System and method for detecting real-time installation precision of ship desulfurization tower

Abstract

The invention discloses a real-time installation precision detection system and method for a ship desulfurization tower, and the system comprises a biaxial rotation detection device which integrates a distance measurement module and an angle measurement module, and the transmitting end of the distance measurement module is fixedly disposed at the reference position of a ship structure. The first receiving end and the second receiving end are detachably mounted at different height positions of a desulfurization tower body, and the distance measurement module is used for representing the spatial relationship of the different height positions of the desulfurization tower relative to a reference position; the angle measurement module is a three-axis attitude instrument, is fixedly mounted at a reference position of a ship structure and is used for measuring a roll angle, a pitch angle and a yaw angle of the desulfurization tower in real time, and the upper computer calculates the front-back inclination degree, the left-right inclination degree and the offset distance of the desulfurization tower in real time; and the upper computer is also used for displaying the calculation result and carrying out sound-light alarm. The system can obtain the inclination angle and the position error of the desulfurization tower in real time to realize accurate real-time monitoring and dynamic adjustment.

Description

Technical Field

[0001] This invention relates to the field of marine technology, and in particular to a real-time installation accuracy detection system and a method for real-time installation accuracy detection of marine desulfurization towers. Background Technology

[0002] In the field of monitoring the installation accuracy of ship desulfurization towers, while existing technologies offer solutions to some extent, many limitations remain, hindering their widespread adoption and effectiveness in practical applications. Traditional physical measurement methods (such as levels and theodolites) primarily rely on manual operation, which is not only complex and time-consuming but also demands a high level of technical skill and experience from the operators. Affected by environmental interference and human factors, these methods struggle to guarantee sufficient measurement accuracy. Furthermore, the lack of real-time feedback means traditional tools cannot dynamically adjust during installation, making it difficult to fully meet high accuracy standards.

[0003] While high-precision equipment such as laser trackers and total stations can provide more accurate measurement results, they are expensive, complex to operate, require professional personnel, and are cumbersome to set up and calibrate. These instruments cannot perform automatic calibration, and measurement data usually needs to be processed offline, making real-time adjustments impossible. For example, although MEMS (Micro-Electro-Mechanical Systems) inspection systems are small and inexpensive, their accuracy is limited by their technical principles and the environment, making them prone to error accumulation and long-term accuracy degradation. Furthermore, MEMS sensors have low integration, making it difficult to effectively collaborate with other sensor systems and failing to meet the demands for high precision and real-time adjustment.

[0004] Existing intelligent monitoring systems based on sensor fusion also have shortcomings in terms of complexity and performance. The hardware architecture is complex, development is difficult, and real-time data processing, error correction, and feedback functions are still imperfect. Although a certain degree of real-time monitoring can be achieved, manual adjustments are still required once deviations occur, preventing full automation. Furthermore, the overall system cost is high, placing a significant economic burden on small vessels or conversion projects.

[0005] In summary, existing technologies still have many shortcomings in terms of operational complexity, cost, real-time performance, and accuracy assurance, making it difficult to fully meet the requirements for high precision and high efficiency during the installation of desulfurization towers. Summary of the Invention

[0006] This invention aims to at least partially solve one of the technical problems in related technologies. Therefore, the first objective of this invention is to propose a real-time installation accuracy detection system for ship desulfurization towers, capable of acquiring the tilt angle and positional error of the desulfurization tower in real time, and providing automated error correction suggestions by combining data processing algorithms. This system not only achieves accurate real-time monitoring and dynamic adjustment, but also, through intelligent algorithms, can operate efficiently in complex environments, solving the measurement errors caused by environmental interference, space limitations, and other factors.

[0007] The second objective of this invention is to propose a method for real-time installation accuracy testing of ship desulfurization towers.

