Calibration and installation method and system for underwater square block

Abstract

The invention relates to a calibration installation method and system for an underwater square block, and belongs to the technical field of underwater square block installation. The calibration and installation method of the underwater square block comprises the steps of square block calibration, square block hoisting, navigation route generation and square block hoisting guidance. Wherein the square block calibration step comprises the following steps: after the square block is prefabricated, mounting a target on the top surface of the square block, scanning the top surface of the square block and the target arranged on the top surface of the square block through a three-dimensional laser scanner at the top of the gantry crane, and obtaining the size parameters of the top surface of the square block and the relative position relationship between the feature points of the target and the top surface of the square block. According to the calibration and installation method of the underwater square block, the size parameters of the square block and the position of a target feature point are accurately obtained through a three-dimensional laser scanner, and a reliable data basis is provided for subsequent hoisting; the measurement and control device monitors the position and posture of the square block in real time and automatically generates a navigation route in combination with design position coordinates, and it is ensured that the square block can be accurately hoisted to the target position.

Description

Technical Field

[0001] The present invention belongs to the technical field of underwater block installation, and in particular relates to a calibration and installation method and system for underwater blocks. Background Art

[0002] In port engineering, cube piers form a stable foundation by installing precast concrete blocks underwater. Precise block installation is crucial for ensuring structural stability and construction quality, especially for irregular blocks with asymmetrical geometric shapes (such as trapezoidal and polygonal blocks). The geometric characteristics of irregular blocks result in different center of gravity distribution and stress conditions than regular blocks, requiring more precise calibration and positioning to ensure the overall stability of the pier structure.

[0003] In the existing technology, block calibration mainly adopts the total station layout method and the ruler method, but both methods have obvious limitations. The total station layout method has high accuracy, but the construction process is cumbersome and can only be calibrated block by block, which is inefficient. The ruler method is slightly more efficient, but has poor accuracy and is also unable to achieve batch operation. In addition, each type of block (especially irregular blocks) requires a customized calibration scheme, and the data processing is complicated, further increasing the construction difficulty and time cost.

[0004] Therefore, how to provide an efficient calibration and installation method that can be applied to irregular blocks is a technical problem that needs to be solved urgently. Summary of the Invention

[0005] In response to the shortcomings of the existing technology, the present invention provides a method and system for calibrating and installing underwater blocks. A three-dimensional laser scanner is used to accurately obtain the block's dimensional parameters and the position of target feature points, providing a reliable data basis for subsequent lifting. The measurement and control device monitors the block's position and posture in real time, and autonomously generates a navigation route based on the designed position coordinates to ensure that the block can be accurately lifted to the target position.

[0006] The present invention provides a method for calibrating and installing an underwater block, comprising the following steps:

[0007] Block calibration: After the block is prefabricated, a target is installed on the top surface of the block. The top surface of the block and the target set on the top surface of the block are scanned by a 3D laser scanner on the top of the gantry crane to obtain the size parameters of the top surface of the block and the relative position relationship between the target feature points and the top surface of the block;

[0008] Lifting the cube: Install the measuring tower above the spreader, connect the spreader to the cube, and use the measuring tower to obtain the position and posture data of the measuring tower itself and the cube. Lift the cube by controlling the spreader to rise.

[0009] Generate navigation route: Obtain the real-time position and attitude of the cube through the measurement tower, and autonomously generate a navigation route for lifting the cube to the designed position based on the cube's designed position coordinates;

[0010] Guide the hoisting of blocks: According to the navigation route, control the hoisting of blocks to the designed position.

[0011] This technical solution uses a three-dimensional laser scanner to accurately obtain the size parameters of the block and the location of the target feature points, providing a reliable data basis for subsequent lifting; the measurement and control device monitors the position and posture of the block in real time, and autonomously generates a navigation route based on the designed position coordinates to ensure that the block can be accurately lifted to the target position.

[0012] In some embodiments, the block calibration step further includes: setting a unique QR code on the top surface of the block, and using an optical recognition module of a three-dimensional laser scanner to recognize the QR code and obtain the block code.

[0013] In some of the embodiments, in the block calibration step, the prefabricated blocks are placed in a prefabrication yard, and the gantry crane moves in the prefabrication yard through a mobile unit at the bottom, carrying a three-dimensional laser scanner to scan the blocks in the prefabrication yard in turn.

[0014] In some embodiments, in the step of generating a navigation route, the method of obtaining the real-time position and real-time posture of the block includes:

[0015] Obtain the relative positional relationship between the upper measuring platform and the block: The measuring tower includes an upper measuring platform and a hollow column. The upper measuring platform is mounted on the top of the column. The bottom of the column is fixedly connected to a sling. An underwater camera for photographing the target is mounted at the bottom of the sling's lifting frame, and the lifting frame serves as the lower measuring platform. The camera mounted on the top of the column is used to monitor whether the column has deformed, thereby obtaining the deformation of the measuring tower. Based on the deformation of the measuring tower, the relative positional relationship between the upper measuring platform and the plane where the bottom of the column is located is obtained. Then, based on the relative position of the bottom of the column and the lower measuring platform, the relative positional relationship between the upper measuring platform and the lower measuring platform is obtained. The relative positional relationship between the upper measuring platform and the block is obtained by combining the relative position of the underwater camera and the block.

[0016] 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;

[0017] Obtain the real-time attitude of the cube: The position and height change of the target are obtained through the underwater camera, thereby obtaining the relative attitude data between the cube and the underwater camera, and then obtaining the relative attitude data between the upper measurement platform and the cube; the attitude data of the upper measurement platform is obtained through the inclinometer and inertial navigation installed at the center of the upper measurement platform, and the real-time attitude of the cube is obtained by combining the relative attitude of the upper measurement platform and the cube.

[0018] In some embodiments, in the step of obtaining the relative positional relationship between the upper measuring platform and the block, the method for obtaining the shape variable of the measuring tower includes: installing a light source at the bottom of the column, shooting the light source downward with the lens of a camera, monitoring the displacement change and angular change of the light source relative to the camera, thereby obtaining the displacement change and angular change of the top end and the bottom end of the column as the shape variable of the measuring tower.

[0019] Based on the above-mentioned underwater block calibration and installation method, the present invention also provides an underwater block calibration and installation system. Using the above-mentioned underwater block calibration and installation method, a target for assisting in identifying the block is provided on the top surface of the block. The underwater block calibration and installation system includes: a calibration device, which is arranged at the block prefabrication site, including a gantry crane and a three-dimensional laser scanner, and the three-dimensional laser scanner is installed below the gantry ceiling frame; when the gantry crane is located above the block, the three-dimensional laser scanner scans the top surface of the block and the target, and obtains the size parameters of the top surface of the block, and the relative position relationship between the target feature points and the top surface of the block; a lifting device, which is connected to the crane ship and is used to lift and install the block; a measurement and control device, which is fixedly connected to the lifting device and is in communication with the calibration device, and is used to monitor the position and posture of the lifting device and the block, and receive the size parameters of the top surface of the block, and the relative position relationship between the target feature points and the top surface of the block, so as to monitor and control the lifting device to install the block to the underwater design position.

[0020] This technical solution can accurately calibrate the geometric characteristics of irregular blocks, solving the problems of complex irregular block calibration and multiple customized solutions in the existing technology.

[0021] In some of the embodiments, a unique two-dimensional code is provided on the top surface of the block, and the two-dimensional code carries the block coding information; the three-dimensional laser scanner is equipped with an optical recognition module for recognizing the two-dimensional code.

[0022] This technical solution can realize the automatic collection and association of block information, which is convenient for tracking and management during the construction process.

