Underwater block installation position acceptance method and system

Abstract

The invention relates to an underwater block installation position acceptance method and system, and belongs to the technical field of underwater block installation. The underwater block installation position acceptance method comprises the steps of connecting a block, obtaining the absolute position of an underwater camera, measuring the absolute position of the underwater camera and a target, and obtaining the absolute position of the block. According to the method, firstly, the absolute position of an underwater camera is obtained through a Beidou receiver, then the absolute position of a target is accurately calculated in combination with the relative position of the target shot by the underwater camera, and finally the absolute position of a square block is deduced; according to the method, the problem of error accumulation of a traditional diving wrong tooth measuring method can be avoided, the acceptance efficiency and precision can be remarkably improved through automatic measurement and calculation, the method is particularly suitable for high-precision construction scenes such as square gravity type wharfs with cable grooves, and the construction quality and smooth follow-up cable laying are ensured.

Description

Technical Field

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

[0002] Cube gravity wharfs are a common port structure, and during their construction, the cubes are typically installed by hoisting them from a crane vessel. Traditionally, the inspection of the cubes' installed positions relies primarily on a method where divers measure the misalignment. This method determines installation accuracy by measuring the relative positional deviation between the cube to be inspected and its adjacent cubes. However, this method has significant limitations: first, it only measures the relative relationship between the cubes, not their absolute position. Second, due to the cumulative effect of errors, these errors gradually increase as construction progresses, ultimately impacting the overall quality of the wharf.

[0003] Especially in the construction of block gravity docks with cable troughs, the absolute position accuracy of the blocks is required to be higher. The position deviation of the cable trough may cause difficulties in subsequent cable laying and even affect the normal use of the dock. The traditional diving measurement method for wrong teeth cannot meet this high-precision acceptance requirement.

[0004] Therefore, there is an urgent need for a technical solution that can achieve accurate acceptance of the absolute position of underwater blocks. Summary of the Invention

[0005] In response to the shortcomings of the existing technology, the present invention provides a method and system for underwater block installation position acceptance, which can avoid the error accumulation problem of traditional diving measurement and wrong tooth method, and can also significantly improve the acceptance efficiency and accuracy through automated measurement and calculation. It is particularly suitable for high-precision construction scenarios such as block gravity docks with cable troughs.

[0006] The present invention provides a method for accepting the installation position of an underwater block, comprising the following steps:

[0007] Connecting the blocks: Connect the blocks through a lifting device, which includes a lifting fixture and a measuring tower mounted above the lifting fixture. Keep the underwater camera on the lifting fixture, which is used to photograph the target on the top surface of the blocks, closed, and control the lifting fixture to connect with the blocks.

[0008] Obtaining the absolute position of the underwater camera: A measurement tower is set up above the sling. The tower consists of an upper measurement platform and a column. The column is fixedly connected to the sling, and the upper measurement platform is installed on top of the column. A BeiDou receiver installed at a corner of the upper measurement platform monitors the position of the sling. The absolute position of the underwater camera is obtained by combining the relative position of the BeiDou receiver and the underwater camera.

[0009] Measuring the absolute position of the underwater camera and the target: The crane vessel maintains a lifting force of half the weight of the hoist, turns on the underwater camera, and uses it to photograph the target to obtain the relative position of the underwater camera and the target;

[0010] Obtain the absolute position of the block: Obtain the absolute position of the target based on the absolute position of the underwater camera and the relative position of the underwater camera and the target; obtain the absolute position of the block based on the relative position relationship between the target and the block's feature points, and determine whether there is any deviation between the absolute position of the block and the designed position.

[0011] This technical solution can avoid the error accumulation problem of the traditional diving measurement method of wrong teeth, and can also significantly improve the acceptance efficiency and accuracy through automated measurement and calculation. It is particularly suitable for high-precision construction scenarios such as block gravity docks with cable troughs.

[0012] In some embodiments, during the block connecting step, the hook of the sling remains inserted into the lifting hole of the block and remains unhooked from the lifting hole.

[0013] This technical solution ensures that the hook position during acceptance is consistent with that during lifting by extending the hook into the lifting hole, making the acceptance result more accurate; at the same time, the hook is kept unhooked from the lifting hole to avoid accidental hooking, which may cause the block position to change or the positioning to be unstable due to the influence of water flow.

