A method and system for calibrated installation of an underwater block

Abstract

The application relates to a kind of calibration installation method and system of underwater block, belong to underwater block installation technical field.The calibration installation method of underwater block includes block calibration, hoisting block, generating navigation route, guiding block hoisting step;Wherein, block calibration step includes: after block prefabrication is completed, target is installed on the top surface of block, the top surface of block and the target arranged on the top surface of block are scanned by three-dimensional laser scanner on the top of gantry crane, the size parameter of the top surface of block, the relative position relationship between target feature point and the top surface of block are acquired.The calibration installation method of underwater block accurately acquires the size parameter of block and target feature point position by three-dimensional laser scanner, provides reliable data basis for subsequent hoisting;The position and posture of block are monitored in real time by measuring and control device, and navigation route is autonomously generated in combination with design position coordinates, so that block can be accurately hoisted to target position.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of underwater block installation, and particularly relates to a calibration and installation method and system for underwater blocks. BACKGROUND

[0002] In port engineering, block wharfs are formed by installing prefabricated concrete blocks underwater to form a stable wharf foundation. Precise installation of blocks is crucial to ensure the stability of the wharf structure and the quality of construction, especially for irregular blocks with asymmetric geometric shapes (such as trapezoidal blocks, polygonal blocks, etc.), which are more difficult to install. The geometric characteristics of irregular blocks result in different distribution of the center of gravity and stress conditions compared to regular blocks, requiring more accurate calibration and positioning to ensure the overall stability of the wharf structure.

[0003] In the prior art, block calibration mainly uses total station setting-out method and tape method, but both methods have obvious limitations. The total station setting-out method has high precision, but the construction process is complicated, and it can only calibrate blocks one by one, which is low in efficiency. The tape method is slightly more efficient, but it has poor precision and cannot achieve batch operation. In addition, each type of block (especially irregular blocks) requires a special calibration scheme to be customized, which complicates data processing and further increases construction difficulty and time cost.

[0004] Therefore, how to provide an efficient calibration and installation method suitable for irregular blocks is a technical problem that needs to be solved at present. SUMMARY

[0005] In view of the deficiencies in the prior art, the present application provides a calibration and installation method and system for underwater blocks, which accurately obtains the size parameters and target feature point positions of the blocks through a three-dimensional laser scanner, providing a reliable data basis for subsequent hoisting. The measurement and control device monitors the position and attitude of the block in real time and generates a navigation route autonomously in combination with the design position coordinates, ensuring that the block can be accurately hoisted to the target position.

[0006] The present application provides a calibration and installation method for underwater blocks, comprising the following steps:

[0007] Block calibration: after the block is prefabricated, a target is installed on the top surface of the block. A three-dimensional laser scanner on the top of the gantry crane scans the top surface of the block and the target installed on the top surface of the block 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] Hoisting the block: install a measurement tower above the hoist, connect the hoist to the block, and use the measurement tower to obtain the position and attitude data of the measurement tower itself and the block. Hoist the block by controlling the hoist to rise.

[0009] Navigation route generation: the real-time position and real-time attitude of the block are obtained by the measuring tower, and a navigation route for hoisting the block to the design position is autonomously generated according to the design position coordinates of the block;

[0010] Block hoisting guidance: according to the navigation route, the block is hoisted to the design position.

[0011] The technical solution accurately obtains the size parameters and target feature point positions of the block through the three-dimensional laser scanner, providing a reliable data basis for subsequent hoisting; the position and attitude of the block are monitored in real time by the measurement and control device, and a navigation route is autonomously generated in combination with the design position coordinates, ensuring that the block can be accurately hoisted to the target position.

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

[0013] In some embodiments, in the block calibration step, the prefabricated block is placed in the prefabrication yard, the gantry crane travels in the prefabrication yard through the movement unit at the bottom, and the three-dimensional laser scanner carried by the gantry crane scans the blocks in the prefabrication yard one by one.

[0014] In some embodiments, in the navigation route generation step, the method for obtaining the real-time position and real-time attitude of the block includes:

[0015] Obtaining the relative position relationship between the upper measurement platform and the block: the measuring tower includes an upper measurement platform and an internal hollow column, the upper measurement platform is installed at the top of the column, the bottom of the column is fixedly connected with the lifting tool, and an underwater camera for shooting the target is installed at the bottom of the lifting frame of the lifting tool, taking the lifting frame as the lower measurement platform; the deformation of the column is monitored by using the camera installed at the top of the column to obtain the deformation amount of the measuring tower; the relative position relationship between the upper measurement platform and the plane where the bottom end of the column is located is obtained according to the deformation amount of the measuring tower, and then the relative position relationship between the upper measurement platform and the lower measurement platform is obtained according to the relative position between the bottom end of the column and the lower measurement platform; the relative position relationship between the upper measurement platform and the block is obtained in combination with the relative position between the underwater camera and the block;

[0016] Obtaining the real-time position of the block: the Beidou receiver at the corner point of the upper measurement platform is used to obtain the positioning data of each corner point of the upper measurement platform, and the real-time position of the block is obtained in combination with the relative position relationship between the upper measurement platform and the block;

[0017] Obtaining real-time attitude of the block: the position and height change of the target are obtained through the underwater camera to obtain the relative attitude data of the block and the underwater camera, and then the relative attitude data of the upper measuring platform and the block are obtained; the attitude data of the upper measuring platform are obtained through the tiltmeter and the inertial navigation device installed at the center of the upper measuring platform, and the real-time attitude of the block is obtained by combining the relative attitude of the upper measuring platform and the block.

[0018] In some embodiments, in the step of obtaining the relative position relationship between the upper measuring platform and the block, the method for obtaining the deformation variable of the measuring tower comprises: installing a light source at the bottom of the column, and the lens of the camera downwardly shoots the light source to monitor the displacement change and the deflection angle change of the light source relative to the camera, so as to obtain the displacement change and the deflection angle change of the top end of the column and the bottom end of the column as the deformation variable of the measuring tower.

[0019] Based on the above-mentioned calibration and installation method of the underwater block, the application further provides a calibration and installation system of the underwater block, which adopts the above-mentioned calibration and installation method of the underwater block, and the top surface of the block is provided with a target for assisting in identifying the block. The calibration and installation system of the underwater block comprises: a calibration device arranged at a block prefabrication site, comprising a gantry crane and a three-dimensional laser scanner, and the three-dimensional laser scanner is installed below the top frame of the gantry crane; when the gantry crane is located above the block, the three-dimensional laser scanner scans the top surface of the block and the target 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; a hoisting device connected with a crane ship for hoisting and installing the block; a measurement and control device fixedly connected with the hoisting device and in communication connection with the calibration device for monitoring the position and attitude of the hoisting device and the block, and receiving 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 to monitor and control the hoisting device to install the block to the underwater design position.

[0020] The technical solution can accurately calibrate the geometric characteristics of irregular blocks, and solves the problems of complex calibration of irregular blocks and multiple customized solutions in the prior art.

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

[0022] The technical solution can realize automatic acquisition and association of block information, and is convenient for tracking and management in the construction process.

[0023] In some embodiments, the gantry crane is provided with a mobile unit for facilitating movement; after the block is prefabricated, the gantry crane moves through the mobile unit to scan the top surface of the block.

[0024] The mobile unit is arranged, so that the gantry crane can flexibly travel to the target position to quickly scan the top surface of the block, and meet the needs of large-scale block prefabrication site.

[0025] In some embodiments, the hoisting device comprises a hoisting frame connected to the hoisting equipment, a hook mounted below the hoisting frame and hinged to the hoisting frame for connecting the lifting hole of the prefabricated block, an unhooking device comprising an unhooking frame, a driver and a connecting rod for automatic hooking and unhooking of the hook, wherein the unhooking frame is parallel to the hoisting frame and is connected to the hoisting frame in the vertical direction, the driver is fixed in the hoisting frame, 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 rotating the hook relative to the hoisting frame to realize hooking and unhooking, and a measuring tower is fixedly installed above the hoisting frame, the measuring tower comprises a column installed around the hoisting frame and an upper measuring platform at the top of the column for measuring the positioning data of the hoisting device.