[0023] In some of the embodiments, a moving unit is provided at the bottom of the gantry crane for facilitating movement; after the blocks are prefabricated, the gantry crane moves via the moving unit to scan the top surface of the blocks.

[0024] This technical solution enables the gantry crane to flexibly move to the target position through the setting of the mobile unit to quickly scan the top surface of the block, which is suitable for the needs of large-scale block prefabrication sites.

[0025] In some embodiments, the lifting device includes: a lifting frame for connecting lifting equipment; a hook installed under the lifting frame and hinged to the lifting frame, for connecting to the lifting hole of the prefabricated block; an unhooking device, which includes an unhooking frame, a driver and a connecting rod, for realizing 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, for driving 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, for driving the hook to rotate relative to the lifting frame to realize hooking and unhooking; a measuring tower, which is fixedly installed above the lifting frame, and the measuring tower includes columns installed around the lifting frame and an upper measuring platform on the top of the columns, for measuring the positioning data of the lifting device.

[0026] This technical solution can achieve automatic hooking and unhooking without manual intervention, which can reduce human operating errors, improve operating efficiency, and meet the engineering needs of large-scale block lifting.

[0027] In some embodiments, the lifting frame serves as the lower measuring platform of the measurement and control device, and the measurement and control device includes: at least three Beidou receivers, which are respectively installed at the corner points of the upper measuring platform, for obtaining the real-time positioning of the corner points of the upper measuring platform; a light source, which is installed at the bottom of the column, and the interior of the column is hollow; a camera, which is installed at the top of the column, with the lens of the camera facing the bottom of the column, for photographing the light source and monitoring the position change of the light source, thereby obtaining the real-time deformation of the measuring tower column; an underwater camera, which is installed on the lower measuring platform and correspondingly installed above the target, for photographing the target and monitoring the position and height change of the target, thereby obtaining the position and attitude change of the block; an inclinometer, which is installed on the upper measuring platform, for monitoring the attitude change of the lifting device; an inertial navigation system, which is installed on the upper measuring platform and installed at the same place as the inclinometer, for assisting in monitoring the attitude change of the lifting device and the block.

[0028] This technical solution improves the accuracy and reliability of monitoring, ensuring that the position and posture of the blocks during underwater installation are precisely controllable. At the same time, it can detect and correct deviations in construction in real time, reducing construction risks and improving the stability of the wharf structure and construction efficiency.

[0029] Based on the above scheme, the underwater block calibration and installation method in the embodiment of the present invention uses a 3D laser scanner to accurately obtain the block's dimensional parameters and the locations of target feature points, providing a reliable data foundation for subsequent lifting. A measurement and control device monitors the block's position and posture in real time and, based on the designed position coordinates, autonomously generates a navigation route to ensure the block is accurately lifted to the target location. This method significantly improves construction efficiency and accuracy, reduces manual intervention and errors, and achieves full automation and high-precision control of the underwater block process. It is particularly suitable for the complex installation requirements of irregular blocks, while reducing construction difficulty and risks, and providing strong guarantees for the stability and construction quality of the wharf structure. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] 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:

[0031] Figure 1 Flowchart of a method for calibrating and installing an underwater block according to an embodiment of the present invention;

[0032] Figure 2 A perspective view of a lifting device according to an embodiment of the present invention;

[0033] Figure 3 A partial structural perspective diagram of a lifting device according to an embodiment of the present invention;

[0034] Figure 4 This is a schematic diagram of the hook closed state in an embodiment of the present invention;

[0035] Figure 5 Schematic diagram of the hook in the open state according to an embodiment of the present invention;

[0036] Figure 6 for Figure 3 Exploded view of the structure;

[0037] Figure 7 for Figure 3 Side view of the mid-structure;

[0038] Figure 8 This is a schematic structural diagram of the upper measurement platform in an embodiment of the present invention;

[0039] Figure 9 is a cross-sectional view of a prefabricated block according to an embodiment of the present invention;

[0040] Figure 10 This is a schematic diagram of the structure of the measurement and control device in an embodiment of the present invention;

[0041] Figure 11 Schematic top view of the measurement and control device in an embodiment of the present invention;

[0042] Figure 12 Schematic diagram of a measuring platform on a measurement and control device in an embodiment of the present invention;

[0043] Figure 13 Schematic diagram of the structure of the calibration device in an embodiment of the present invention.

[0044] In the picture:

[0045] 1. Lifting frame; 2. Hook; 3. Unhooking frame; 4. Measuring tower; 5. Drive; 6. Connecting rod; 7. Block; 8. Gantry crane; 9. 3D laser scanner;

[0046] 101. Guide tube; 102. Outrigger; 103. Mounting lug; 104. Pin; 105. Lifting lug; 106. Underwater camera;

[0047] 201, first hook piece; 202, second hook piece; 203, first pad; 301, guide post; 302, crossbar;

[0048] 401, upper measuring platform; 402, column; 403, reinforcement rib; 404, casing; 405, Beidou receiver;

[0049] 406, light source; 407, camera; 408, inclinometer; 409, inertial navigation; 601, first support rod; 602, second support rod;

[0050] 701, lifting hole; 702, second pad; 703, target; 801, mobile unit. DETAILED DESCRIPTION

[0051] 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.

[0052] 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.

[0053] 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.

[0054] 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.

[0055] like Figures 1-13 As shown, in one embodiment of the underwater block calibration and installation method and system of the present invention, the underwater block calibration and installation method includes block calibration, block hoisting, navigation route generation, and block hoisting guidance steps; wherein the block calibration step includes: after the block 7 is prefabricated, a target 703 is installed on the top surface of the block 7, and the top surface of the block 7 and the target 703 set on the top surface of the block 7 are scanned by a three-dimensional laser scanner 9 on the top of the gantry crane 8 to obtain the size parameters of the top surface of the block 7 and the relative position of the characteristic points of the target 703 and the top surface of the block 7. relationship; the step of lifting the block includes: installing the measuring tower 4 above the sling, connecting the sling with the block 7, the measuring tower 4 is used to obtain the position and posture data of the measuring tower 4 itself and the block 7, and lifting the block 7 by controlling the sling to rise; the step of generating the navigation route includes: obtaining the real-time position and real-time posture of the block 7 through the measuring tower 4, and autonomously generating a navigation route for lifting the block 7 to the designed position according to the design position coordinates of the block 7; the step of guiding the lifting of the block includes: controlling the lifting of the block 7 to the designed position according to the navigation route.

[0056] In the above-described exemplary embodiment, the underwater block calibration and installation method uses a 3D laser scanner 9 to precisely obtain the dimensional parameters of block 7 and the locations of target 703's characteristic points, providing a reliable data foundation for subsequent installation. A measurement and control device monitors the position and posture of block 7 in real time and, based on the designed position coordinates, autonomously generates a navigation route to ensure accurate installation of block 7 to the target location. This method significantly improves construction efficiency and accuracy, reduces manual intervention and errors, and achieves full automation and high-precision control of underwater block 7. It is particularly suitable for the complex installation requirements of irregular blocks 7, while reducing construction difficulty and risk, and providing strong guarantees for the stability and quality of the wharf structure.

[0057] In some embodiments, as Figure 1As shown, the step of lifting block 7 also includes a step of transporting block 7, and the step of transporting block 7 includes: transporting block 7 to the lifting site by using a transport ship.

[0058] In some embodiments, the block 7 calibration step further includes: setting a unique two-dimensional code on the top surface of the block 7, using the optical recognition module of the three-dimensional laser scanner 9 to recognize the two-dimensional code and obtain the block 7 code.