[0014] In some embodiments, during the block connecting step, the legs of the sling rest against the top surface of the block to maintain stability during the inspection process.

[0015] This technical solution uses the support and limiting function of the legs to prevent the spreader from shifting, ensuring more accurate acceptance data.

[0016] In some embodiments, in the block connecting step, the sling remains connected to the block for a preset time; in the block absolute position obtaining step, the block absolute position data within a preset time period is calculated, and the arithmetic mean is taken as the block acceptance data.

[0017] This technical solution can effectively reduce measurement errors and accidental deviations, thereby improving the accuracy and reliability of block position acceptance data and ensuring construction quality.

[0018] In some embodiments, the underwater block installation position acceptance method also includes an acceptance review step, which includes: placing concrete cylinders on the side of the block, with a preset distance between the concrete cylinders and the block design position; obtaining the absolute position of the concrete cylinders; stretching a survey line between the concrete cylinders, and the diver measuring the distance from the block feature point to the survey line, and calculating the block installation deviation based on the theoretical distance between the block design position and the survey line.

[0019] This technical solution realizes the review of the block acceptance data by laying concrete cylinders on the side of the block and laying out measuring lines, combined with the distance data measured by divers.

[0020] In some of the embodiments, during the acceptance and review step, when laying out the concrete cylinders, a locator is used to find a point at a preset distance from the designed position of the block, a heavy hammer is lowered at the point, and the diver lays out the concrete cylinders according to the position of the heavy hammer.

[0021] Based on the above-mentioned underwater block installation position acceptance method, the present invention also provides an underwater block installation position acceptance system, which adopts the above-mentioned underwater block installation position acceptance method and includes a hoisting device and a measurement and control device, the measurement and control device is fixedly connected to the hoisting device, the hoisting device is used to lift and install the block, and the measurement and control device is used to monitor the position of the hoisting device and the block;

[0022] The lifting device includes a sling and a measuring tower, and the measuring tower is installed above the sling;

[0023] The measurement and control device includes:

[0024] BeiDou receiver, which is installed on the top of the measurement tower. At least three non-collinear BeiDou receivers are set up to obtain the absolute position of the hoisting device;

[0025] Targets are mounted on the top surface of the block to assist in identifying the block's position based on the relative positional relationship between the targets and the block's feature points; at least three non-collinear targets are provided;

[0026] The underwater camera is fixedly connected to the sling and is used to photograph the target and obtain the relative position of the underwater camera and the target.

[0027] This technical solution indirectly obtains the absolute position information of the blocks through the high-precision positioning function of the Beidou receiver; it can overcome the limitation of traditional methods that can only measure the relative position deviation between blocks, ensuring the installation accuracy of the blocks; and it can avoid error accumulation, ensuring the installation accuracy of each block throughout the construction process.

[0028] In some embodiments, the measurement and control device also includes a processor, which is respectively connected to the Beidou receiver and the underwater camera, and is used to calculate the absolute position of the target based on the absolute position of the lifting device obtained by the Beidou receiver and the relative position of the underwater camera and the target, thereby obtaining the absolute position of the block feature point.

[0029] This technical solution automatically calculates the absolute position of the block feature points through the settings of the processor, which can significantly improve the efficiency and accuracy of acceptance and meet the needs of high-precision construction.

[0030] In some embodiments, the spreader comprises:

[0031] The lifting frame is used to connect to the lifting ship, and the bottom of the lifting frame is provided with outriggers; when the sling is connected to the block, the outriggers are used to support the top of the block to prevent the sling from being lowered excessively.

[0032] The hook is installed under the lifting frame and hinged to the lifting frame, and is used to connect to the lifting hole of the block; when the hook is extended into the lifting hole, the hook is unfolded and connected to the lifting hole of the block, and the hook is closed to achieve unhooking.

[0033] This technical solution plays a supporting and limiting role through the setting of the outriggers, so that the position of the spreader will not shift, ensuring that the acceptance data is more accurate.

[0034] In some embodiments, the underwater block installation position acceptance system further includes a concrete cylinder, which is arranged on the side of the block and has a preset distance from the designed position of the block.