[0026] The present technical solution can realize automatic hooking and unhooking without manual intervention, reduce human operation errors, improve operation efficiency, and meet the engineering needs of large-scale block hoisting.

[0027] In some embodiments, the hoisting frame serves as the lower measuring platform of the measuring and control device, and the measuring and control device comprises a Beidou receiver arranged at least three and 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 installed at the bottom of the column and hollow inside the column, a camera installed at the top of the column with the lens facing the bottom of the column for shooting the light source and monitoring the position change of the light source to obtain the real-time deformation of the column of the measuring tower, an underwater camera installed on the lower measuring platform and corresponding to the upper part of the target for shooting the target and monitoring the position and height change of the target to obtain the position and attitude change of the block, an inclinometer installed on the upper measuring platform for monitoring the attitude change of the hoisting device, and an inertial navigation system installed on the upper measuring platform and at the same position as the inclinometer for assisting in monitoring the attitude change of the hoisting device and the block.

[0028] The present technical solution improves the accuracy and reliability of monitoring, ensures the accurate controllability of the position and attitude of the block during underwater installation, can find and correct deviations in construction in real time, reduces the construction risk, and improves the stability and construction efficiency of the wharf structure.

[0029] Based on the above scheme, the underwater block calibration and installation method in this embodiment of the invention uses a 3D laser scanner to accurately acquire the block's size parameters and target feature point positions, providing a reliable data foundation for subsequent hoisting. The measurement and control device monitors the block's position and attitude in real time and autonomously generates a navigation route based on the designed position coordinates, ensuring the block can be accurately hoisted to the target location. This method significantly improves construction efficiency and accuracy, reduces manual intervention and errors, and achieves full-process automation and high-precision control of underwater blocks. It is particularly suitable for the complex installation requirements of irregular blocks, while reducing construction difficulty and risks, providing strong assurance for the stability of the wharf structure and construction quality. Attached Figure Description

[0030] The accompanying drawings, which are included to provide a further understanding of the invention and form part of this application, illustrate exemplary embodiments of the invention and, together with their description, serve to explain the invention and do not constitute an undue limitation thereof. In the drawings:

[0031] Figure 1 This is a flowchart of the calibration and installation method for underwater blocks in an embodiment of the present invention;

[0032] Figure 2 This is a perspective view of the hoisting device in an embodiment of the present invention;

[0033] Figure 3 This is a partial three-dimensional view of the hoisting device in an embodiment of the present invention;

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

[0035] Figure 5 This is a schematic diagram of the hook in the open state in an embodiment of the present invention;

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

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

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

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

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

[0041] Figure 11 This is a top view schematic diagram of the measurement and control device in an embodiment of the present invention;

[0042] Figure 12 Figure is a schematic diagram of the measuring platform on the measuring and controlling device in the embodiment of the present application;

[0043] Figure 13 Figure is a structural schematic diagram of the calibration device in the embodiment of the present application.

[0044] In the figure:

[0045] 1, lifting frame; 2, lifting hook; 3, unhooking frame; 4, measuring tower; 5, driver; 6, connecting rod; 7, block; 8, gantry crane; 9, three-dimensional laser scanner;

[0046] 101, guide pipe; 102, leg; 103, lug; 104, pin shaft; 105, lifting lug; 106, underwater camera;

[0047] 201, first hook piece; 202, second hook piece; 203, first backing plate; 301, guide column; 302, cross bar;

[0048] 401, upper measuring platform; 402, stand; 403, reinforcing rib; 404, sleeve; 405, Beidou receiver;

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

[0050] 701, lifting hole; 702, second backing plate; 703, target; 801, moving unit. DETAILED DESCRIPTION

[0051] The technical solutions in the embodiments will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0052] In the description of the present application, it should be understood that the terms “center”, “transverse”, “longitudinal”, “upper”, “lower”, “front”, “rear”, “left”, “right”, “vertical”, “horizontal”, “top”, “bottom”, “inner”, “outer” and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation of the present application.

[0053] The terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature.

[0054] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal communication between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[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 guiding block hoisting 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 feature points of the target 703 to the top surface of the block 7. The relationship between the lifting and hoisting steps includes: installing the measuring tower 4 above the lifting device, connecting the lifting device to the block 7, the measuring tower 4 being used to acquire the position and attitude data of the measuring tower 4 itself and the block 7, and controlling the lifting device to lift the block 7; the navigation route generation step includes: acquiring the real-time position and attitude of the block 7 through the measuring tower 4, and autonomously generating a navigation route to hoist the block 7 to the design position based on the design position coordinates of the block 7; the block hoisting guidance step includes: controlling the hoisting of the block 7 to the design position according to the navigation route.

[0056] In the above illustrative embodiment, the underwater block calibration and installation method uses a 3D laser scanner 9 to accurately acquire the size parameters of block 7 and the position of feature points of target 703, providing a reliable data foundation for subsequent hoisting. The measurement and control device monitors the position and attitude of block 7 in real time and autonomously generates a navigation route based on the designed position coordinates, ensuring that block 7 can be accurately hoisted to the target position. This method significantly improves construction efficiency and accuracy, reduces manual intervention and errors, and achieves full-process 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 risks, and providing strong guarantees for the stability of the wharf structure and construction quality.

[0057] In some embodiments, such as Figure 1As shown, the hoisting block 7 step further comprises a block 7 transportation step, which comprises transporting the block 7 to the hoisting site by a transport ship.

[0058] In some embodiments, the block 7 calibration step further comprises: setting a unique two-dimensional code on the top surface of the block 7, and identifying the two-dimensional code by an optical identification module of the three-dimensional laser scanner 9 and obtaining the code of the block 7.

[0059] In some embodiments, in the block 7 calibration step, the prefabricated block 7 is placed in the prefabrication yard, the gantry crane 8 travels in the prefabrication yard through the movement unit 801 at the bottom, and the three-dimensional laser scanner 9 carried by the gantry crane 8 scans the blocks 7 in the prefabrication yard in sequence.

[0060] In some embodiments, in the navigation route generation step, the method for obtaining the real-time position and real-time attitude of the block 7 comprises:

[0061] Obtaining the relative position relationship between the upper measurement platform 401 and the block 7: the measurement tower 4 comprises an upper measurement platform 401 and an internal hollow column 402, the upper measurement platform 401 is installed at the top of the column 402, the bottom of the column 402 is fixedly connected with the lifting tool, and an underwater camera 106 for shooting the target 703 is installed at the bottom of the lifting frame 1 of the lifting tool, taking the lifting frame 1 as a lower measurement platform; a camera 407 installed at the top of the column 402 is used to monitor whether the column 402 deforms, and the deformation amount of the measurement tower 4 is obtained; the relative position relationship between the upper measurement platform 401 and the plane where the bottom end of the column 402 is located is obtained according to the deformation amount of the measurement tower 4, and then the relative position relationship between the upper measurement platform 401 and the lower measurement platform is obtained according to the relative position between the bottom end of the column 402 and the lower measurement platform; the relative position relationship between the upper measurement platform 401 and the block 7 is obtained in combination with the relative position between the underwater camera 106 and the block 7;

[0062] Obtaining the real-time position of the block 7: the Beidou receiver 405 at the corner point of the upper measurement platform 401 is used to obtain the positioning data of each corner point of the upper measurement platform 401, and the real-time position of the block 7 is obtained in combination with the relative position relationship between the upper measurement platform 401 and the block 7;

[0063] Obtaining the real-time attitude of the block 7: the position and height change of the target 703 are obtained by the underwater camera 106, so as to obtain the relative attitude data of the block 7 and the underwater camera 106, and then the relative attitude data of the upper measurement platform 401 and the block 7 is obtained; the attitude data of the upper measurement platform 401 is obtained by the tiltmeter 408 and the inertial navigation 409 installed at the center of the upper measurement platform 401, and the real-time attitude of the block 7 is obtained in combination with the relative attitude of the upper measurement platform 401 and the block 7.