[0008] To achieve the above objectives, a first aspect of the present invention provides a real-time installation accuracy detection system for a ship's desulfurization tower, comprising: a dual-axis rotation detection device integrating a distance measurement module and an angle measurement module; the distance measurement module including a transmitter of a transmission-type distance sensor and a first receiver and a second receiver; the transmitter being fixedly installed at a reference position on the ship's structure; and the first and second receivers being detachably installed at different heights on the desulfurization tower body; the distance measurement module is used to characterize the spatial relationship between the different heights of the desulfurization tower and the reference position; the angle measurement module is a three-axis attitude sensor, fixedly installed at the reference position on the ship's structure. The device is used to measure the roll angle, pitch angle, and yaw angle of the desulfurization tower in real time; a data communication device is used to receive data transmitted by the distance measurement module and the angle measurement module, and to package, encode, and transmit the data; a host computer is used to receive and parse the distance data, yaw angle, and roll angle from the data communication module, restore the original measurement information, and use a preset spatial attitude algorithm to fuse multiple sets of distance data with the reference position attitude angle to calculate the forward and backward tilt, left and right tilt, and offset distance of the desulfurization tower in real time; the host computer is also used to display the calculation results and to issue an audible and visual alarm when the yaw angle, tilt, or offset distance of the desulfurization tower exceeds a preset installation accuracy threshold.

[0009] In addition, the real-time installation accuracy detection system for ship desulfurization towers according to the above embodiments of the present invention may also have the following additional technical features: According to one embodiment of the present invention, the system further includes: a receiver auxiliary installation device, which is used to assist in the installation of the first receiver and the second receiver, so that the optical axes of the first receiver and the second receiver are parallel or coaxial with the axial direction of the desulfurization tower.

[0010] According to one embodiment of the present invention, the receiver auxiliary installation device includes a retractable bracket and a retractable scale indicator.

[0011] According to one embodiment of the present invention, the system further includes: an auxiliary positioning device, which is used to assist in positioning the dual-axis rotation detection device in the ZOY plane to ensure that the transmitting end, the angle measuring module and the axis of the desulfurization tower are located in the same vertical plane, that is, on the vertical bisector of the line connecting the two bases of the desulfurization tower.

[0012] According to one embodiment of the present invention, the auxiliary positioning device includes a retractable scale indicator and a laser indicator.

[0013] According to one embodiment of the present invention, the distance between the transmitting end and the first receiving end is a first distance, and the distance between the transmitting end and the second receiving end is a second distance; the angle formed by the angle measuring module and the first receiving end is a first angle, and the angle formed by the angle measuring module and the second receiving end is a second angle; the host computer calculates the left and right tilt degree and offset distance of the desulfurization tower according to the first distance, the second distance, the first angle and the second angle respectively.

[0014] According to one embodiment of the present invention, the degree of left-right tilt of the desulfurization tower is calculated using the following formula: in, The angle used to reflect the left and right tilt of the desulfurization tower. For the first distance, The second distance, For the first angle, This is the second angle; The offset distance of the desulfurization tower is calculated using the following formula: in, The reference distance is the distance from the desulfurization tower to the dual-axis rotating detection device.

[0015] According to one embodiment of the present invention, the host computer determines the forward and backward tilting degree of the desulfurization tower based on the difference between two consecutive yaw angles.

[0016] To achieve the above objectives, a second aspect of the present invention provides a method for real-time installation accuracy detection of ship desulfurization towers. The method is based on the aforementioned real-time installation accuracy detection system for ship desulfurization towers and includes: S1, install the dual-axis rotation detection device to the reference position of the ship structure, and detachably install the first receiving end and the second receiving end at different height positions of the desulfurization tower body; S2, during the installation of the desulfurization tower, the dual-axis rotation detection device is operated to sequentially align the transmitter with the first receiver and the second receiver through its dual-axis rotation mechanism. At each alignment position, the distance between the transmitter and the first receiver, the distance between the transmitter and the second receiver, the angle formed by the angle measurement module and the first receiver, the angle formed by the angle measurement module and the second receiver, and the yaw angle of the desulfurization tower body are collected synchronously. S3, the host computer calculates the installation accuracy parameters of the desulfurization tower in real time based on the angle data and example data. The installation accuracy parameters include the front and rear tilt degree, the left and right tilt degree, and the offset distance. S4, the host computer presents and monitors the installation accuracy parameters in real time through an intuitive graphical user interface; when the installation accuracy parameters exceed the preset installation accuracy threshold, an audible and visual alarm is triggered.