[0059] In some embodiments, in the block 7 calibration step, the prefabricated block 7 is placed in the prefabrication yard, and the gantry crane 8 moves in the prefabrication yard through the mobile unit 801 at the bottom, carrying the three-dimensional laser scanner 9 to scan the blocks 7 in the prefabrication yard in turn.

[0060] In some embodiments, in the step of generating a navigation route, the method of obtaining the real-time position and real-time posture of block 7 includes:

[0061] Obtain the relative position relationship between the upper measuring platform 401 and the block 7: the measuring tower 4 includes an upper measuring platform 401 and a 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, and an underwater camera 106 for photographing the target 703 is installed at the bottom of the lifting frame 1 of the sling, and the lifting frame 1 is used as the lower measuring platform; the camera 407 installed on the top of the column 402 is used to monitor whether the column 402 is deformed, and obtain the deformation of the measuring tower 4; according to the deformation of the measuring tower 4, the relative position relationship between the upper measuring platform 401 and the plane where the bottom end of the column 402 is located is obtained, and then according to the relative position of the bottom end of the column 402 and the lower measuring platform, the relative position relationship between the upper measuring platform 401 and the lower measuring platform is obtained; combined with the relative position of the underwater camera 106 and the block 7, the relative position relationship between the upper measuring platform 401 and the block 7 is obtained;

[0062] Obtain the real-time position of block 7: Use the Beidou receiver 405 at the corner points of the upper measurement platform 401 to obtain the positioning data of each corner point of the upper measurement platform 401, and combine the relative position relationship between the upper measurement platform 401 and block 7 to obtain the real-time position of block 7;

[0063] Obtain the real-time posture of block 7: obtain the position and height change of target 703 through underwater camera 106, thereby obtaining the relative posture data of block 7 and underwater camera 106, and then obtain the relative posture data of upper measuring platform 401 and block 7; obtain the posture data of upper measuring platform 401 through inclinometer 408 and inertial navigation 409 installed at the center of upper measuring platform 401, and obtain the real-time posture of block 7 in combination with the relative posture of upper measuring platform 401 and block 7.

[0064] In some embodiments, in the step of obtaining the relative position relationship between the upper measuring platform 401 and the block 7, the method for obtaining the deformation variable of the measuring tower 4 includes: installing a light source 406 at the bottom of the column 402, and the lens of the camera 407 shoots the light source 406 downward, monitoring the displacement change and deflection change of the light source 406 relative to the camera 407, thereby obtaining the displacement change and deflection change of the top end of the column 402 and the bottom end of the column 402 as the deformation variable of the measuring tower 4.

[0065] In some embodiments, in the step of obtaining the relative position relationship between the upper measuring platform 401 and the block 7, the method for obtaining the relative position relationship between the upper measuring platform 401 and the lower measuring platform includes: establishing a rectangular coordinate system in the plane where the camera 407 is located as the upper measuring platform 401 coordinate system, and obtaining the coordinates of the initial position of the light source 406 in the upper measuring platform 401 coordinate system; establishing a rectangular coordinate system in the plane where the underwater camera 106 is located as the lower measuring platform coordinate system, and obtaining the coordinates of the initial position of the light source 406 in the lower measuring platform coordinate system; during the hoisting process, using the camera 407 to monitor the light source 406, and obtaining the real-time coordinate change of the light source 406 in the upper measuring platform 401 coordinate system. If the coordinates of the light source 406 change, it proves that the column 402 where the light source 406 is located has deformed, and the deformation of the measuring tower 4 is the coordinate change of the light source 406; and then combining the coordinates of the light source 406 in the lower measuring platform coordinate system, obtaining the coordinate conversion parameters of the upper measuring platform 401 coordinate system and the lower measuring platform coordinate system. Figure 11 As shown, specifically, the coordinate system of the upper measuring platform 401 is established with the center point of the plane where the camera 407 is located as the origin O, and the straight lines passing through the point O and parallel to the direction of the line connecting the two adjacent cameras 407 as the X-axis and Y-axis; the coordinate system of the lower measuring platform is established with the center point of the plane where the underwater camera 106 is located as the origin O′, and the straight lines passing through the point O′ and parallel to the direction of the line connecting the two adjacent underwater cameras 106 as the x-axis and y-axis; according to the coordinate changes of the light source 406 in the coordinate system of the upper measuring platform 401, the plane deviation and deflection angle of the center point of the plane where the light source 406 is located relative to the point O are obtained; combined with the relative positional relationship between the light source 406 and the underwater camera 106, the plane deviation and deflection angle of the point O′ relative to the point O, that is, the relative positional relationship between the upper measuring platform 401 and the lower measuring platform, are obtained. This method achieves precise positioning between the upper and lower measurement platforms through coordinate conversion parameters, effectively solves the impact of structural deformation on lifting accuracy in deep water environments, and significantly improves the accuracy and reliability of position monitoring during the lifting process, thereby ensuring that Block 7 can be accurately lifted to the designed position.

[0066] In some embodiments, in the step of obtaining the real-time attitude of block 7, the method for obtaining the attitude data of the upper measurement platform 401 through the inclinometer 408 and the inertial navigation system 409 includes: the inclinometer 408 and the inertial navigation system 409 jointly output the attitude data of the upper measurement platform 401; when the output data of the inclinometer 408 and the inertial navigation system 409 are the same, the output data is used as the attitude data of the upper measurement platform 401; when the output data of the inclinometer 408 and the inertial navigation system 409 are different, the weighted average of the output data of the inclinometer 408 and the inertial navigation system 409 is calculated based on the preset weight of the inclinometer 408 data and the inertial navigation system 409 data, and the weighted average is used as the attitude data of the upper measurement platform 401. This embodiment fully considers the characteristics and possible errors of the two devices, and by reasonably allocating weights and integrating the data of both, it reduces the error impact that may be generated by a single device, and further improves the accuracy and reliability of the attitude data.

[0067] Based on the above-mentioned underwater block calibration installation method, such as Figure 2 As shown, the present invention also provides a system for calibrating and installing underwater blocks. Using the above-mentioned method for calibrating and installing underwater blocks, a target 703 for assisting in identifying the block is provided on the top surface of the block 7. The system for calibrating and installing underwater blocks includes a calibration device, a hoisting device, and a measurement and control device. Figure 13 As shown, the calibration device is set at the prefabrication site of block 7, including a gantry crane 8 and a three-dimensional laser scanner 9, and the three-dimensional laser scanner 9 is installed under the top frame of the gantry crane 8; when the gantry crane 8 is located above the block 7, the three-dimensional laser scanner 9 scans the top surface of the block 7 and the target 703, and obtains the size parameters of the top surface of the block 7, and the relative position relationship between the characteristic points of the target 703 and the top surface of the block 7; the lifting device is connected to the crane ship for lifting and installing the block 7; the measurement and control device is fixedly connected to the lifting device and is communicated with the calibration device for monitoring the position and posture of the lifting device and the block 7, and receiving the size parameters of the top surface of the block 7, and the relative position relationship between the characteristic points of the target 703 and the top surface of the block 7, so as to monitor and control the lifting device to install the block 7 to the designed underwater position.

[0068] In the above-mentioned exemplary embodiment, by scanning the top surface of block 7 and target 703 through a three-dimensional laser scanner 9, the size parameters of block 7 and the relative positional relationship between the characteristic points of target 703 and the top surface of block 7 can be accurately obtained, and the geometric characteristics of irregular blocks can be accurately calibrated, thus solving the problem of complex calibration of irregular blocks and multiple customized solutions in the prior art. This method has strong versatility and can be applied to various types of blocks 7, especially blocks 7 with asymmetric geometric shapes. After the calibration device completes the precise calibration of block 7 at the block 7 prefabrication site, the hoisting device (connected to the crane ship) hoists block 7, and the measurement and control device monitors the position and posture of block 7 in real time. The calibration data is directly used to guide hoisting and installation. The three work together to form a closed-loop control system for the installation of block 7, which can significantly improve construction efficiency and accuracy and reduce construction difficulty and risk. In summary, the underwater block calibration and installation system in this embodiment, by integrating the calibration device, hoisting device and measurement and control device, can not only adapt to the complex needs of irregular blocks, but also enhance the flexibility and versatility of construction, providing an efficient and reliable solution for the construction of Block 7 Wharf in the port project.