[0064] In some embodiments, in the step of obtaining the relative positional relationship between the upper measuring platform 401 and the block 7, the method of obtaining the deformation of the measuring tower 4 includes: installing a light source 406 at the bottom of the column 402, having the lens of the camera 407 shoot downwards at the light source 406, monitoring the displacement and angle changes of the light source 406 relative to the camera 407, thereby obtaining the displacement and angle changes between the top and bottom of the column 402 as the deformation of the measuring tower 4.

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

[0066] In some embodiments, in the real-time attitude acquisition step of block 7, the method for acquiring the attitude data of the upper measurement platform 401 by the inclinometer 408 and the inertial navigation device 409 includes: the inclinometer 408 and the inertial navigation device 409 jointly output the attitude data of the upper measurement platform 401, when the output data of the inclinometer 408 and the output data of the inertial navigation device 409 are the same, the output data is adopted as the attitude data of the upper measurement platform 401; when the output data of the inclinometer 408 and the output data of the inertial navigation device 409 are different, a weighted average value of the output data of the inclinometer 408 and the output data of the inertial navigation device 409 is calculated according to a preset inclinometer 408 data weight and an inertial navigation device 409 data weight, and the weighted average value is taken as the attitude data of the upper measurement platform 401. The embodiment fully considers the characteristics and possible errors of the two devices, reasonably allocates the weights, comprehensively uses the data of the two devices, reduces the error influence of a single device, and further improves the accuracy and reliability of the attitude data.

[0067] Based on the above-mentioned calibration and installation method of the underwater block, as shown in Figure 2 The present application also provides a calibration and installation system of an underwater block, which adopts the above-mentioned calibration and installation method of the underwater block, the top surface of the block 7 is provided with a target 703 for assisting in identifying the block, and the calibration and installation system of the underwater block comprises a calibration device, a hoisting device and a measurement and control device; as shown in Figure 13 The calibration device is arranged at a block 7 precasting site and comprises a gantry crane 8 and a three-dimensional laser scanner 9, and the three-dimensional laser scanner 9 is installed below 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, acquires the size parameters of the top surface of the block 7 and the relative position relationship between the feature points of the target 703 and the top surface of the block 7; the hoisting device is connected with a floating crane and is used for hoisting and installing the block 7; the measurement and control device is fixedly connected with the hoisting device and is in communication connection with the calibration device, is used for monitoring the position and attitude of the hoisting device and the block 7, and receives the size parameters of the top surface of the block 7 and the relative position relationship between the feature points of the target 703 and the top surface of the block 7, so as to monitor and control the hoisting device to install the block 7 to the underwater design position.

[0068] In the above exemplary embodiment, the top surface of the block 7 and the target 703 are scanned by the three-dimensional laser scanner 9, so that the size parameters of the block 7 and the relative position relationship between the feature points of the target 703 and the top surface of the block 7 can be accurately obtained, and the geometric characteristics of the irregular block can be accurately calibrated, thereby solving the problems of complex calibration and customized solutions of irregular blocks in the prior art. The method has strong universality and can be applied to various types of blocks 7, especially to blocks 7 with asymmetric geometric shapes. After the calibration device completes the accurate calibration of the block 7 in the block 7 prefabrication site, the hoisting device (connected with the crane ship) hoists the block 7, and the measurement and control device monitors the position and attitude of the block 7 in real time. The calibration data is directly used to guide hoisting and installation, and the three devices work together to form a closed-loop control system for block 7 installation, which can significantly improve the construction efficiency and precision and reduce the construction difficulty and risk. In summary, the calibration and installation system for underwater blocks in the embodiment can not only adapt to the complex requirements of irregular blocks, but also enhance the flexibility and universality of construction, thereby providing an efficient and reliable solution for the construction of block 7 wharf in port engineering.

[0069] In some embodiments, a unique two-dimensional code is arranged on the top surface of the block 7, and the two-dimensional code carries the coding information of the block 7. The three-dimensional laser scanner 9 is provided with an optical recognition module for recognizing the two-dimensional code. Through the arrangement of the two-dimensional code and the optical recognition module, when the three-dimensional laser scanner 9 scans the top surface of the block 7, the coding of the block 7, the size parameters of the top surface of the block 7, and the relative position relationship between the feature points of the target 703 and the top surface of the block 7 can be obtained simultaneously, thereby realizing the automatic collection and association of the information of the block 7 and facilitating the tracking and management in the construction process.

[0070] In some embodiments, as shown in Figure 13 The gantry crane 8 is provided with a mobile unit 801 at the bottom to facilitate movement. After the prefabrication of the block 7 is completed, the gantry crane 8 moves through the mobile unit 801 to scan the top surface of the block 7. Through the arrangement of the mobile unit 801, the gantry crane 8 can flexibly move to the target position to quickly scan the top surface of the block 7, thereby meeting the needs of large-scale block 7 prefabrication sites.

[0071] In some embodiments, as shown in Figure 2As shown, the hoisting device comprises a hoisting frame 1, a hook 2, an unhooking device, and a measuring tower 4; wherein the hoisting frame 1 is used for connecting a hoisting equipment; the hook 2 is installed below the hoisting frame 1 and is hinged with the hoisting frame 1, and is used for connecting a lifting hole 701 of a prefabricated block 7; the unhooking device comprises an unhooking frame 3, a driver 5, and a connecting rod 6, and is used for realizing automatic hooking and automatic unhooking of the hook 2; wherein the unhooking frame 3 is parallel to the hoisting frame 1, and is slidingly connected with the hoisting frame 1 in the vertical direction; the driver 5 is fixed in the hoisting frame 1, and an output end of the driver 5 is connected to the unhooking frame 3, and is used for driving the unhooking frame 3 to slide up and down; one end of the connecting rod 6 is hinged with a bottom of the unhooking frame 3, and the other end is connected to the hook 2, and is used for driving the hook 2 to rotate relative to the hoisting frame 1, so as to realize hooking and unhooking; the measuring tower 4 is fixedly installed above the hoisting frame 1, and comprises upright columns 402 installed around the hoisting frame 1 and an upper measuring platform 401 at top portions of the upright columns 402, and is used for measuring positioning data of the hoisting device. In the embodiment, the hoisting device can realize real-time acquisition of positioning information of the hoisting device by combining the measuring tower 4 and the unhooking device, and then timely adjust positions of the lifting appliance and the block 7, so as to ensure installation precision of the block 7; meanwhile, underwater automatic unhooking can reduce risks of manual operation; the driver 5 drives the unhooking frame 3 to slide up and down, the unhooking frame 3 is hinged with the connecting rod 6 at the bottom, the unhooking frame 3 drives the connecting rod 6 to move, and the connecting rod 6 drives the hook 2 to rotate, so as to realize automatic hooking and automatic unhooking; without manual intervention, the hoisting device can reduce human operation errors, improve operation efficiency, and meet engineering requirements of hoisting of a large number of blocks 7.

[0072] In some embodiments, as shown in Figure 2 As shown, reinforcing ribs 403 are further arranged between the upright columns 402 for reinforcing structural stability. During offshore hoisting operations, the measuring tower 4 is subjected to various external forces, such as water flow impact force, vibration during hoisting, etc., and the reinforcing ribs 403 can effectively disperse these external forces, reduce deformation and damage risks of the upright columns 402, and ensure stable work of the measuring tower 4 in complex environments.