[0035] Based on the above scheme, the underwater block installation position acceptance method in the embodiment of the present invention first obtains the absolute position of the underwater camera through the Beidou receiver, and then combines the relative position of the target photographed by the underwater camera to accurately calculate the absolute position of the target, and finally derive the absolute position of the block. This method can not only avoid the error accumulation problem of the traditional diving measurement method, but also significantly improve the acceptance efficiency and accuracy through automated measurement and calculation. It is particularly suitable for high-precision construction scenes such as block gravity docks with cable troughs, ensuring the construction quality and the smooth progress of subsequent cable laying; at the same time, by controlling the operating steps when the sling is connected to the block (such as keeping the underwater camera closed, controlling the lifting force, etc.), the safety and controllability of the construction are further improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of this application. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0037] Figure 1 Flowchart of the underwater block installation position acceptance method according to an embodiment of the present invention;

[0038] Figure 2 Schematic diagram of the acceptance review steps in an embodiment of the present invention.

[0039] Figure 3 Schematic diagram of the structure of the underwater block installation position acceptance system according to an embodiment of the present invention;

[0040] In the picture:

[0041] 1. Lifting device; 2. Survey tower; 3. BeiDou receiver; 4. Target; 5. Underwater camera; 6. Block; 7. Concrete cylinder; 8. Survey line;

[0042] 101. Lifting frame; 102. Hook; 103. Outrigger;

[0043] 201, upper measuring platform; 601, lifting hole. DETAILED DESCRIPTION

[0044] The following will provide a clear and complete description of the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making any creative efforts are within the scope of protection of the present invention.

[0045] In the description of the present invention, it should be understood that the terms "center", "transverse", "longitudinal", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as limiting the present invention.

[0046] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood broadly. For example, they may refer to fixed connections, detachable connections, or integral connections; they may refer to direct connections, indirect connections through an intermediary, or internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on the specific circumstances.

[0047] like Figure 1As shown, in one embodiment of the underwater block installation position acceptance method and system of the present invention, the underwater block installation position acceptance method includes the steps of connecting blocks, obtaining the absolute position of an underwater camera, measuring the absolute position of the underwater camera and the target, and obtaining the absolute position of the block; wherein the block connecting step includes: connecting the block 6 through a lifting device, the lifting device includes a lifting device 1 and a measuring tower 2 installed above the lifting device 1, keeping the underwater camera 5 on the lifting device 1 for photographing the target 4 on the top surface of the block 6 closed, and controlling the lifting device 1 to connect with the block 6; the step of obtaining the absolute position of the underwater camera includes: setting a measuring tower 2 above the lifting device 1, the measuring tower 2 consists of an upper measuring platform 201 and a column, wherein the column is fixedly connected to the lifting device 1, and the upper measuring platform 201 is installed on the column At the top, the Beidou receiver 3 installed at the corner point of the upper measuring platform 201 is used to monitor the position of the lifting device, and the absolute position of the underwater camera 5 is obtained in combination with the relative position of the Beidou receiver 3 and the underwater camera 5; the step of measuring the absolute position of the underwater camera and the target includes: the crane vessel maintains a lifting force of half of the dead weight of the sling 1, turns on the underwater camera 5, and uses the underwater camera 5 to shoot the target 4 to obtain the relative position of the underwater camera 5 and the target 4; the step of obtaining the absolute position of the block includes: according to the absolute position of the underwater camera 5 and the relative position of the underwater camera 5 and the target 4, the absolute position of the target 4 is obtained; combined with the relative position relationship between the target 4 and the characteristic point of the block 6, the absolute position of the block 6 is obtained, and it is judged whether there is a deviation between the absolute position of the block 6 and the design position.

[0048] In the above-described exemplary embodiment, the method first obtains the absolute position of the underwater camera 5 through the Beidou receiver 3. Combined with the relative position of the target 4 captured by the underwater camera 5, the absolute position of the target 4 is accurately calculated, ultimately deriving the absolute position of the block 6. This method not only avoids the error accumulation problem associated with traditional submersible measurement methods, but also significantly improves acceptance efficiency and accuracy through automated measurement and calculation. It is particularly suitable for high-precision construction scenarios such as gravity-type docks with cable troughs, ensuring construction quality and the smooth progress of subsequent cable laying. Furthermore, by controlling the operational steps of the sling 1 when connecting to the block 6 (such as keeping the underwater camera 5 closed and controlling the lifting force), the safety and controllability of the construction are further improved.