[0017] Compared with existing ship desulfurization tower installation accuracy testing technologies, the real-time ship desulfurization tower installation accuracy testing system and method proposed in this invention exhibits significant technical advantages and beneficial effects in several aspects, mainly reflected in the following: (1) The system of this embodiment of the invention achieves real-time and continuous monitoring of the spatial attitude and position deviation during the installation of the desulfurization tower through the collaborative work of the integrated rotatable dual-axis rotating detection device and the host computer system. It can provide real-time feedback on the dynamic installation status of the desulfurization tower, providing operators with real-time adjustment basis, and significantly improving installation efficiency and process controllability. Traditional methods, such as manual levels and theodolites, can usually only perform static detection after installation and cannot achieve real-time dynamic monitoring and adjustment during the installation process. The use of multi-layer cross-grid to achieve three-dimensional monitoring from the surface to the depth overcomes the lack of depth information perception of single-layer detection and can more comprehensively evaluate the three-dimensional damage morphology.

[0018] (2) The system of this embodiment innovatively adopts an integrated rotatable dual-axis rotation detection device. Through the dual-degree-of-freedom rotation mechanism, the sensor alignment operation process is simplified and the operation efficiency is improved. The host computer system is equipped with an intuitive and user-friendly graphical user interface, which can display measurement results and alarm information in real time, reducing the technical threshold and operational complexity for operators, and enabling on-site installers to complete the installation accuracy detection and adjustment of the desulfurization tower more conveniently and efficiently. Traditional methods, such as laser trackers and total stations, although highly accurate, are expensive, complex to operate, require professional personnel, and are cumbersome to calibrate, making it difficult to meet the needs of rapid and efficient on-site installation on ships.

[0019] (3) Compared with expensive high-precision measuring equipment such as laser trackers and total stations, the system of this embodiment adopts relatively low-cost components such as transmission distance sensors and angle sensors. While ensuring measurement accuracy, it effectively controls the overall cost of the system, making it more economical and valuable for promotion and application. It is particularly suitable for the installation and renovation of desulfurization towers for small and medium-sized ships, as well as cost-sensitive application scenarios.

[0020] (4) The system of this invention can provide comprehensive spatial attitude and position information such as the tilt angle (roll angle, pitch angle, yaw angle) and position deviation of the desulfurization tower in three-dimensional space. Compared with traditional methods, which can usually only detect two-dimensional information such as horizontality and verticality, the system of this invention can more comprehensively and accurately evaluate the spatial installation accuracy of the desulfurization tower, and provide more sufficient data basis for ensuring the safe and stable operation of the desulfurization tower.

[0021] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0022] Figure 1 This is a block diagram of a real-time installation accuracy detection system for ship desulfurization towers according to an embodiment of the present invention. Figure 2 This is a schematic diagram of a real-time installation accuracy detection system for a ship desulfurization tower according to an embodiment of the present invention; Figure 3 This is a schematic diagram showing the first receiving end and the second receiving end of the distance measurement module according to an embodiment of the present invention, which are coaxial with the desulfurization tower. Figure 4 This is a schematic diagram of the structure of a receiver auxiliary installation device according to an embodiment of the present invention; Figure 5 This is a schematic diagram showing the position of the dual-axis rotating detection device relative to the axis of the desulfurization tower according to an embodiment of the present invention; Figure 6 This is a schematic diagram of the structure of an auxiliary positioning device according to an embodiment of the present invention; Figure 7 This is a simplified model schematic diagram of a real-time installation accuracy detection system for a ship desulfurization tower according to an embodiment of the present invention; Figure 8 This is a flowchart of a method for real-time installation accuracy testing of a ship desulfurization tower according to an embodiment of the present invention. Detailed Implementation

[0023] Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0024] The following description, with reference to the accompanying drawings, illustrates the real-time installation accuracy detection system and method for ship desulfurization towers proposed in this invention.

[0025] like Figure 1 As shown, a real-time installation accuracy detection system for a ship desulfurization tower according to an embodiment of the present invention may include: a dual-axis rotation detection device 10, a data communication device 20, and a host computer 30.