[0073] In some embodiments, as shown in Figure 10 As shown, the upper measuring platform 401 is sleeved at top ends of the upright columns 402, and specifically, the upper measuring platform 401 is provided with openings matched with the upright columns 402, and the openings are provided with sleeves 404 sleeved at outer peripheries of the upright columns 402. Through the arrangement of the sleeves 404, when the upright columns 402 of the measuring tower 4 are deformed, the shooting angle of the camera 407 is not affected, so that the data is more reliable.

[0074] It should be noted that the height of the measuring tower 4 is set according to the hoisting water depth, and the height of the measuring tower 4 can ensure that the upper measuring platform 401 is not submerged at the maximum working water depth. Avoiding the upper measuring platform 401 being submerged by water can effectively protect the measuring equipment installed on the upper measuring platform 401, prevent it from being damaged due to immersion, prolong the service life of the equipment, and reduce the construction cost; at the same time, it also reduces the problems of inaccurate measurement data or construction interruption caused by equipment damage, and ensures the smooth progress of the construction.

[0075] In some embodiments, as shown in Figure 3 The hook 2 at least includes a first hook piece 201 and a second hook piece 202 arranged in cross, and the first hook piece 201 and the second hook piece 202 are connected with the unhooking frame 3 through the connecting rod 6; as shown in Figure 4 When the hook is hooked, the first hook piece 201 and the second hook piece 202 are crossed and opened; as shown in Figure 4 When the hook is unhooked, the first hook piece 201 and the second hook piece 202 are folded. Through the arrangement of the first hook piece 201 and the second hook piece 202, the hooking and unhooking actions are more flexible and reliable, which can adapt to prefabricated blocks 7 of different shapes and sizes, and improve the versatility and operation efficiency of the hoisting device.

[0076] Further, as shown in Figure 4 The hook 2 includes two first hook pieces 201 and one second hook piece 202, and when folded, the second hook piece 202 is located between the two first hook pieces 201. Through the arrangement of multiple hook pieces, the stability and carrying capacity of the hook 2 can be enhanced to meet the hoisting of large-weight blocks 7; at the same time, the load can be more evenly distributed to avoid excessive stress on a single point, and the safety and reliability of the hoisting process are improved.

[0077] In some embodiments, as shown in Figure 6 The driver 5 adopts a hydraulic cylinder, the end of the piston rod of the hydraulic cylinder is provided with a top plate, and the top plate is fixedly connected with the unhooking frame 3; when the hydraulic cylinder drives the piston rod to extend, the top plate drives the unhooking frame 3 to move upward, and the connecting rod 6 drives the first hook piece 201 and the second hook piece 202 to tend to fold; when the hydraulic cylinder drives the piston rod to retract, the top plate drives the unhooking frame 3 to move downward, and the connecting rod 6 drives the first hook piece 201 and the second hook piece 202 to tend to open. Through the hydraulic cylinder, the automatic operation of the hook 2 is realized, the driving force of the hydraulic cylinder is large, and it can adapt to the hoisting demand of large-weight blocks 7.

[0078] In some embodiments, a magnetic displacement sensor is installed in the hydraulic cylinder, which is used to monitor the displacement of the piston rod and obtain the state of the hook 2. Through the setting of the magnetic displacement sensor, the opening and closing state of the hook 2 can be monitored in real time, ensuring the accuracy and safety of the lifting process, providing real-time feedback for the operator, facilitating timely adjustment and abnormal handling, and further improving the reliability and intelligent level of the lifting operation. Specifically, the prefabricated block 7 lifting device in the embodiment is also in communication connection with a control system, and the control system controls the operation of the hydraulic cylinder; when the hydraulic cylinder drives the piston rod to extend, the magnetic displacement sensor detects the extension displacement of the piston rod; when the hydraulic cylinder drives the piston rod to retract, the magnetic displacement sensor detects the retraction displacement of the piston rod; the magnetic displacement sensor transmits the extension displacement and retraction displacement of the piston rod to the control system, and the control system judges the position of the piston rod according to the change of the displacement data, thereby inferring the state of the hook 2.

[0079] In some embodiments, as shown in Figure 6 The lifting frame 1 is provided with a guide pipe 101, and guide columns 301 are arranged on both sides of the top of the hook 2; the unhooking device further comprises the guide columns 301, which are sleeved in the guide pipe 101 and are in sliding connection with the guide pipe 101, the upper end of the guide column 301 is fixedly connected with the unhooking frame 3, and the lower end is hingedly connected with the connecting rod 6. Through the setting of the guide pipe 101 and the guide column 301, the stability and accuracy of the unhooking frame 3 during upward and downward sliding are ensured, and the shaking or deviation of the unhooking frame 3 during movement is avoided, thereby improving the reliability and operation efficiency of the lifting device.

[0080] It should be noted that, as shown in Figure 6 The bottom of the guide column 301 for connecting the first hook piece 201 is further provided with a cross bar 302, which is perpendicular to the guide column 301, and the two ends of the cross bar 302 are hingedly connected with the connecting rod 6, so as to realize the synchronous rotation of the two first hook pieces 201. Through the setting of the cross bar 302, the synchronous rotation of the two first hook pieces 201 is ensured, thereby ensuring the consistency of the action of the hook 2 during hooking and unhooking operations.

[0081] In some embodiments, as shown in Figure 6 The connecting rod 6 comprises a first branch rod 601 and a second branch rod 602, the first branch rod 601 is hingedly connected with the guide column 301, one end of the second branch rod 602 is hingedly connected with the first branch rod 601, and the other end is connected with the hook 2. Through the segmented design of the first branch rod 601 and the second branch rod 602, the movement of the connecting rod 6 is more flexible, which can better adapt to the opening and closing action of the hook 2, while reducing the friction and resistance during movement, thereby improving the operation efficiency and service life of the lifting device.

[0082] In some embodiments, as shown in Figure 5As shown, the hoisting frame 1 is further provided with a supporting leg 102 below, which abuts against the top of the prefabricated block 7 when the hoisting device extends into the lifting hole 701. Through the arrangement of the supporting leg 102, additional support is provided during hoisting to prevent the hoisting device from tilting or shaking due to uneven force, thereby improving the stability and safety of the hoisting process.

[0083] In some embodiments, as shown in Figure 6 As shown, the hoisting frame 1 is provided with a hanging ear 103 at the bottom for mounting the hook 2, and the hanging ear 103 is provided with a pin shaft 104, and the hook 2 is suspended on the pin shaft 104 and hinged with the hanging ear 103. Through the arrangement of the hanging ear 103 and the pin shaft 104, the hook 2 can rotate freely to adapt to different hoisting angles, and at the same time, the installation and disassembly process of the hook 2 is simplified, and the flexibility and maintenance convenience of the hoisting device are improved. Specifically, the first hook piece 201 and the second hook piece 202 of the hook 2 are suspended on the pin shaft 104.

[0084] In some embodiments, as shown in Figure 6 As shown, the hoisting frame 1 is provided with a lifting lug 105 above for connecting the hoisting equipment. Through the arrangement of the lifting lug 105, the connection between the hoisting device and the hoisting equipment is more stable, which can bear larger load, and at the same time, it is convenient for quick installation and disassembly.

[0085] In some embodiments, as shown in Figure 7 As shown, the first hook piece 201 and the second hook piece 202 are both provided with a bent portion for hooking the lifting hole 701; further, the bent portion of the first hook piece 201 and the second hook piece 202 is provided with a first backing plate 203, which produces elastic retraction after being stressed, for balancing the stress of each first hook piece 201 and second hook piece 202. As an illustrative embodiment, the first backing plate 203 adopts a MGE composite material backing plate which is resistant to high pressure and wear, and can produce 1-5mm elastic compression after being stressed.

