and inertial navigation system installed at the center of the upper measurement platform. Combined with the relative attitude data between the upper measurement platform and the block, the real-time attitude of the block is obtained. Guided block hoisting: Based on the real-time position and attitude of the block and the designed hoisting position, control the hoisting equipment to hoist the block to the designed position; In the step of lifting the block, the method of connecting the lifting device to the block includes: automatically opening the first and second hook plates of the hook, inserting the first and second hook plates into the lifting hole of the block and hooking them, and controlling the lifting frame hinged to the hook to rise, thereby lifting the block; in the step of guiding the block lifting, the method of controlling the lifting device to lift the block to the design position includes: controlling the lifting frame to move, moving the block to the design position, and then automatically closing the first and second hook plates of the hook, controlling the lifting frame to rise, and detaching the hook from the block, thereby lifting the block. The method for automatically opening or closing the first and second hook plates of a lifting hook includes: setting up a disengagement frame parallel to the lifting frame, making the disengagement frame slide vertically connected to the lifting frame, using a driver fixed on the lifting frame to drive the disengagement frame to slide up and down, and connecting the disengagement frame to the first and second hook plates respectively through a connecting rod; when the driver drives the disengagement frame to slide downward, the connecting rod drives the first and second hook plates to open; when the driver drives the disengagement frame to slide upward, the connecting rod drives the first and second hook plates to close.

2. The underwater block hoisting method according to claim 1, characterized in that, The lifting of the block also includes the installation and calibration of the Beidou receiver, camera, target, inclinometer, and inertial navigation system. Specifically, this includes: setting up Beidou receivers at at least three corners of the upper measurement platform, and installing cameras on the top of the columns, with the camera lenses facing the bottom of the columns to photograph the target through the transparent sealing parts; installing the inclinometer and inertial navigation system at the center of the upper measurement platform, with the inertial navigation system directly above the inclinometer, to ensure that the changes of the inertial navigation system and the inclinometer are consistent during the lifting process; and acquiring the initial position and initial attitude data of the Beidou receiver, camera, target, inclinometer, and inertial navigation system after installation.

3. The underwater block hoisting method according to claim 1, 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.

4. An underwater block hoisting system, characterized in that, The underwater block hoisting method as described in any one of claims 1-3 includes 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 hoist and install the block, and the measurement and control device is used to monitor the position and attitude of the hoisting device and the block. The hoisting device includes a hoisting device and a measuring tower. The measuring tower is installed above the hoisting device and includes an upper measuring platform and a vertically installed column. The upper measuring platform is installed on the top of the column, and the bottom of the column is fixedly connected to the hoisting device. The column is hollow inside, and the bottom of the column is sealed with a transparent seal. The monitoring and control device 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. Multiple targets are provided and installed on the top surface of the cube to assist in identifying the position and orientation of the cube. The camera is mounted on the top of the column of the measuring tower, with its lens facing the bottom of the column. It is used to photograph the target and monitor the changes in the target's position and height, thereby obtaining the position and orientation changes of the cube. Inclinometer, which is installed on the upper measuring platform, is used to monitor the attitude changes of the hoisting device; 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 hoisting device and the block; The measurement and control device also includes a processor, which is connected to the Beidou receiver, camera, inclinometer and inertial navigation system respectively. It is used to calculate 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 hoisting device obtained by the inclinometer and the data changes of the inertial navigation system during the hoisting process. The lifting equipment includes: Lifting frame, used to connect lifting equipment; A hook, installed below and hinged to the lifting frame, is used to connect to the lifting holes of the precast blocks; 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. 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 lifting frame is equipped with guide tubes located on both sides of the top of the hook. The unhooking device also includes guide columns, which are fitted inside the guide tubes and slidably connected to them. 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 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.

5. The underwater submersible hoisting system according to claim 4, characterized in that, The measurement and control device also includes a controller, which is connected to the processor and is used to control the hoisting device to hoist the block to the design position based on the block's real-time position, real-time attitude, and the design position of the block hoisting.

6. The underwater submersible hoisting system according to claim 4, characterized in that, The actuator uses 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.

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