[0026] Among them, such as Figure 2 As shown, the dual-axis rotation detection device 10 integrates a distance measurement module 11 and an angle measurement module 12. The distance measurement module 11 includes a transmitter of a transmission-type distance sensor and a first receiver 111 and a second receiver 112. The transmitter is fixedly installed at a reference position on the ship structure, while the first receiver 111 and the second receiver 112 are detachably installed at different heights on the desulfurization tower. The distance measurement module 11 is used to characterize the spatial relationship between different heights of the desulfurization tower and the reference position. The angle measurement module 12 is a three-axis attitude sensor, fixedly installed at a reference position on the ship structure, used to measure the roll angle, pitch angle, and yaw angle of the desulfurization tower in real time.

[0027] The data communication device 20 is used to receive data transmitted by the distance measurement module 11 and the angle measurement module 12, and to package, encode and transmit the data.

[0028] The host computer 30 is used to receive and parse distance data, yaw angle and roll angle from the data communication module, restore the original measurement information, and use a preset spatial attitude algorithm to integrate multiple sets of distance data and reference position attitude angles to calculate the forward and backward tilt, left and right tilt and offset distance of the desulfurization tower in real time. The host computer 30 is also used to display the calculation results and to issue an audible and visual alarm when the yaw angle, tilt and offset distance of the desulfurization tower are greater than the preset installation accuracy threshold.

[0029] Specifically, such as Figure 1 and Figure 2As shown, the dual-axis rotation detection device 10 integrates a distance measurement module 11 and an angle measurement module 12, and, combined with a dual-axis rotation mechanism, enables rotation around the main axis and angle adjustment in the direction perpendicular to the main axis. This dual-degree-of-freedom rotation design significantly improves the spatial flexibility and directional accuracy of the device, allowing operators to precisely control the direction of the dual-axis rotation detection device 10 and ensuring that the transmitter of the distance sensor can accurately and flexibly point to the receiver installed at different heights and orientations on the desulfurization tower. This design not only enhances the system's adaptability to complex installation environments but also significantly improves the efficiency and accuracy of sensor alignment operations, providing a foundation for subsequent high-precision spatial attitude measurement.

[0030] Specifically, the distance measurement module 11 mainly consists of a transmitter of a transmissive distance sensor and a first receiver 111 and a second receiver 112. It provides accurate distance data to characterize the spatial relationship between different heights of the desulfurization tower and a reference position. The selected transmissive distance sensor must meet the requirements of high precision and long measurement range, and possess good resistance to ambient light interference to ensure measurement reliability under complex shipboard conditions. Figure 2 As shown, the transmitter is fixedly installed at a reference position on the ship's structure, while the receiver is detachably installed at different heights on the desulfurization tower.

[0031] The angle measurement module 12 is an independent three-axis attitude sensor, with a gyroscope and accelerometer as its core components. The attitude sensor must possess high-precision and high-stability measurement capabilities and be able to output attitude angle information. Figure 2 As shown, the angle measurement module 12 is also fixedly installed at a reference position on the ship structure and placed alongside the transmitter of the distance measurement module 11 in the rotating dual-axis rotation detection device 10. This allows the angle measurement module 12 to effectively represent the attitude of the distance sensor and the dual-axis rotation detection device 10, providing an accurate attitude reference for subsequent tilt angle calculations. The angle measurement module 12 measures the roll angle, pitch angle, and yaw angle of the desulfurization tower in real time.

[0032] The main function of the data communication device 20 is to establish a stable and reliable data transmission channel between the distance measurement module 11, the angle measurement module 12, and the host computer 30. The data communication device 20 is responsible for packaging, encoding, and transmitting multiple sets of distance data from the distance measurement module 11 and the reference position attitude angle from the angle measurement module 12, and ensuring that the data can be accurately delivered to the host computer 30 in a complex electromagnetic environment.