[0069] In some embodiments, the top surface of block 7 is provided with a unique QR code that carries the block 7's coded information; the 3D laser scanner 9 is equipped with an optical recognition module for recognizing the QR code. By combining the QR code and the optical recognition module, the 3D laser scanner 9 can simultaneously obtain the block 7's code, the dimensional parameters of the block 7's top surface, and the relative positional relationship between the target 703's characteristic points and the block 7's top surface when scanning the top surface of block 7, thus enabling automated collection and association of block 7 information and facilitating tracking and management during the construction process.

[0070] In some embodiments, as Figure 13 As shown, the bottom of the gantry crane 8 is provided with a mobile unit 801 for easy movement; after the blocks 7 are prefabricated, the gantry crane 8 moves via the mobile unit 801 to scan the top surface of the blocks 7. The provision of the mobile unit 801 enables the gantry crane 8 to flexibly move to the target location and quickly scan the top surface of the blocks 7, which is suitable for the needs of large-scale block 7 prefabrication sites.

[0071] In some embodiments, as Figure 2As shown, the lifting device includes a lifting frame 1, a hook 2, an unhooking device and a measuring tower 4; wherein the lifting frame 1 is used to connect the lifting equipment; the hook 2 is installed below the lifting frame 1 and is hinged to the lifting frame 1, and is used to connect the lifting hole 701 of the prefabricated block 7; the 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 measuring tower 4 is fixedly installed above the lifting frame 1, and the measuring tower 4 includes columns 402 installed around the lifting frame 1 and an upper measuring platform 401 on the top of the column 402, which is used to measure the positioning data of the lifting device. In this embodiment, the lifting device can obtain the positioning information of the lifting device in real time by combining the measuring tower 4 and the unhooking device, and then adjust the position of the lifting device and the block 7 in time to ensure the accuracy of the installation of the block 7; at the same time, underwater automatic unhooking can reduce the risk of manual operation; the unhooking frame 3 is driven up and down by the driver 5, and the bottom of the unhooking frame 3 is hinged to the connecting rod 6. The unhooking frame 3 drives the connecting rod 6 to move, and the connecting rod 6 drives the hook 2 to rotate, thereby realizing automatic hooking and automatic unhooking; no human intervention is required, which can reduce human operational errors, improve operational efficiency, and meet the engineering needs of lifting large quantities of blocks 7.

[0072] In some embodiments, as Figure 2 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.

[0073] In some embodiments, as Figure 10 As shown, upper measurement platform 401 is sleeved onto the top of column 402. Specifically, upper measurement platform 401 has an opening that matches column 402, and a sleeve 404 is installed at the top of the opening. Sleeve 404 sleeves the outer circumference of column 402. The provision of sleeve 404 ensures that deformation of column 402 of measurement tower 4 will not affect the shooting angle of camera 407, thereby ensuring more reliable data.

[0074] 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.

[0075] In some embodiments, as Figure 3 As shown, the hook 2 comprises at least a first hook piece 201 and a second hook piece 202 arranged crosswise, and the first hook piece 201 and the second hook piece 202 are both connected to the unhooking frame 3 through a connecting rod 6; Figure 4 As shown, when hooking, the first hook piece 201 and the second hook piece 202 are crossed and opened; Figure 4 As shown, when unhooking, the first hook piece 201 and the second hook piece 202 are closed. The arrangement of the first hook piece 201 and the second hook piece 202 makes the hooking and unhooking actions more flexible and reliable, and can adapt to prefabricated blocks 7 of different shapes and sizes, thereby improving the versatility and operational efficiency of the lifting device.

[0076] Furthermore, if Figure 4 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 blocks 7. Furthermore, the load is more evenly distributed, preventing excessive stress on a single point and improving the safety and reliability of the lifting process.

[0077] In some embodiments, as Figure 6 As shown, the actuator 5 is a hydraulic cylinder with a top plate at the end of the piston rod, which is fixedly connected to the unhooking frame 3. When the hydraulic cylinder drives the piston rod to extend, the top plate drives the unhooking frame 3 upward, and the connecting rod 6 drives the first hook piece 201 and the second hook piece 202 to close. When the hydraulic cylinder drives the piston rod to retract, the top plate drives the unhooking frame 3 downward, and the connecting rod 6 drives the first hook piece 201 and the second hook piece 202 to open. The hydraulic cylinder realizes the automated operation of the hook 2. The hydraulic cylinder has a large driving force and can meet the lifting requirements of heavy blocks 7.

[0078] 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 lifting device 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.

[0079] In some embodiments, as Figure 6 As shown, the lifting frame 1 is provided with a guide tube 101, and guide posts 301 are provided on both sides of the top of the hook 2. The unhooking device also includes guide posts 301, which are sleeved within 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 provision 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 lifting device.

[0080] It should be noted that if Figure 6 As shown, a crossbar 302 is provided at the bottom of the guide post 301 for connecting the first hook pieces 201. The crossbar 302 is arranged perpendicular to the guide post 301. The ends of the crossbar 302 are respectively hinged to the connecting rod 6 to achieve synchronous rotation of the two first hook pieces 201. The provision of the crossbar 302 ensures that the two first hook pieces 201 can achieve synchronous rotation, thereby ensuring consistent movement of the hook 2 during hooking and unhooking operations.

[0081] In some embodiments, as Figure 6 As shown, the connecting rod 6 includes a first support rod 601 and a second support rod 602. The first support rod 601 is hinged to the guide column 301, and 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 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 of the hook 2, while reducing friction and resistance during movement, thereby improving the operating efficiency and service life of the lifting device.

[0082] In some embodiments, as Figure 5As shown, a support leg 102 is further provided under the lifting frame 1. When the lifting device 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 device from tilting or shaking due to uneven force, and improves the stability and safety of the lifting process.

[0083] In some embodiments, as Figure 6 As shown, the bottom of the lifting frame 1 is provided with a lug 103 for mounting the hook 2. The lug 103 is provided 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 lifting device. Specifically, the first hook piece 201 and the second hook piece 202 of the hook 2 are suspended from the pin 104.

[0084] In some embodiments, as Figure 6 As shown, a lifting lug 105 for connecting a lifting device is installed above the lifting frame 1. By the provision of the lifting lug 105, the connection between the lifting device and the lifting device is more stable, can withstand a larger load, and is convenient for rapid installation and removal.

[0085] In some embodiments, as Figure 7 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.

[0086] In some embodiments, as Figure 4 As shown, the first hook piece 201 is provided with a beveled portion near the bottom of 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 7.

[0087] In some embodiments, as Figure 9As 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.