[0086] In some embodiments, as shown in Figure 4 As shown, the first hook piece 201 is provided with a bevel portion near the bottom of the second hook piece 202. Through the arrangement of the bevel portion, the occupied area when the first hook piece 201 and the second hook piece 202 are folded can be reduced, thereby reducing the prefabricated diameter of the lifting hole 701, so as to reduce the influence of the prefabricated lifting hole 701 on the strength of the block 7.

[0087] In some embodiments, as shown in Figure 9As shown, the prefabricated block 7 is provided with a lifting hole 701, and a step for hooking is arranged in the lifting hole 701, and the surface of the step in contact with the hook 2 is provided with a second pad plate 702. Through the arrangement of the step and the second pad plate 702, the hook 2 can be stably clamped on the step when hooked, preventing the hook 2 from sliding or unhooking during hoisting, and improving the safety and stability of the hoisting process. The shape of the lifting hole 701 is not limited in this embodiment.

[0088] In some embodiments, as shown, Figure 10 As shown, the lifting frame 1 serves as a lower measurement platform of the measurement and control device, and the measurement and control device includes a Beidou receiver 405, a light source 406, a camera 407, an underwater camera 106, an inclinometer 408 and an inertial navigation 409; wherein the Beidou receiver 405 is provided with at least three, and is respectively installed at the corner points of the upper measurement platform 401, for obtaining the real-time positioning of the corner points of the upper measurement platform 401; the light source 406 is installed at the bottom of the stand column 402, and the stand column 402 is hollow inside; the camera 407 is installed at the top of the stand column 402, and the lens of the camera 407 faces the bottom of the stand column 402, for shooting the light source 406 and monitoring the position change of the light source 406, so as to obtain the real-time deformation of the stand column 402 of the measurement tower 4; the underwater camera 106 is installed on the lower measurement platform, and corresponds to the upper side of the target 703, for shooting the target 703 and monitoring the position and height change of the target 703, so as to obtain the position and attitude change of the block 7; the inclinometer 408 is installed on the upper measurement platform 401, for monitoring the attitude change of the hoisting device; the inertial navigation 409 is installed on the upper measurement platform 401, and is installed at the same place as the inclinometer 408, for assisting in monitoring the attitude change of the hoisting device and the block 7. Through the integration of the Beidou receiver 405, the light source 406, the camera 407, the underwater camera 106, the inclinometer 408 and the inertial navigation 409 and other high-precision monitoring equipment, the present embodiment realizes the all-around real-time monitoring of the position, attitude and deformation of the hoisting device and the block 7. The Beidou receiver 405 provides high-precision positioning data, the light source 406 and the camera 407 work cooperatively to monitor the deformation of the stand column 402 of the measurement tower 4, the underwater camera 106 captures the position and height change of the target 703 in real time, and the inclinometer 408 and the inertial navigation 409 accurately monitor the attitude change of the hoisting device and the block 7. The design of multi-sensor fusion significantly improves the accuracy and reliability of monitoring, ensures the accurate controllability of the position and attitude of the block 7 during underwater installation, and at the same time can find and correct the deviation in construction in real time, reduces the construction risk, and improves the stability and construction efficiency of the wharf structure.

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

[0090] In some embodiments, the measuring and controlling device is further provided with a bracket for mounting the underwater camera 106, and the underwater camera 106 is mounted on the lower measuring platform through the bracket. The bracket is not shown in the figure. Through the provision of the bracket, the installation, adjustment and maintenance of the underwater camera 106 are facilitated.

[0091] The distance between the underwater camera 106 and the top surface of the block 7 is at least 1 m, so as to ensure that the underwater camera 106 can shoot clear images of the target 703 and avoid the problems of limited view angle or image distortion caused by too close distance.

[0092] The measuring and controlling device further comprises a processor, which is in communication connection with the three-dimensional laser scanner 9, the Beidou receiver 405, the camera 407, the underwater camera 106, the tiltmeter 408 and the inertial navigation 409 respectively. 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 feature points of the target 703 and the top surface of the block 7 acquired by the three-dimensional laser scanner 9, and associate the data of each block 7. The processor is further used to acquire the real-time deformation of the column 402 of the measuring tower 4 according to the position change of the light source 406 acquired by the camera 407, and then acquire the real-time relative position of the upper measuring platform 401 and the lower measuring platform. Combined with the position change of the target 703 acquired by the underwater camera 106, the real-time position of the block 7 is calculated and obtained according to the real-time positioning acquired by the Beidou receiver 405. The processor is further used to obtain the attitude change of the block 7 according to the position change of the target 703 acquired by the underwater camera 106, and combined with the attitude change of the hoisting device acquired by the tiltmeter 408 and the data change of the inertial navigation 409 in the hoisting process, the real-time attitude of the block 7 is calculated and obtained.

[0093] In some embodiments, the measuring and controlling device further comprises a controller, which is in communication connection 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 attitude of the block 7 and the hoisting design position of the block 7. Through the provision of the controller, the closed-loop control of the hoisting process is realized, and the hoisting precision and efficiency are significantly improved through real-time data feedback and automatic adjustment, so as to ensure that the block 7 can quickly and accurately reach the designed position, thereby improving the safety and reliability of the overall construction.

[0094] In some embodiments, as shown in Figure 8 The upper measuring platform 401 is sleeved on the top end of the column 402, specifically, the upper measuring platform 401 is provided with an opening matched with the column 402, and the opening is provided with a sleeve 404 sleeved on the outer periphery of the column 402, and the camera 407 is fixed with the sleeve 404 through a steel plate. Through the provision of the sleeve 404, when the column 402 of the measuring tower 4 deforms, the shooting angle of the camera 407 will not be affected, so that the data is more reliable.

[0095] Embodiment 1

[0096] The present embodiment is a construction project of gravity type block 7 wharf, the weight of block 7 is 620t at most, the types of block 7 are different, the total number of block 7 is more than 3000, and the maximum installation water depth is 27m. Since the weight of block 7 in the present embodiment is large, the types are many, the number is large, and the construction water depth is large, high requirements are put forward for construction precision and construction efficiency, and the present application provides an underwater block calibration installation system and method to ensure high-precision and high-efficiency construction work.

[0097] The top surface of block 7 is provided with a target 703 for assisting in identifying block 7, the target 703 is provided with a plurality of targets, and is respectively installed on the surface of block 7, for assisting in identifying the position and attitude of block 7. In the present embodiment, four target 703s are provided, and the four target 703s are respectively installed on the top surface of block 7. After the target 703 is installed, the relative position of the target 703 and the corner point of block 7 is fixed; further, in order to ensure that the underwater camera 106 target 703 can clearly identify the target 703 in the deep water environment, the target 703 adopts a circular design with a black outer ring and a white center, to correspond to the identification of the underwater camera 106, and at the same time, to enhance the identification contrast in the dark deep water environment; in addition, the underwater camera 106 usually calculates the distance between the target 703 and the camera by identifying the size of the white part in the center of the target 703, so it is necessary to ensure that the area of the white part in the center of the target 703 is not too small to be not obvious, and also not too large to be out of the camera lens collection range. After testing, the outer diameter of the target 703 is 8cm, and the diameter of the central white area is 4cm, which is the most suitable size in a 30m deep water environment; in order to determine the center position of the target 703, a crosshair is arranged on 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 be frosted, to ensure the durability of the target 703, and at the same time, to reduce the mirror reflection of the target 703.

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

[0099] 1) Calibration device

[0100] The calibration device is arranged at the block 7 prefabrication site, such as Figure 13As shown, it comprises a gantry crane 8 and a three-dimensional laser scanner 9, which is installed below the top frame of the gantry crane 8; when the gantry crane 8 is 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 feature 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 two-dimensional code carrying the coding information of the block 7; the three-dimensional laser scanner 9 is equipped with an optical recognition module for identifying the two-dimensional code. The three-dimensional laser scanner 9 scans the top surface of the block 7, and simultaneously obtains the coding of the block 7, the size parameters of the top surface of the block 7, and the relative position relationship between the feature points of the target 703 and the top surface of the block 7.