[0049] In some embodiments, during the block connection step, the hook 102 of the sling 1 remains inserted into the lifting hole 601 of the block 6 and remains unhooked from the lifting hole 601. By inserting the hook 102 into the lifting hole 601, the position of the hook 102 during inspection is ensured to be consistent with that during installation, resulting in a more accurate inspection result. At the same time, keeping the hook 102 unhooked from the lifting hole 601 prevents accidental hooking, which could cause the block 6 to shift in position or become unstable due to water flow.

[0050] In some embodiments, during the block connection step, the legs 103 of the spreader 1 rest against the top surface of the block 6 to maintain stability during the acceptance process. The support and limiting effects of the legs 103 prevent the spreader 1 from shifting, ensuring more accurate acceptance data.

[0051] In some embodiments, during the block connection step, the spreader 1 remains connected to the block 6 for a predetermined time. During the block absolute position acquisition step, the absolute position data of the block 6 over a predetermined time period is calculated, and the arithmetic mean is taken as the acceptance data for the block 6. By maintaining the spreader 1 connected to the block 6 for a predetermined time during the block connection step, and calculating the data over a predetermined time period and taking the arithmetic mean during the block absolute position acquisition step, measurement errors and accidental deviations are effectively reduced, thereby improving the accuracy and reliability of the block 6 position acceptance data and ensuring construction quality.

[0052] In some embodiments, as Figure 1 As shown, the underwater block installation position acceptance method also includes an acceptance review step, which includes: Figure 2 As shown, concrete cylinders 7 are placed on the sides of block 6, with a preset distance between concrete cylinders 7 and the designed position of block 6. The absolute position of concrete cylinders 7 is obtained. A survey line 8 is stretched between concrete cylinders 7, and a diver measures the distance from a characteristic point of block 6 to survey line 8. The installation deviation of block 6 is calculated based on the theoretical distance between the designed position of block 6 and survey line 8. By placing concrete cylinders 7 on the sides of block 6 and stretching survey line 8, combined with the distance data measured by the diver, the acceptance data of block 6 can be reviewed. This method improves the accuracy of the acceptance results through dual verification and ensures the reliability of the installation position of block 6.

[0053] In some embodiments, during the acceptance and review step, when laying out the concrete cylinder 7, a locator is used to find a point at a preset distance from the design position of the block 6, and a heavy hammer is lowered at the point. The diver lays out the concrete cylinder 7 according to the position of the heavy hammer.

[0054] In some embodiments, as Figure 1 As shown, the step of connecting blocks also includes a crane ship positioning step, which includes: moving the crane ship to the construction area of block 6, and using the crane ship to lift the underwater block installation position acceptance system.

[0055] Based on the above-mentioned underwater block installation position acceptance method, the present invention also provides an underwater block installation position acceptance system, which adopts the above-mentioned underwater block installation position acceptance method, includes a hoisting device and a measurement and control device, the measurement and control device is fixedly connected to the hoisting device, the hoisting device is used to lift and install the block, and the measurement and control device is used to monitor the position of the hoisting device and the block; the hoisting device is used to lift and install the block 6, and the measurement and control device is used to monitor the position of the hoisting device and the block 6; the hoisting device includes a hoisting device 1 and a measuring tower 2, and the measuring tower 2 is installed on the hoisting device. The measuring and control device comprises a Beidou receiver 3, a target 4 and an underwater camera 5, wherein the Beidou receiver 3 is installed on the top of the measuring tower 2, and at least three non-collinear Beidou receivers 3 are provided to obtain the absolute position of the hoisting device; the target 4 is installed on the top surface of the block 6, and is used to assist in identifying the position of the block 6 according to the relative position relationship between the target 4 and the characteristic points of the block 6; at least three non-collinear targets 4 are provided; the underwater camera 5 is fixedly connected to the hoist 1, and is used to shoot the target 4 and obtain the relative position of the underwater camera 5 and the target 4.