[0088] In some embodiments, as Figure 10 As shown, the lifting frame 1 serves as the lower measuring platform of the measurement and control device, which includes a Beidou receiver 405, a light source 406, a camera 407, an underwater camera 106, an inclinometer 408 and an inertial navigation system 409; wherein, at least three Beidou receivers 405 are provided and are respectively installed at the corner points of the upper measuring platform 401, for obtaining the real-time positioning of the corner points of the upper measuring platform 401; the light source 406 is installed at the bottom of the column 402, and the column 402 is hollow; the camera 407 is installed at the top of the column 402, and the lens of the camera 407 is facing the bottom of the column 402, for photographing the light source. 406 and monitors the position changes of the light source 406, thereby obtaining the real-time deformation of the column 402 of the measurement tower 4; the underwater camera 106, which is installed on the lower measurement platform and correspondingly installed above the target 703, is used to photograph the target 703 and monitor the position and height changes of the target 703, thereby obtaining the position and attitude changes of the block 7; the inclinometer 408, which is installed on the upper measurement platform 401, is used to monitor the attitude changes of the lifting device; the inertial navigation system 409, which is installed on the upper measurement platform 401 and is installed at the same location as the inclinometer 408, is used to assist in monitoring the attitude changes of the lifting device and the block 7. This embodiment realizes all-round real-time monitoring of the position, attitude and deformation of the lifting device and the block 7 by integrating multiple high-precision monitoring equipment such as the Beidou receiver 405, the light source 406, the camera 407, the underwater camera 106, the inclinometer 408 and the inertial navigation system 409. Beidou receiver 405 provides high-precision positioning data, while light source 406 and camera 407 work together to monitor the deformation of measurement tower 4 column 402. Underwater camera 106 captures the position and height changes of target 703 in real time. Inclinometer 408 and inertial navigation system 409 precisely monitor the attitude changes of the lifting device and Block 7. This multi-sensor fusion design significantly improves monitoring accuracy and reliability, ensuring the precise and controllable position and attitude of Block 7 during underwater installation. It also enables real-time detection and correction of construction deviations, reducing construction risks and improving the stability and efficiency of the wharf structure.

[0089] It should be noted that the three BeiDou receivers 405 are not collinear.

[0090] In some embodiments, the measurement and control device further includes a bracket for mounting an underwater camera 106. The underwater camera 106 is mounted on the lower measurement platform via the bracket. The bracket is not shown in the figure. The provision of the bracket facilitates the installation, adjustment, and maintenance of the underwater camera 106.

[0091] The distance between the underwater camera 106 and the top surface of the block 7 is at least 1 m to ensure that the underwater camera 106 can capture a clear image of the target 703 while avoiding the problem of limited viewing angle or image distortion caused by the close distance.

[0092] The measurement and control device also includes a processor, which is respectively connected to the three-dimensional laser scanner 9, the Beidou receiver 405, the camera 407, the underwater camera 106, the inclinometer 408 and the inertial navigation 409. The processor is used to receive the block 7 code, the size parameters of the top surface of the block 7, the relative position relationship between the target 703 feature point and the top surface of the block 7 obtained by the three-dimensional laser scanner 9, and associate the data of each block 7; the processor is also used to obtain the position change of the light source 406 obtained by the camera 407, the column 408 of the measurement tower 4 2, and then obtain the real-time relative position of the upper measuring platform 401 and the lower measuring platform; and in combination with the position change of the target 703 obtained by the underwater camera 106, according to the real-time positioning obtained by the Beidou receiver 405, calculate the real-time position of the block 7; the processor is also used to obtain the attitude change of the block 7 according to the position change of the target 703 obtained by the underwater camera 106, and in combination with the attitude change of the hoisting device obtained by the inclinometer 408 and the data change of the inertial navigation 409 during the hoisting process, calculate the real-time attitude of the block 7.

[0093] 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 hoist block 7 to the designed position based on the real-time position and attitude of block 7 and the designed hoisting position of block 7. The controller implements closed-loop control of the hoisting process, and through real-time data feedback and automatic adjustment, significantly improves hoisting accuracy and efficiency, ensuring that block 7 can quickly and accurately reach the designed position, thereby enhancing the safety and reliability of the overall construction.

[0094] In some embodiments, as Figure 8 As shown, upper measurement platform 401 is sleeved onto the top of column 402. Specifically, upper measurement platform 401 has an opening that matches column 402, with a sleeve 404 located at the top of the opening. Sleeve 404 sleeves onto the outer perimeter of column 402, and camera 407 is secured to sleeve 404 via a steel plate. Sleeve 404 prevents deformation of column 402 of measurement tower 4 from affecting the camera 407's shooting angle, thus ensuring more reliable data.

[0095] Example 1

[0096] This embodiment involves the construction of a gravity-type 7-block pier. The maximum weight of the 7-block pier is 620 tons, and the 7-block models vary. The total number of 7-blocks is over 3,000, and the maximum installation water depth is 27 meters. Due to the heavy weight, diverse models, and large number of 7-blocks in this embodiment, and the deep construction water depth, high requirements are placed on construction precision and efficiency. The underwater block calibration and installation system and method provided by the present invention are employed for construction to ensure high-precision and high-efficiency construction.

[0097] The top surface of block 7 is provided with a target 703 for assisting in identifying block 7. There are multiple targets 703, which are respectively installed on the surface of block 7 to assist in identifying the position and posture of block 7. In this embodiment, four targets 703 are provided, and the four targets 703 are respectively installed on the top surface of block 7. After the targets 703 are installed, the relative positions of the targets 703 and the corners of block 7 are fixed. Furthermore, in order to ensure that the underwater camera 106 can clearly identify the target 703 in a deep water environment, the target 703 adopts a circular design with a black outer circle and a white center, so as to correspond to the recognition of the underwater camera 106 and enhance the recognition contrast in the deep dark environment. In addition, the underwater camera 106 usually infers the target 7 by identifying the size of the white part in the center of the target 703. 03 and the camera unit, so it is necessary to ensure that the area of the white part in the middle of the target 703 is not too small to be unclear, nor too large to be out of the acquisition range of the underwater camera 106 lens. After testing, in a water depth of 30m, the most suitable size is the target 703 with an outer diameter of 8cm and a central white area with a diameter of 4cm. In order 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 reduce the mirror reflection of the target 703.

[0098] In this embodiment, the calibration and installation system of the underwater block includes a calibration device, a hoisting device and a measurement and control device; wherein,

[0099] 1) Calibration device

[0100] The calibration device is set up in the prefabrication site of block 7, as Figure 13As shown, the system includes a gantry crane 8 and a 3D laser scanner 9, which is mounted below the top frame of the gantry crane 8. When the gantry crane 8 is positioned above the block 7, the 3D laser scanner 9 scans the top surface of the block 7 and the target 703, acquiring the dimensional parameters of the top surface of the block 7 and the relative positional relationship between the characteristic points of the target 703 and the top surface of the block 7. The top surface of the block 7 is provided with a unique QR code that carries the block 7 encoding information. The 3D laser scanner 9 is equipped with an optical recognition module for identifying the QR code. The 3D laser scanner 9 scans the top surface of the block 7 and simultaneously acquires the block 7 encoding, the dimensional parameters of the top surface of the block 7, and the relative positional relationship between the characteristic points of the target 703 and the top surface of the block 7.

[0101] A moving unit 801 is provided at the bottom of the gantry crane 8 for facilitating movement; after the block 7 is prefabricated, the gantry crane 8 moves through the moving unit 801 to scan the top surface of the block 7; in this embodiment, the moving unit 801 includes a tire installed at the bottom of the gantry crane 8, and the gantry crane 8 is also provided with a motor for driving the tire to move, and the motor is equipped with a steering system.