[0101] The bottom of the gantry crane 8 is provided with a mobile unit 801 for facilitating movement; after the prefabrication of the block 7 is completed, the gantry crane 8 moves through the mobile unit 801 to scan the top surface of the block 7; in this embodiment, the mobile unit 801 comprises tires installed at the bottom of the gantry crane 8, and the gantry crane 8 is also provided with a motor for driving the tires to move, and the motor is equipped with a steering system.

[0102] 2) Hoisting device

[0103] The hoisting device is connected with the crane ship and is used for hoisting and installing the block 7; the hoisting device comprises a hoisting frame 1, a hook 2, an unhooking device, and a measuring tower 4; wherein the hoisting frame 1 is used for connecting the hoisting equipment; the hook 2 is installed below the hoisting frame 1 and is hingedly connected with the hoisting frame 1, and is used for connecting the lifting hole 701 of the prefabricated block 7; the unhooking device comprises an unhooking frame 3, a driver 5, and a connecting rod 6, and is used for realizing automatic hooking and automatic unhooking of the hook 2; wherein the unhooking frame 3 is parallel to the hoisting frame 1 and is slidably connected with the hoisting frame 1 in the vertical direction; the driver 5 is fixed in the hoisting frame 1, and the output end of the driver 5 is connected to the unhooking frame 3, and is used for driving the unhooking frame 3 to slide up and down; one end of the connecting rod 6 is hingedly connected with the bottom of the unhooking frame 3, and the other end is connected to the hook 2, and is used for driving the hook 2 to rotate relative to the hoisting frame 1 to realize hooking and unhooking; the measuring tower 4 is fixedly installed above the hoisting frame 1, and comprises columns 402 installed around the hoisting frame 1 and an upper measuring platform 401 at the top of the columns 402, and is used for measuring the positioning data of the hoisting device.

[0104] In this embodiment, the height of the measuring tower 4 is 25 m, and the columns 402 are provided with four columns, which are vertically arranged, and the connecting lines of each column 402 and the adjacent two columns 402 are perpendicular to each other, and the upper measuring platform 401 adopts a square platform.

[0105] The hook 2 comprises two first hook pieces 201 and a second hook piece 202, and the second hook piece 202 is located between the two first hook pieces 201 when being folded; the driver 5 is a hydraulic cylinder, the end of the piston rod of the hydraulic cylinder is provided with a top plate, and the top plate is fixedly connected with the unhooking frame 3; when the hydraulic cylinder drives the piston rod to extend, the top plate drives the unhooking frame 3 to move upward, and the connecting rod 6 drives the first hook piece 201 and the second hook piece 202 to tend to be folded; when the hydraulic cylinder drives the piston rod to retract, the top plate drives the unhooking frame 3 to move downward, and the connecting rod 6 drives the first hook piece 201 and the second hook piece 202 to tend to be unfolded. A magnetic displacement sensor is installed in the hydraulic cylinder, and the magnetic displacement sensor is used for monitoring the displacement of the piston rod, so as to obtain the state of the hook 2.

[0106] 3) Measurement and control device

[0107] The measurement and control device is fixedly connected with the hoisting device and is in communication connection with the calibration device, is used for monitoring the position and posture of the hoisting device and the block 7, and receiving the relative position relationship between the top surface size parameter of the block 7 and the feature point of the target 703 and the top surface of the block 7, so as to monitor and control the hoisting device to install the block 7 to the underwater design position. The measurement and control device comprises:

[0108] The Beidou receiver 405 is arranged at least three and is respectively installed at the corner points of the upper measuring platform 401, and is used for obtaining the real-time positioning of the corner points of the upper measuring platform 401. As shown in the figure, in the embodiment, in order to ensure the accuracy of the data, the Beidou receiver 405 is installed at the four corner points of the upper measuring platform 401. Figure 11

[0109] The light source 406 is installed at the bottom of the column 402, and the column 402 is hollow inside. In the embodiment, the light source 406 is arranged at the bottom of each column 402, and a total of four light sources 406 are arranged.

[0110] The camera 407 is installed at the top of the column 402 of the measuring tower 4, the lens of the camera 407 faces the bottom of the column 402, and is used for shooting the light source 406 and monitoring the position change of the light source 406, so as to obtain the real-time deformation of the column 402 of the measuring tower 4. In the embodiment, the camera 407 is arranged at the top of each column 402, and a total of four cameras 407 are arranged, and the camera 407 selects a long-focus camera.

[0111] The underwater camera 106 is installed on the lower measuring platform and corresponds to the upper side of the target 703, and is used for shooting the target 703 and monitoring the position and height change of the target 703, so as to obtain the position and posture change of the block 7; in order to ensure the shooting light of the underwater camera 106, the illuminating lamp is installed below the underwater camera 106, so as to ensure the identification of the target 703.

[0112] The inclinometer 408 is installed on the upper measuring platform 401 and is used for monitoring the posture change of the hoisting device.​

[0113] Inertial navigation 409 is installed on the upper measuring platform 401 and is installed with the tiltmeter 408, which is used to assist in monitoring the attitude change of the hoisting device and the block 7.

[0114] The processor is in communication connection with the Beidou receiver 405, the camera 407, the underwater camera 106, the tiltmeter 408 and the inertial navigation 409 respectively, for obtaining the real-time deformation of the measuring tower 4 stand 402 according to the position change of the light source 406 obtained by the camera 407, and then obtaining the real-time relative position of the upper measuring platform 401 and the lower measuring platform; combined 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 combined with the attitude change of the hoisting device obtained by the tiltmeter 408 and the data change of the inertial navigation 409 during hoisting, the real-time attitude of the block 7 is calculated.

[0115] The controller is in communication connection with the processor, for controlling the hoisting device to hoist the block 7 to the designed position according to the real-time position and real-time attitude of the block 7, and the hoisting design position of the block 7;

[0116] The display is in communication connection with the processor and the controller respectively, for displaying the real-time position and real-time attitude of each device in the measuring and control device, and displaying the real-time position and real-time attitude of the block 7 and the designed position.

[0117] Next, the measuring and control device applied in the hoisting device in this embodiment and the block 7 hoisting method are described in detail.

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

[0119] a. Block calibration step

[0120] After the block 7 is prefabricated, the target 703 and the unique two-dimensional code are installed on the top surface of the block 7, the gantry crane 8 is driven to move by the moving unit 801, the three-dimensional laser scanner 9 on the top of the gantry crane 8 scans the top surface of the block 7, the target 703 and the two-dimensional code, generates point cloud coordinate data, solves according to the point cloud coordinates, and uses the least square method for adjustment, obtains the plane equation of each top surface of the block 7, and then obtains the size parameters of the top surface of the block 7, the relative position relationship between the feature points of the target 703 and the top surface of the block 7, the block 7 code, and transmits the data to the processor of the measuring and control device.

[0121] b. Block transportation step

[0122] The block 7 is transported to the hoisting site by the transport ship.

[0123] c. Lifting the block step

[0124] Installation and calibration of the measurement and control device:

[0125] This step unifies the standards of the position and attitude data of each device of the measurement and control device through installation and calibration, direction calibration and camera calibration of each device of the measurement and control device, so as to realize accurate positioning. Next, the calibration of the measurement and control device is described by taking the calibration of the equipment of the upper measurement platform 401 and the equipment of the lower measurement platform as examples.

[0126] The installation and calibration of the upper measurement platform 401 include the installation and calibration of the Beidou receiver 405, the tiltmeter 408, the inertial navigation 409, the camera 407 and the light source 406.