[0056] In the above-mentioned schematic embodiment, by installing at least three non-collinear Beidou receivers 3 on the top of the measuring tower 2, the system can obtain the absolute position information of the lifting device in real time; since the lifting device is connected to the block 6 through the sling 1, and the target 4 is installed on the top surface of the block 6, the system can indirectly obtain the absolute position information of the block 6 through the high-precision positioning function of the Beidou receiver 3; it can overcome the limitation that the traditional method can only measure the relative position deviation between blocks 6, thereby ensuring the installation accuracy of the block 6; and it can avoid the accumulation of errors, ensure the installation accuracy of each block 6 during the entire construction process, thereby improving the overall construction quality.

[0057] In some embodiments, the measurement and control device further includes a processor, which is in communication with Beidou receiver 3 and underwater camera 5, respectively. The processor is configured to calculate the absolute position of target 4 based on the absolute position of the hoisting device acquired by Beidou receiver 3 and the relative position of underwater camera 5 and target 4, thereby obtaining the absolute position of the characteristic point of block 6. Automatically calculating the absolute position of the characteristic point of block 6 through the processor significantly improves acceptance efficiency and accuracy, meeting the requirements of high-precision construction.

[0058] It should be noted that if Figure 1 As shown, an upper measuring platform 201 is provided on the top of the measuring tower 2 , and the Beidou receiver 3 is installed at a corner point of the upper measuring platform 201 .

[0059] In some embodiments, as Figure 1As shown, the sling 1 includes a lifting frame 101 and a hook 102. The lifting frame 101 is used to connect to a crane vessel. The bottom of the lifting frame 101 is provided with a support leg 103. When the sling 1 is connected to the block 6, the support leg 103 is used to abut the top of the block 6 to prevent the sling 1 from being lowered too much. The hook 102 is installed below the lifting frame 101 and is hinged to the lifting frame 101. It is used to connect to the lifting hole 601 of the block 6. When the hook 102 is inserted into the lifting hole 601, the hook 102 is unfolded to hook up, and the hook 102 is closed to unhook. The provision of the support leg 103 plays a supporting and limiting role, so that the position of the sling 1 will not shift, ensuring more accurate acceptance data.

[0060] In some embodiments, as Figure 2 As shown, the underwater block installation position acceptance system also includes a concrete cylinder 7, which is arranged on the side of the block 6 and has a preset distance between it and the designed position of the block 6.

[0061] Through the description of multiple embodiments of the underwater block installation position acceptance method and system of the present invention, it can be seen that the underwater block installation position acceptance method and system embodiments of the present invention have at least one or more of the following advantages:

[0062] 1. The underwater block installation position acceptance method provided by the present invention first obtains the absolute position of the underwater camera through the Beidou receiver, and then combines the relative position of the target photographed by the underwater camera to accurately calculate the absolute position of the target, and finally derives the absolute position of the block.

[0063] 2. The underwater block installation position acceptance method provided by the present invention can not only avoid the error accumulation problem of the traditional diving measurement method for wrong teeth, but also significantly improve the acceptance efficiency and accuracy through automated measurement and calculation. It is particularly suitable for high-precision construction scenarios such as block gravity docks with cable troughs, ensuring the construction quality and the smooth progress of subsequent cable laying; at the same time, by controlling the operating steps when the sling is connected to the block (such as keeping the underwater camera closed, controlling the lifting force, etc.), the safety and controllability of the construction are further improved.

[0064] 3. The underwater block installation position acceptance system provided by the present invention indirectly obtains the absolute position information of the blocks through the high-precision positioning function of the Beidou receiver; it can overcome the limitation of traditional methods that can only measure the relative position deviation between blocks, thereby ensuring the installation accuracy of the blocks; and it can avoid the accumulation of errors, thereby ensuring the installation accuracy of each block throughout the entire construction process.

[0065] Finally, it should be noted that the various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0066] The above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit the same. Although the present invention has been described in detail with reference to preferred embodiments, persons skilled in the art should understand that the specific implementation methods of the present invention may still be modified or some technical features may be replaced by equivalents without departing from the spirit of the technical solutions of the present invention, and all of these should fall within the scope of the technical solutions claimed for protection by the present invention.