[0102] 2) Lifting device

[0103] The lifting device is connected to the crane ship and is used to lift and install the block 7; the lifting device includes a lifting frame 1, a hook 2, an unhooking device and a measuring tower 4; wherein the lifting frame 1 is used to connect the lifting equipment; the hook 2 is installed below the lifting frame 1 and is hinged to the lifting frame 1, and is used to connect the lifting hole 701 of the prefabricated block 7; the 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 slides vertically with the lifting frame 1 Dynamic connection; the driver 5 is fixed in the lifting frame 1, and the output end of the driver 5 is connected to the unhooking frame 3, which is used to drive the unhooking frame 3 to slide up and down; one end of the connecting rod 6 is hinged to the bottom of the unhooking frame 3, and the other end is connected to the hook 2, which is used to drive the hook 2 to rotate relative to the lifting frame 1 to achieve hooking and unhooking; the measuring tower 4 is fixedly installed above the lifting frame 1, and the measuring tower 4 includes columns 402 installed around the lifting frame 1 and an upper measuring platform 401 on the top of the column 402, which is used to measure the positioning data of the lifting device.

[0104] In this embodiment, the measurement tower 4 is 25 meters high and has four columns 402 . The four columns 402 are vertically arranged, and the line connecting each column 402 and two adjacent columns 402 is perpendicular to each other. The upper measurement platform 401 is a square platform.

[0105] The hook 2 includes two first hook pieces 201 and a second hook piece 202. When closed, the second hook piece 202 is located between the two first hook pieces 201. 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 pieces 201 and the second hook piece 202 toward closing. 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 toward opening. A magnetostrictive displacement sensor is installed in the hydraulic cylinder to monitor the displacement of the piston rod, thereby detecting the status of the hook 2.

[0106] 3) Measurement and control device

[0107] The measurement and control device is fixedly connected to the hoisting device and is in communication with the calibration device. It is used to monitor the position and posture of the hoisting device and block 7, and receive the size parameters of the top surface of block 7 and the relative position relationship between the characteristic points of target 703 and the top surface of block 7, so as to monitor and control the hoisting device to install block 7 to the designed underwater position. The measurement and control device includes:

[0108] At least three BeiDou receivers 405 are provided and are installed at the corner points of the upper measurement platform 401 respectively, for obtaining the real-time positioning of the corner points of the upper measurement platform 401. Figure 11 As shown, in this embodiment, in order to ensure the accuracy of data, Beidou receivers 405 are installed at the four corner points of the upper measurement platform 401.

[0109] The light source 406 is mounted on the bottom of the pillar 402. The interior of the pillar 402 is hollow. In this embodiment, a light source 406 is provided at the bottom of each pillar 402, and a total of four light sources 406 are provided.

[0110] Camera 407 is mounted on the top of column 402 of measurement tower 4, with its lens facing the bottom of column 402. It is used to capture light source 406 and monitor its positional changes, thereby acquiring real-time deformation of column 402 of measurement tower 4. In this embodiment, a camera 407 is installed on the top of each column 402, for a total of four cameras 407. Cameras 407 are long-focal-length cameras.

[0111] The underwater camera 106 is installed on the lower measuring platform and correspondingly installed above the target 703. It is used to shoot the target 703 and monitor the position and height changes of the target 703, so as to obtain the position and posture changes of the block 7. In order to ensure the shooting lighting of the underwater camera 106, a lighting lamp is installed under the underwater camera 106 to ensure the identification of the target 703.

[0112] The inclinometer 408 is installed on the upper measuring platform 401 and is used to monitor the posture changes of the lifting device.

[0113] The inertial navigation system 409 is installed on the upper measuring platform 401 and is installed at the same place as the inclinometer 408 to assist in monitoring the attitude changes of the hoisting device and the block 7.

[0114] The processor is respectively connected to the Beidou receiver 405, the camera 407, the underwater camera 106, the inclinometer 408 and the inertial navigation system 409 for communication, and is used to obtain the real-time deformation of the column 402 of the measuring tower 4 according to the position change of the light source 406 obtained by the camera 407, and then obtain the real-time relative position of the upper measuring platform 401 and the lower measuring platform; and in combination with the position change of the target 703 obtained by the underwater camera 106, the real-time position of the block 7 is calculated according to the real-time positioning obtained by the Beidou receiver 405; the processor is also used to obtain the attitude change of the block 7 according to the position change of the target 703 obtained by the underwater camera 106, and in combination with the attitude change of the hoisting device obtained by the inclinometer 408 and the data change of the inertial navigation system 409 during the hoisting process, to calculate the real-time attitude of the block 7.

[0115] A controller, which is in communication with the processor and is used to control the hoisting device to hoist the block 7 to the designed position according to the real-time position and real-time posture of the block 7 and the designed hoisting position of the block 7;

[0116] The display is connected to the processor and the controller for displaying the real-time position and attitude of each device in the measurement and control device, and the real-time position and attitude of block 7 and the designed position.

[0117] Next, the measurement and control device using the hoisting device and the hoisting method of block 7 in this embodiment are described in detail, wherein the measurement and control device uses the hoisting frame 1 as the lower measurement platform.

[0118] (2) Calibration and installation method of underwater blocks

[0119] a. Block calibration steps

[0120] After the prefabrication of block 7 is completed, the target 703 and a unique QR code are installed on the top surface of block 7. The gantry crane 8 is driven to move by the mobile unit 801. The three-dimensional laser scanner 9 on the top of the gantry crane 8 scans the top surface of block 7, the target 703 and the QR code to generate point cloud coordinate data. The point cloud coordinates are solved jointly and the least squares method is used for adjustment to obtain the plane equation of each top surface of block 7, and then the size parameters of the top surface of block 7, the relative position relationship between the characteristic points of target 703 and the top surface of block 7, and the block 7 code are obtained, and the data is transmitted to the processor of the measurement and control device.

[0121] b. Block transportation steps

[0122] Use a transport ship to transport Block 7 to the lifting site.

[0123] c. Steps for lifting blocks

[0124] Installation and calibration of measurement and control devices:

[0125] This step unifies the position and attitude data standards of all devices in the measurement and control device through the three aspects of installation calibration, orientation calibration, and camera calibration to achieve accurate positioning. The following uses the calibration of the upper measurement platform 401 device and the calibration of the lower measurement platform device as examples to illustrate the calibration of the measurement and control device:

[0126] The installation and calibration of the upper measurement platform 401 includes the installation and calibration of the BeiDou receiver 405, the inclinometer 408, the inertial navigation system 409, the camera 407, and the installation of the light source 406:

[0127] Installation and calibration of Beidou receiver 405: A 360° prism is set coaxially below the Beidou receiver 405, and the Beidou receiver 405 is calibrated using a total station; specifically, a coaxial bracket is used to make the Beidou receiver 405 antenna coaxial with the 360° prism (that is, the plane position is consistent, only the elevation is different), and the calibration data of the total station is the Beidou position; and in this embodiment, the upper measuring platform 401 is a square, and the Beidou receiver 405 is installed at the four corner points of the upper measuring platform 401, which can represent the four corner points of the lifting device. After the position of the Beidou receiver 405 is calibrated, the center point of the upper measuring platform 401 is used as the origin, and the straight lines passing through the origin and parallel to the adjacent side lines of the upper measuring platform 401 are used as the horizontal and vertical axes to establish a calibration coordinate system for the upper measuring platform 401, and this calibration coordinate system is used as a benchmark for the calibration of other equipment.

[0128] Installation and calibration of inclinometer 408: Install inclinometer 408 at the origin of the calibration coordinate system, and make the heel axis and pitch axis inside inclinometer 408 coincide with the horizontal axis and vertical axis of the calibration coordinate system; after inclinometer 408 is installed in the specified position, calibrate it according to the actual tilt value displayed by Beidou receiver 405. The reading of inclinometer 408 after calibration is the true posture of the lifting device.

[0129] Installation and calibration of the inertial navigation system 409: The inertial navigation system 409 is installed above the inclinometer 408, and the coordinate axes inside the inertial navigation system 409 are parallel to the coordinate axes of the calibration coordinate system.