[0033] The host computer 30, serving as the core control, data processing, and human-machine interaction platform of this system, primarily receives and parses distance and angle data from the data communication module to reconstruct the original measurement information. Next, the host computer 30 employs a preset spatial attitude algorithm, integrating multiple sets of distance data with reference position attitude angles, to calculate key parameters such as the tilt angle and position deviation of the desulfurization tower in real time and with high accuracy. The calculation results are presented in real time through a concise and easy-to-use graphical user interface, facilitating operators' monitoring of the desulfurization tower's installation status. It also features a configurable alarm function, allowing users to preset installation accuracy thresholds and automatically triggering audible and visual alarms when exceeding the limits, promptly prompting on-site adjustment operations.

[0034] According to an embodiment of the present invention, the above-described system further includes: a receiver auxiliary installation device, which is used to assist in the installation of the first receiver 111 and the second receiver 112, so that the optical axes of the first receiver 111 and the second receiver 112 are parallel or coaxial with the axial direction of the desulfurization tower.

[0035] Furthermore, according to one embodiment of the present invention, such as Figure 4 As shown, the receiver auxiliary installation device includes a retractable bracket and a retractable scale indicator.

[0036] Specifically, such as Figure 3 As shown, the auxiliary installation device for the receiving end is mainly used to assist in the installation of the distance sensor receiving end, ensuring that the optical axis of the receiving end is as parallel or coaxial as possible with the axis of the desulfurization tower, so as to reduce measurement errors introduced by the installation. Figure 4 As shown, the structural features of the receiver auxiliary installation device include a retractable bracket and a retractable scale indicator, which facilitates fine adjustments by the operator.

[0037] According to an embodiment of the present invention, the above-described system further includes: an auxiliary positioning device, which is used to assist in positioning the dual-axis rotation detection device 10 in the ZOY plane to ensure that the transmitting end, the angle measuring module 12 and the axis of the desulfurization tower are located in the same vertical plane, that is, on the vertical bisector of the line connecting the two bases of the desulfurization tower.

[0038] Furthermore, according to one embodiment of the present invention, such as Figure 6 As shown, the auxiliary positioning device includes a retractable scale and a laser pointer.

[0039] Specifically, the auxiliary positioning device is mainly used to assist in positioning the dual-axis rotation detection device 10, which is located in the ZOY plane, such as... Figure 5 As shown, ensure that the transmitter and angle measuring device are in the same vertical plane as the axis of the desulfurization tower, that is, on the perpendicular bisector of the line connecting the two bases of the desulfurization tower, to provide an accurate reference for subsequent tilt angle calculations. Figure 6As shown, the auxiliary positioning device includes a retractable scale indicator and a laser pointer, which facilitates quick and accurate positioning on site.

[0040] According to one embodiment of the present invention, such as Figure 7 As shown, the distance between the transmitter and the first receiver 111 is the first distance, and the distance between the transmitter and the second receiver 112 is the second distance; the angle formed by the angle measurement module 12 and the first receiver 111 is the first angle, and the angle formed by the angle measurement module 12 and the second receiver 112 is the second angle. The host computer 30 calculates the left and right tilt and offset distance of the desulfurization tower based on the first distance, the second distance, the first angle, and the second angle, respectively.

[0041] Furthermore, according to one embodiment of the present invention, the host computer 30 calculates the left and right tilt degrees of the desulfurization tower using the following formula: in, The angle used to reflect the degree of left and right tilt of the desulfurization tower. The first distance, The second distance, From the first angle, This is the second angle; The offset distance of the desulfurization tower is calculated using the following formula: in, The reference distance is from the desulfurization tower to the dual-axis rotating detection device 10.

[0042] Specifically, the host computer system 30 first receives two sets of three-dimensional spatially correlated data groups transmitted from the data communication module in real time, corresponding to the first receiving end 111 and the second receiving end 111 respectively. It then receives and parses the data, extracting the real-time updated distance value and the dual-axis attitude angle values ​​(roll angle and yaw angle) of the dual-axis rotation detection device 10. To ensure the quality of the input data for the algorithm, the host computer software 30 performs necessary data preprocessing and filtering on the received raw data, employing a low-latency moving average filter for the distance value. and And the angle measurement module 12 roll angle ( (axis rotation direction) angular value , With yaw angle ( (axis rotation direction) angular value , Fast smoothing filtering is performed to effectively suppress measurement noise and ensure the real-time response performance of the system.