Claims

1. A method for accepting the installation position of an underwater block, characterized in that: The following steps are involved: Connecting the blocks: Connect the blocks through a lifting device, which includes a lifting fixture and a measuring tower mounted above the lifting fixture. Keep the underwater camera on the lifting fixture, which is used to photograph the target on the top surface of the blocks, closed, and control the lifting fixture to connect with the blocks. Obtaining the absolute position of the underwater camera: A measurement tower is set up above the sling. The tower consists of an upper measurement platform and a column. The column is fixedly connected to the sling, and the upper measurement platform is installed on top of the column. A BeiDou receiver installed at a corner of the upper measurement platform monitors the position of the sling. The absolute position of the underwater camera is obtained by combining the relative position of the BeiDou receiver and the underwater camera. Measuring the absolute position of the underwater camera and the target: The crane vessel maintains a lifting force of half the weight of the hoist, turns on the underwater camera, and uses it to photograph the target to obtain the relative position of the underwater camera and the target; Obtain the absolute position of the block: Obtain the absolute position of the target based on the absolute position of the underwater camera and the relative position of the underwater camera and the target; obtain the absolute position of the block based on the relative position relationship between the target and the block's feature points, and determine whether there is any deviation between the absolute position of the block and the designed position.

2. The underwater block installation position acceptance method according to claim 1, characterized in that: During the step of connecting the blocks, the hook of the sling remains inserted into the lifting hole of the block and remains unhooked from the lifting hole.

3. The underwater block installation position acceptance method according to claim 1, characterized in that: During the block connection step, the legs of the sling rest against the top surface of the block to maintain stability during the acceptance process.

4. The underwater block installation position acceptance method according to claim 1, characterized in that: In the block connection step, the sling remains connected to the block for a preset time; in the block absolute position acquisition step, the block absolute position data within a preset time period is calculated, and the arithmetic mean is taken as the block acceptance data.

5. The underwater block installation position acceptance method according to claim 4, characterized in that: It also includes an acceptance and review step, which includes: placing concrete cylinders on the side of the block, with a preset distance between the concrete cylinders and the designed position of the block; obtaining the absolute position of the concrete cylinders; drawing a survey line between the concrete cylinders, and divers measuring the distance from the block feature point to the survey line, and calculating the block installation deviation based on the theoretical distance between the designed position of the block and the survey line.

6. The underwater block installation position acceptance method according to claim 5, characterized in that: During the acceptance review step, when laying out the concrete cylinders, a locator is used to find a point at a preset distance from the designed position of the block, a heavy hammer is lowered at the point, and the diver lays out the concrete cylinders according to the position of the heavy hammer.

7. An underwater block installation position acceptance system, characterized in that: The method for accepting the installation position of an underwater block according to any one of claims 1 to 6 is adopted, comprising a hoisting device and a measurement and control device, wherein the measurement and control device is fixedly connected to the hoisting device, the hoisting device is used to lift and install the block, and the measurement and control device is used to monitor the position of the hoisting device and the block; The lifting device includes a sling and a measuring tower, and the measuring tower is installed above the sling; The measurement and control device includes: BeiDou receiver, which is installed on the top of the measurement tower. At least three non-collinear BeiDou receivers are set up to obtain the absolute position of the hoisting device; Targets are mounted on the top surface of the block to assist in identifying the block's position based on the relative positional relationship between the targets and the block's feature points; at least three non-collinear targets are provided; The underwater camera is fixedly connected to the sling and is used to photograph the target and obtain the relative position of the underwater camera and the target.

8. The underwater block installation position acceptance system according to claim 7, characterized in that: The measurement and control device also includes a processor, which is respectively connected to the Beidou receiver and the underwater camera for calculating the absolute position of the target based on the absolute position of the lifting device obtained by the Beidou receiver and the relative position of the underwater camera and the target, thereby obtaining the absolute position of the block feature point.

9. The underwater block installation position acceptance system according to claim 7, characterized in that: The spreader includes: The lifting frame is used to connect to the crane ship. The bottom of the lifting frame is equipped with outriggers. When the spreader is connected to the block, the outriggers are used to support the top of the block to prevent the spreader from lowering too much. The hook is installed under the lifting frame and hinged to the lifting frame, and is used to connect to the lifting hole of the block; when the hook is extended into the lifting hole, the hook is unfolded and connected to the lifting hole of the block, and the hook is closed to achieve unhooking.

10. The underwater block installation position acceptance system according to claim 7, characterized in that: It also includes concrete columns, which are arranged on the sides of the blocks and have a preset distance from the designed positions of the blocks.

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