[0127] Installation and calibration of the Beidou receiver 405: A 360° prism is arranged coaxially below the Beidou receiver 405, and a total station is used to calibrate the Beidou receiver 405. Specifically, the Beidou receiver 405 antenna is coaxial with the 360° prism (i.e. the plane position is consistent, only the elevation is different) by using a coaxial support, and the total station calibration data is the Beidou position. In this embodiment, the upper measurement platform 401 is square, and the Beidou receiver 405 is installed at the four corner points of the upper measurement 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 measurement platform 401 is taken as the origin, and the straight lines parallel to the adjacent sides of the upper measurement platform 401 passing through the origin are taken as the horizontal and vertical axes to establish the calibration coordinate system of the upper measurement platform 401, and the calibration coordinate system is taken as the reference for the calibration of other devices.

[0128] Installation and calibration of the tiltmeter 408: The tiltmeter 408 is installed at the origin of the calibration coordinate system, and the roll axis and the pitch axis in the tiltmeter 408 are coaxial with the horizontal and vertical axes of the calibration coordinate system. After the tiltmeter 408 is installed at the specified position, the actual tilt value displayed by the Beidou receiver 405 is used for calibration, and the reading of the calibrated tiltmeter 408 is the real attitude of the lifting device.

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

[0130] Mounting and calibration of camera 407: Calibration of camera 407 includes two parts of land calibration and installation calibration, wherein the method of land calibration includes: placing camera 407 on the ground, making a marker with the same size as light source 406 placed on the ground, the distance between the marker and camera 407 is equal to the height of measuring tower 4 column 402, in the embodiment, the distance between the marker and camera 407 is 25 m, the number of pixels of the marker obtained by camera 407, the internal orientation parameters of camera 407 are calibrated, and the internal coordinate system of camera 407 is established, at this time, camera 407 can obtain the actual distance and plane position deviation of the two according to the pixel size and offset of the photographed marker. The method of installation calibration includes: camera 407 is installed on the top of measuring tower 4 column 402, the lens is downward to shoot the bottom of column 402, the tail of camera 407 is welded with sleeve 404 of upper measuring platform 401 through a steel plate, a rectangular coordinate system consistent with the internal coordinate system of camera 407 is specified on the steel plate, and when camera 407 is installed, the rectangular coordinate system on the steel plate is parallel to the calibration coordinate system; after installation, the relative position relationship between camera 407 and corresponding Beidou receiver 405 is calibrated by using a total station, and the coordinates of camera 407 are converted into the calibration coordinate system.

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

[0132] The 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 measuring tower 4 stand 402 and is fixedly connected with the stand 402 through a flange; the underwater camera 106 is installed at the four corners of the lifting frame 1, the target 703 is installed on the surface of the block 7 substitute, 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 pixel number of the target 703 obtained by the underwater camera 106 is used to calibrate the internal orientation parameters of the underwater camera 106 and establish the internal coordinate system of the underwater camera 106, at this time, the underwater camera 106 can obtain the actual distance and plane position deviation of the underwater camera 106 and the target 703 according to the pixel size and offset of the photographed target 703; the relative position relationship between the underwater camera 106 and the corresponding corner light source 406 is calibrated by using the total station, the camera 407 of the upper measuring platform 401 is turned on and data is recorded, the actual plane position of the light source 406 is obtained by the camera 407, the relative position relationship between the light source 406 and the camera 407 is calculated, the coordinates of the underwater camera 106 and the light source 406 are converted into the calibration coordinate system through the relative position relationship between the camera 407 and the light source 406 and the relative position relationship between the light source 406 and the underwater camera 106, the coordinate axis angle between the internal coordinate system of the underwater camera 106 and the calibration coordinate system is calculated, and the angle is corrected to change the parameters of the underwater camera 106 so that the coordinate axis directions of the internal coordinate system of the underwater camera 106 and the calibration coordinate system are consistent.

[0133] Connecting the lifting device with the block 7 and lifting: connecting the crane ship with the lifting frame 1, controlling the movement of the lifting frame 1 to make the hook 2 extend into the lifting hole 701, driving the unhooking frame 3 upward by using the driver 5, and driving the hook 2 to open by the connecting rod 6, and the hook 2 is clamped with the lifting hole 701.

[0134] d. Generating a navigation route step

[0135] The measurement and control device identifies the information of the block 7, obtains the real-time position and real-time attitude of the block 7, and automatically generates a navigation route for lifting the block 7 to the designed position according to the designed position coordinates of the block 7.

[0136] The method for obtaining the real-time position and real-time attitude of the block 7 comprises:

[0137] Obtaining the relative position relationship between the upper measuring platform 401 and the block 7: obtaining the position change of the light source 406 by the camera 407 to monitor whether the column 402 deforms, so as to obtain the deformation amount of the measuring tower 4; obtaining the relative position relationship between the upper measuring platform 401 and the plane where the light source 406 is located according to the deformation amount of the measuring tower 4, and then obtaining the relative position relationship between the upper measuring platform 401 and the lower measuring platform according to the relative position between the light source 406 and the lower measuring platform; combining the relative position between the underwater camera 106 and the block 7, the relative position relationship between the upper measuring platform 401 and the block 7 is obtained; specifically, as shown in Figure 12 the center point of the plane where the camera 407 is located is taken as the origin O, and straight lines passing through the point O and parallel to the directions of the connecting lines of two adjacent cameras 407 are taken as the X axis and the Y axis to establish the upper measuring platform 401 coordinate system; the center point of the plane where the underwater camera 106 is located is taken as the origin O', and straight lines passing through the point O' and parallel to the directions of the connecting lines of two adjacent underwater cameras 106 are taken as the x axis and the y axis to establish the lower measuring platform coordinate system; the plane deviation and the deflection angle of the center point of the plane where the light source 406 is located relative to the point O are obtained according to the coordinate change of the light source 406 in the upper measuring platform 401 coordinate system; the plane deviation and the deflection angle of the point O' relative to the point O, that is, the relative position relationship between the upper measuring platform 401 and the lower measuring platform, are obtained by combining the relative position relationship between the light source 406 and the underwater camera 106;

[0138] Obtaining the real-time position of the block 7: the real-time position of the block 7 is obtained according to the positioning data obtained by the Beidou receiver 405 and the relative position relationship between the upper measuring platform 401 and the block 7;

[0139] Obtaining the real-time attitude of the block 7: the position and height change of the target 703 are obtained by the underwater camera 106, so as to obtain the relative attitude data of the block 7 and the underwater camera 106, and then the relative attitude data of the upper measuring platform 401 and the block 7 is obtained; the attitude data of the upper measuring platform 401 is obtained by the tiltmeter 408 and the inertial navigation 409, and the real-time attitude of the block 7 is obtained by combining the relative attitude of the upper measuring platform 401 and the block 7.

[0140] The method for obtaining the attitude data of the upper measuring platform 401 by the tiltmeter 408 and the inertial navigation 409 includes: the tiltmeter 408 and the inertial navigation 409 jointly output the attitude data of the upper measuring platform 401, when the output data of the tiltmeter 408 and the inertial navigation 409 are the same, the output data is adopted as the attitude data of the upper measuring platform 401; when the output data of the tiltmeter 408 and the inertial navigation 409 are different, the weighted average value of the output data of the tiltmeter 408 and the inertial navigation 409 is calculated according to the preset tiltmeter 408 data weight and the inertial navigation 409 data weight, and the weighted average value is taken 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 lifting 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; but due to the prefabricated deviation of the block 7 or the hook deviation of the lifting hook 2, the lifting device and the block 7 are difficult to present a standard 90° vertical attitude, the method for obtaining the real-time attitude of the block 7 in the embodiment includes: measuring the attitude difference between the lifting device and the block 7 by using the data measured by the underwater camera 106, selecting three underwater cameras 106, recording the height differences of each underwater camera 106 from the target 703 as H1, H2 and H3 respectively, recording the length of the prefabricated block 7 as l, recording the roll of the upper measuring platform 401 measured by the inclinometer 408 and the inertial navigation 409 as r, and recording the pitch as p, calculating the roll amount m of the block 7 by using formula (1), and calculating the pitch amount n of the block 7 by using formula (2), 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. Guiding the block 7 lifting step

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

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

[0148] 1. The calibration and installation method of the underwater block provided by the present application significantly improves the construction efficiency and precision, reduces manual intervention and error, and realizes the full-process automation and high-precision control of the underwater block 7; it is especially suitable for complex installation requirements of irregular blocks, and at the same time reduces the construction difficulty and risk, and provides a strong guarantee for the stability and construction quality of the wharf structure.