[0130] Installation and calibration of camera 407: The calibration of camera 407 includes two parts: land calibration and installation calibration. The land calibration method includes: placing camera 407 on the ground, making a marker of the same size as light source 406 and placing it on the ground. The distance between the marker and camera 407 is equal to the height of the column 402 of the measuring tower 4. In this embodiment, the marker is 25m away from the camera 407. The number of pixels of the marker obtained by camera 407 is used to calibrate the internal orientation parameters of camera 407 and establish the internal coordinate system of camera 407. At this time, camera 407 can obtain the actual distance and plane position deviation between the two based on the pixel size and offset of the photographed marker. The installation and calibration method includes: the camera 407 is installed on the top of the column 402 of the measuring tower 4, and the lens is facing downward to shoot the bottom direction of the column 402. The tail of the camera 407 is welded to the sleeve 404 of the upper measuring platform 401 through a steel plate. A rectangular coordinate system consistent with the internal coordinate system of the camera 407 is specified on the steel plate. When installing the camera 407, the rectangular coordinate system on the steel plate is made parallel to the calibration coordinate system; after the installation is completed, the relative position relationship between the camera 407 and the Beidou receiver 405 at its corresponding corner point is calibrated using a total station, and the coordinates of the camera 407 are converted into the calibration coordinate system.

[0131] The installation and calibration of the lower measurement platform includes the installation and calibration of the underwater camera 106, the target 703, and the light source 406:

[0132] Installation and calibration of the underwater camera 106 and the light source 406: The light source 406 is installed at the bottom center of the column 402 of the measuring tower 4 and is fixedly connected to the column 402 via a flange; the underwater camera 106 is installed at the four corners of the lifting frame 1, and the target 703 is installed on the surface of the replacement block 7. The distance between the underwater camera 106 and the target 703 is equal to the height difference between the lifting frame 1 and the top surface of the block 7. The internal orientation parameters of the underwater camera 106 are calibrated by the number of pixels of the target 703 obtained by the underwater camera 106, and the internal coordinate system of the underwater camera 106 is established. At this time, the underwater camera 106 can obtain the actual distance and plane position deviation between the underwater camera 106 and the target 703 based on the pixel size and offset of the target 703. The relative position relationship between the underwater camera 106 and the corresponding corner point light source 406 is calibrated using a total station. The camera 407 on the upper measuring platform 401 is turned on and data is recorded. The camera 407 obtains the actual plane position of the light source 406 and infers the relative position relationship between the light source 406 and the camera 407. Based on the relative position relationship between the camera 407 and the light source 406, and the relative position relationship between the light source 406 and the underwater camera 106, the coordinates of the underwater camera 106 and the light source 406 are converted into the calibration coordinate system. The angle between the coordinate axes of the internal coordinate system of the underwater camera 106 and the calibration coordinate system is calculated and corrected. The parameters of the underwater camera 106 are changed so that the coordinate axes of the internal coordinate system of the underwater camera 106 are consistent with those of the calibration coordinate system.

[0133] Connect the lifting device to block 7 for lifting: connect the lifting ship to the lifting frame 1, control the movement of the lifting frame 1 to make the hook 2 extend into the lifting hole 701, use the driver 5 to drive the unhooking frame 3 to move upward, the connecting rod 6 drives the hook 2 to open, and the hook 2 is engaged with the lifting hole 701.

[0134] d. Generate navigation route steps

[0135] The measurement and control device identifies the information of Block 7, obtains the real-time position and real-time posture of Block 7, and autonomously generates a navigation route for hoisting Block 7 to the designed position based on the designed position coordinates of Block 7.

[0136] Methods for obtaining the real-time position and real-time posture of Block 7 include:

[0137] Obtain the relative position relationship between the upper measuring platform 401 and the block 7: Use the camera 407 to obtain the position change of the light source 406 to monitor whether the column 402 is deformed, thereby obtaining the deformation of the measuring tower 4; obtain the relative position relationship between the upper measuring platform 401 and the plane where the light source 406 is located based on the deformation of the measuring tower 4, and then obtain the relative position relationship between the upper measuring platform 401 and the lower measuring platform based on the relative position of the light source 406 and the lower measuring platform; combine the relative position of the underwater camera 106 and the block 7 to obtain the relative position relationship between the upper measuring platform 401 and the block 7; specifically, as Figure 12 As shown, the coordinate system of the upper measuring platform 401 is established with the center point of the plane where the camera 407 is located as the origin O, and the straight lines passing through point O and parallel to the direction of the line connecting the two adjacent cameras 407 as the X-axis and Y-axis; the coordinate system of the lower measuring platform is established with the center point of the plane where the underwater camera 106 is located as the origin O′, and the straight lines passing through point O′ and parallel to the direction of the line connecting the two adjacent underwater cameras 106 as the x-axis and y-axis; according to the coordinate changes of the light source 406 in the coordinate system of the upper measuring platform 401, the plane deviation and deflection angle of the center point of the plane where the light source 406 is located relative to point O are obtained; combined with the relative positional relationship between the light source 406 and the underwater camera 106, the plane deviation and deflection angle of point O′ relative to point O are obtained, that is, the relative positional relationship between the upper measuring platform 401 and the lower measuring platform;

[0138] Obtaining the real-time position of block 7: obtaining the real-time position of block 7 based on the positioning data obtained by the Beidou receiver 405 and the relative position relationship between the upper measurement platform 401 and block 7;

[0139] Obtain the real-time posture of block 7: obtain the position and height change of target 703 through underwater camera 106, thereby obtaining the relative posture data of block 7 and underwater camera 106, and then obtain the relative posture data of upper measuring platform 401 and block 7; obtain the posture data of upper measuring platform 401 through inclinometer 408 and inertial navigation 409, and obtain the real-time posture of block 7 in combination with the relative posture of upper measuring platform 401 and block 7.

[0140] The method for obtaining the attitude data of the upper measuring platform 401 through the inclinometer 408 and the inertial navigation system 409 includes: the inclinometer 408 and the inertial navigation system 409 jointly output the attitude data of the upper measuring platform 401; when the output data of the inclinometer 408 and the inertial navigation system 409 are the same, the output data are used as the attitude data of the upper measuring platform 401; when the output data of the inclinometer 408 and the inertial navigation system 409 are different, the weighted average of the output data of the inclinometer 408 and the inertial navigation system 409 are calculated according to the preset inclinometer 408 data weight and the inertial navigation system 409 data weight, and used as the attitude data of the upper measuring platform 401.

[0141] After obtaining the attitude data of the upper measuring platform 401, the measuring tower 4 and the hoisting device are fixedly connected as a whole, so the attitude data of the upper measuring platform 401 and the lower measuring platform should be consistent; however, due to factors such as the prefabrication deviation of the block 7 or the hook deviation of the hook 2, it is difficult for the hoisting device and the block 7 to be in a standard 90° vertical attitude. The method for obtaining the real-time attitude of the block 7 in this embodiment includes: using the data measured by the underwater camera 106 to measure the attitude difference between the hoisting device and the block 7, selecting three underwater cameras 106, and recording the height difference between each underwater camera 106 and the target 703 as H1, H2, and H3 respectively, recording the side length of the prefabricated cube 7 as l, and the lateral inclination of the upper measuring platform 401 measured by the inclinometer 408 and the inertial navigation 409 as r, and the longitudinal inclination as p, using formula (1) to calculate the lateral inclination m of the block 7, and using formula (2) to calculate the longitudinal inclination n of the block 7. The expression of formula (1) is:

[0142] m=arcsin[(H1-H3) / l]+r (1);

[0143] The expression of formula (2) is:

[0144] n=arcsin[(H1-H2) / l]+p (2).