[0043] After data preprocessing, the host computer system 30 will use a preset two-point geometry algorithm, referring to... Figure 7 The geometric model shown This represents the degree of tilt of the desulfurization tower. The calculation formula is: in: .

[0044] offset distance of desulfurization tower The calculation formula is: in The reference distance is from the desulfurization tower to the dual-axis rotating detection device 10.

[0045] The degree of left-right tilt of the desulfurization tower was calculated using the above algorithm. Desulfurization tower offset distance .

[0046] According to one embodiment of the present invention, the host computer 30 determines the degree of forward and backward tilt of the desulfurization tower based on the difference between two consecutive yaw angles.

[0047] In other words, the host computer 30 uses the difference between the yaw angles measured by the two angle measuring devices. This reflects the degree of tilt of the desulfurization tower, among which The degree of inclination of the desulfurization tower.

[0048] Corresponding to the above embodiments, the present invention also proposes a method for real-time installation accuracy detection of ship desulfurization towers.

[0049] like Figure 8 As shown, the real-time installation accuracy detection method for ship desulfurization towers according to an embodiment of the present invention, based on the real-time installation accuracy detection system for ship desulfurization towers described in the preceding embodiment, may include the following steps: S1, install the dual-axis rotation detection device 10 to the reference position of the ship structure, and detachably install the first receiving end 111 and the second receiving end 112 at different height positions of the desulfurization tower body.

[0050] Specifically, the dual-axis rotating detection device 10 and the distance sensor receiver are precisely installed at the ship's reference position and the predetermined point on the desulfurization tower body, respectively. The dual-axis rotating detection device 10 auxiliary positioning module and the receiver auxiliary installation module are used to perform fine position adjustment and reference calibration to ensure that the initial reference of the measurement system is accurate and reliable.

[0051] Specifically, such as Figure 2The rotatable dual-axis rotating detection device 10 is securely installed at a preset reference position on the ship structure. The selection of this reference position must fully consider the stability of the ship structure and its ease of reference positioning to ensure that the dual-axis rotating detection device 10 remains stable throughout the entire desulfurization tower installation process.

[0052] When installing the dual-axis rotary detection device 10, in addition to ensuring the accuracy of the rotation center and the main rotation axis, the auxiliary positioning module of the dual-axis rotary detection device 10 is used to accurately position the dual-axis rotary detection device 10. Figure 2 The desulfurization tower shown is located within the ZOY plane. Only by ensuring that the dual-axis rotation detection device 10 is positioned within the ZOY plane can the spatial attitude angle measured by the angle sensor establish a direct and accurate geometric mapping relationship with the tilt angle of the desulfurization tower in the XOZ plane, thereby ensuring that the algorithm can correctly and effectively calculate the spatial attitude of the desulfurization tower. Figure 5 As shown, a horizontal reference plane and a vertical reference axis are constructed near the reference position, and the horizontal position of the dual-axis rotation detection device 10 is precisely adjusted so that the rotation axis of the dual-axis rotation detection device 10 is strictly aligned with the projection position of the desulfurization tower axis in the horizontal plane represented by the vertical bisector of the bottom of the desulfurization tower indicated by the laser pointer, ensuring that the rotation plane of the dual-axis rotation detection device 10 is highly coincident with the vertical plane (i.e., the ZOY plane) where the desulfurization tower axis is located.

[0053] like Figure 3 On the outer surface of the desulfurization tower to be installed, the first receiving end 111 and the second receiving end 112 of the distance sensor should be detachably installed along its axis according to a pre-set spatial distribution scheme. The installation location of the distance sensor receiving end should be selected in a flat and open area of ​​the tower structure, and the three-dimensional coordinate information of each receiving end relative to the tower should be recorded in detail. Adjust the length of the scale of the auxiliary installation device for the distance sensor receiving end to be parallel to the axis of the desulfurization tower, and then install the distance sensor receiving end along the telescopic bracket to ensure that it is located on the axis of the desulfurization tower.