[0149] 2. The calibration and installation system of the underwater block provided by the present application can accurately obtain the size parameters of the block 7 and the relative position relationship between the feature points of the target 703 and the top surface of the block 7, and accurately calibrate the geometric characteristics of irregular blocks, solving the problems of complex calibration of irregular blocks and multiple customized solutions in the prior art.

[0150] 3. The calibration and installation system of the underwater block provided by the application can adapt to the complex requirements of irregular blocks, enhance the flexibility and versatility of construction, and provide an efficient and reliable solution for the construction of the block 7 wharf in the port engineering.

[0151] Finally, it should be noted that: the various embodiments in the 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 referred to each other.

[0152] The above embodiments are only used to illustrate the technical solutions of the present application but not to limit it; although the present application has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that the specific embodiments of the present application can be modified or some technical features can be replaced by equivalent ones; without departing from the spirit of the technical solutions of the present application, they should be covered in the technical solution range of the present application.

Claims

1. A method of installing a calibrated block underwater, characterized in that, The method comprises the following steps: Block calibration: after the prefabrication of the block is completed, a target is installed on the top surface of the block, the top surface of the block and the target arranged on the top surface of the block are scanned by a three-dimensional laser scanner arranged on the top of the gantry crane, and 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 are obtained; Hoisting the block: the measuring tower is installed above the lifting tool, the lifting tool is connected with the block, the measuring tower is used to obtain the position and attitude data of the measuring tower itself and the block, and the block is hoisted by controlling the lifting tool to rise; Generating a navigation route: the real-time position and real-time attitude of the block are obtained by the measuring tower, and a navigation route for hoisting the block to the design position is autonomously generated according to the design position coordinates of the block; Guiding the hoisting of the block: the block is hoisted to the design position according to the navigation route; In the step of generating a navigation route, the method for obtaining the real-time position and real-time attitude of the block comprises: Obtaining the relative position relationship between the upper measuring platform and the block: the measuring tower comprises an upper measuring platform and an internal hollow column, the upper measuring platform is installed at the top of the column, the bottom of the column is fixedly connected with the lifting tool, and an underwater camera for shooting the target is arranged at the bottom of the lifting frame of the lifting tool, the lifting frame is used as a lower measuring platform; the deformation of the column is monitored by using the camera installed at the top of the column, and the deformation amount of the measuring tower is obtained; the relative position relationship between the upper measuring platform and the plane where the bottom end of the column is located is obtained according to the deformation amount of the measuring tower, and then the relative position relationship between the upper measuring platform and the lower measuring platform is obtained according to the relative position between the bottom end of the column and the lower measuring platform; the relative position relationship between the upper measuring platform and the block is obtained in combination with the relative position between the underwater camera and the block; Obtaining the real-time position of the block: the positioning data of each corner point of the upper measuring platform is obtained by using the Beidou receiver at the corner point of the upper measuring platform, and the real-time position of the block is obtained in combination with the relative position relationship between the upper measuring platform and the block; Obtaining the real-time attitude of the block: the position and height change of the target are obtained by the underwater camera, so as to obtain the relative attitude data of the block and the underwater camera, and then the relative attitude data of the upper measuring platform and the block is obtained; the attitude data of the upper measuring platform is obtained by the tilt meter and the inertial navigation device installed at the center of the upper measuring platform, and the real-time attitude of the block is obtained in combination with the relative attitude between the upper measuring platform and the block.

2. A method of installing a calibrated block underwater as claimed in claim 1, characterised in that, The block calibration step further comprises: arranging a unique two-dimensional code on the top surface of the block, and recognizing the two-dimensional code by using the optical recognition module of the three-dimensional laser scanner to obtain the block code.

3. A method of installing a template for an underwater block according to claim 1, wherein, In the block calibration step, the prefabricated block is placed in the prefabrication field, the gantry crane travels in the prefabrication field through the movement unit at the bottom, and the three-dimensional laser scanner sequentially scans the blocks in the prefabrication field.

4. The method of claim 1, wherein, In the step of obtaining the relative position relationship between the upper measuring platform and the block, the method for obtaining the deformation amount of the measuring tower comprises: installing a light source at the bottom of the column, the lens of the camera downwardly shoots the light source, monitors the displacement change and the deflection angle change of the light source relative to the camera, so as to obtain the displacement change and the deflection angle change between the top end of the column and the bottom end of the column as the deformation amount of the measuring tower.

5. A calibrated installation system for an underwater block, characterized in that, The calibration installation method of the underwater block as claimed in any one of claims 1-4, the top surface of the block is provided with a target for assisting in identifying the block, and the calibration installation system of the underwater block comprises: a calibration device provided at a block precast site, comprising a gantry crane and a three-dimensional laser scanner, the three-dimensional laser scanner being installed below the top frame of the gantry crane; 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 hoisting device connected with a floating crane, for hoisting and installing the block; a measurement and control device fixedly connected with the hoisting device and communicatively connected with the calibration device, for monitoring the position and attitude of the hoisting device and the block, and receiving 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 hoisting device to install the block to the underwater design position.

6. A calibrated installation system of underwater blocks according to claim 5, characterized in that, The top surface of the block is provided with a unique two-dimensional code, and the two-dimensional code carries the block code information; the three-dimensional laser scanner is provided with an optical recognition module for recognizing the two-dimensional code.

7. A calibrated installation system of underwater mats according to claim 5, characterized in that, The gantry crane is provided with a mobile unit at the bottom for facilitating movement; after the precast of the block is completed, the gantry crane moves through the mobile unit to scan the top surface of the block.

8. The calibrated installation system of underwater mats according to claim 5, wherein, The hoisting device comprises: a hoisting frame for connecting a hoisting equipment; a hook installed below the hoisting frame and hinged to the hoisting frame, for connecting a lifting hole of the precast block; an unhooking device comprising 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 hoisting frame and is slidably connected with the hoisting frame in the vertical direction; the driver is fixed in the hoisting 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 hoisting frame to realize hooking and unhooking; a measurement tower fixedly installed above the hoisting frame, comprising a column installed around the hoisting frame and an upper measurement platform at the top of the column, for measuring the positioning data of the hoisting device.

9. A calibrated installation system of underwater mats according to claim 8, characterized in that, The hoisting frame serves as a lower measurement platform of the measurement and control device, and the measurement and control device comprises: a Beidou receiver arranged at least three and installed at the corner points of the upper measurement platform, for obtaining the real-time positioning of the corner points of the upper measurement platform; a light source installed at the bottom of the column, and the column is hollow inside; a camera installed at the top of the column, the lens of the camera faces the bottom of the column, for shooting the light source and monitoring the position change of the light source, so as to obtain the real-time deformation of the column of the measurement tower; an underwater camera installed on the lower measurement platform and corresponding to the top of the target, for shooting the target and monitoring the position and height change of the target, so as to obtain the position and attitude change of the block; an inclinometer installed on the upper measurement platform, for monitoring the attitude change of the hoisting device; an inertial navigation system installed on the upper measurement platform and at the same place as the inclinometer, for assisting in monitoring the attitude change of the hoisting device and the block.

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