[0145] e. Instruction Box 7 Hoisting Steps

[0146] According to the navigation route, the staff controls the lifting device through the controller to lift block 7 to the designed position.

[0147] Through the description of multiple embodiments of the underwater block calibration and installation method and system of the present invention, it can be seen that the underwater block calibration and installation method and system embodiments of the present invention have at least one or more of the following advantages:

[0148] 1. The underwater block calibration and installation method provided by the present invention significantly improves construction efficiency and accuracy, reduces manual intervention and errors, and realizes full-process automation and high-precision control of the underwater block 7. It is particularly suitable for the complex installation requirements of irregular blocks, while reducing construction difficulty and risks, and providing strong guarantees for the stability of the wharf structure and construction quality.

[0149] 2. The underwater block calibration and installation system provided by the present invention uses a three-dimensional laser scanner 9 to scan the top surface of the block 7 and the target 703, and can accurately obtain the dimensional parameters of the block 7 and the relative position relationship between the characteristic points of the target 703 and the top surface of the block 7. It can also accurately calibrate the geometric characteristics of irregular blocks, solving the problems of complex irregular block calibration and multiple customized solutions in the existing technology.

[0150] 3. The underwater block calibration and installation system provided by the present invention, by integrating a calibration device, a lifting device and a measurement and control device, can not only adapt to the complex needs of irregular blocks, but also enhance the flexibility and versatility of construction, providing an efficient and reliable solution for the construction of Block 7 Wharf in the port project.

[0151] 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.

[0152] 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 calibrating and installing an underwater block, characterized in that: The following steps are involved: Block calibration: After the block is prefabricated, a target is installed on the top surface of the block. The top surface of the block and the target set on the top surface of the block are scanned by a 3D laser scanner on the top of the gantry crane to obtain the size parameters of the top surface of the block and the relative position relationship between the target feature points and the top surface of the block; Lifting the cube: Install the measuring tower above the spreader, connect the spreader to the cube, and use the measuring tower to obtain the position and posture data of the measuring tower itself and the cube. Lift the cube by controlling the spreader to rise. Generate navigation route: Obtain the real-time position and attitude of the cube through the measurement tower, and autonomously generate a navigation route for lifting the cube to the designed position based on the cube's designed position coordinates; Guide the hoisting of blocks: According to the navigation route, control the hoisting of blocks to the designed position.

2. The method for calibrating and installing an underwater block according to claim 1, characterized in that: The block calibration step also includes: setting a unique QR code on the top surface of the block, using the optical recognition module of the three-dimensional laser scanner to recognize the QR code and obtain the block code.

3. The method for calibrating and installing an underwater block according to claim 1, characterized in that: In the block calibration step, the prefabricated blocks are placed in the prefabrication yard. The gantry crane moves in the prefabrication yard through the mobile unit at the bottom, carrying a three-dimensional laser scanner to scan the blocks in the prefabrication yard one by one.

4. The method for calibrating and installing an underwater block according to claim 1, wherein: In the step of generating a navigation route, the methods for obtaining the real-time position and real-time posture of the block include: Obtain the relative positional relationship between the upper measuring platform and the block: The measuring tower includes an upper measuring platform and a hollow column. The upper measuring platform is mounted on the top of the column. The bottom of the column is fixedly connected to a sling. An underwater camera for photographing the target is mounted at the bottom of the sling's lifting frame, and the lifting frame serves as the lower measuring platform. The camera mounted on the top of the column is used to monitor whether the column has deformed, thereby obtaining the deformation of the measuring tower. Based on the deformation of the measuring tower, the relative positional relationship between the upper measuring platform and the plane where the bottom of the column is located is obtained. Then, based on the relative position of the bottom of the column and the lower measuring platform, the relative positional relationship between the upper measuring platform and the lower measuring platform is obtained. The relative positional relationship between the upper measuring platform and the block is obtained by combining the relative position of the underwater camera 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; Obtain the real-time attitude of the cube: The position and height change of the target are obtained through the underwater camera, thereby obtaining the relative attitude data between the cube and the underwater camera, and then obtaining the relative attitude data between the upper measurement platform and the cube; the attitude data of the upper measurement platform is obtained through the inclinometer and inertial navigation installed at the center of the upper measurement platform, and the real-time attitude of the cube is obtained by combining the relative attitude of the upper measurement platform and the cube.

5. The method for calibrating and installing an underwater block according to claim 4, characterized in that: In the step of obtaining the relative position relationship between the upper measuring platform and the block, the method for obtaining the shape variable of the measuring tower includes: installing a light source at the bottom of the column, shooting the light source downward with the camera lens, monitoring the displacement change and deflection change of the light source relative to the camera, thereby obtaining the displacement change and deflection change of the top end and the bottom end of the column as the shape variable of the measuring tower.

6. A system for calibrating and installing underwater blocks, characterized in that: The method for calibrating and installing an underwater block according to any one of claims 1 to 5 is adopted, wherein a target for assisting in identifying the block is provided on the top surface of the block, and the system for calibrating and installing the underwater block comprises: A calibration device is installed at the block prefabrication site and includes a gantry crane and a 3D laser scanner. The 3D laser scanner is installed below the gantry ceiling frame. When the gantry crane is located above the block, the 3D laser scanner scans the top surface of the block and the target to obtain the dimensional parameters of the top surface of the block and the relative position relationship between the target feature points and the top surface of the block. A lifting device connected to the crane ship for lifting and installing the blocks; The measurement and control device is fixedly connected to the lifting device and is in communication with the calibration device. It is used to monitor the position and posture of the lifting device and the block, and receive the size parameters of the top surface of the block and the relative position relationship between the target feature points and the top surface of the block, so as to monitor and control the lifting device to install the block to the designed underwater position.

7. The underwater block calibration and installation system according to claim 6, characterized in that: A unique QR code is set on the top surface of the block, and the QR code carries the block coding information; the three-dimensional laser scanner is equipped with an optical recognition module for identifying the QR code.

8. The underwater block calibration and installation system according to claim 6, characterized in that: A moving unit is provided at the bottom of the gantry crane to facilitate movement; after the blocks are prefabricated, the gantry crane moves through the moving unit to scan the top surface of the blocks.

9. The underwater block calibration and installation system according to claim 6, characterized in that: The lifting device includes: Lifting frame, used to connect lifting equipment; A lifting hook is installed below the lifting frame and is hinged to the lifting frame, and is used to connect to the lifting holes of the prefabricated blocks; The unhooking device includes an unhooking frame, a driver, and a connecting rod, and is used to realize automatic hooking and unhooking of the hook; wherein the unhooking frame is parallel to the lifting frame and is slidably connected to the lifting frame in a vertical direction; the driver is fixed in the lifting frame, and the output end of the driver is connected to the unhooking frame, and is used to drive the unhooking frame to slide up and down; one end of the connecting rod is hinged to the bottom of the unhooking frame, and the other end is connected to the hook, and is used to drive the hook to rotate relative to the lifting frame to realize hooking and unhooking; The measuring tower is fixedly installed above the lifting frame. The measuring tower includes columns installed around the lifting frame and an upper measuring platform on the top of the columns, which is used to measure the positioning data of the lifting device.

10. The underwater block calibration and installation system according to claim 9, characterized in that: The lifting frame serves as the lower measuring platform of the measurement and control device, which 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; The light source is installed at the bottom of the column, and the interior of the column is hollow; A camera is installed on the top of the column with its lens facing the bottom of the column. It is used to capture the light source and monitor the position change of the light source, thereby obtaining the real-time deformation of the column. An underwater camera is installed on the lower measurement platform and above the target to photograph the target and monitor its position and height changes, thereby obtaining the position and attitude changes of the 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.

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