[0054] S2, during the installation of the desulfurization tower, the dual-axis rotation detection device 10 is operated to sequentially align the transmitter with the first receiver 111 and the second receiver 112 through its dual-axis rotation mechanism. At each alignment position, the distance between the transmitter and the first receiver 111, the distance between the transmitter and the second receiver 112, the angle formed by the angle measurement module 12 and the first receiver 111, the angle formed by the angle measurement module 12 and the second receiver 112, and the yaw angle of the desulfurization tower body are collected synchronously.

[0055] Specifically, during the installation of the desulfurization tower, the dual-axis rotating detection device 10 is operated. Through its dual-axis rotating mechanism, the distance sensor transmitter in the dual-axis rotating detection device 10 is sequentially and precisely aligned with the distance sensor receivers installed at different heights and orientations on the desulfurization tower. Distance measurement data is simultaneously collected at each aligned position. , and attitude angle data of the dual-axis rotation detection device 10 , , , .

[0056] Before formal data acquisition, the operator must first adjust the dual-axis rotation mechanism of the dual-axis rotation detection device 10 to the preset initial posture, and record the initial dual-axis posture angle value as the zero point of the angle reference for subsequent rotation alignment.

[0057] Subsequently, the operator needs to precisely control the dual-axis rotation mechanism of the dual-axis rotation detection device 10, ensuring that the distance sensor transmitters on it are sequentially and precisely pointed one by one to the two distance sensor receivers installed on the desulfurization tower body in three-dimensional space. First, the transmitter is precisely aligned with the lower-positioned first receiver 111. After the transmitter and the first receiver 111 achieve optimal three-dimensional spatial alignment, the operator must immediately lock the dual-axis rotation mechanism of the dual-axis rotation detection device 10, fix the current posture, and record the dual-axis rotation posture angle value measured in real time by the angle sensor integrated in the dual-axis rotation detection device 10. After the dual-axis rotation detection device 10 and the first receiver 111 are precisely aligned and locked in three-dimensional space, the system will synchronously start the data acquisition program, accurately measure the distance value between the transmitter and the first receiver 111, and synchronously read the current dual-axis rotation posture angle value output by the angle measurement module 12. To improve the reliability and accuracy of single-point distance data, the system can repeatedly measure the distance data at the position of the first receiver 111 multiple times and statistically average the results of multiple measurements to reduce the impact of random errors.

[0058] After completing the alignment and data acquisition with the first receiving end 111, the operator needs to repeat the above alignment and data acquisition steps to accurately align the transmitter with the higher-positioned second receiving end 112. After the transmitter and the second receiving end 112 achieve the optimal three-dimensional spatial alignment, the dual-axis rotation detection device 10 is locked and the corresponding distance data and dual-axis rotation attitude angle values ​​are acquired. Similarly, the system can repeatedly measure the distance data of the position of the second receiving end 112 multiple times.

[0059] The system will eventually obtain two sets of three-dimensional spatially correlated data sets, corresponding to the first receiver 111 and the second receiver 112 respectively. Each set of data contains accurate distance measurements and dual-axis attitude angle information of the dual-axis rotation detection device 10 that corresponds precisely to its spatial position.

[0060] S3, the host computer 30 calculates the installation accuracy parameters of the desulfurization tower in real time based on the angle data and example data. The installation accuracy parameters include the front and rear tilt degree, the left and right tilt degree, and the offset distance.

[0061] Specifically, after receiving sensor data, the host computer 30 uses a preset spatial attitude algorithm to perform data fusion analysis and calculate the key installation accuracy parameters of the desulfurization tower, such as the tilt angle and position deviation, in real time and with high precision.

[0062] Specifically, the host computer 30 first receives two sets of three-dimensional spatially correlated data groups transmitted from the data communication module in real time, corresponding to the first receiving end 111 and the second receiving end 112 respectively. It then receives and parses the data, extracting the real-time updated distance value and the dual-axis attitude angle values ​​(roll angle and yaw angle) of the dual-axis rotation detection device 10. To ensure the quality of the input data for the algorithm, the host computer 30 software performs necessary data preprocessing and filtering on the received raw data, employing a low-latency moving average filter for the distance value. and And the angle measurement module 12 roll angle ( (axis rotation direction) angular value , With yaw angle ( (axis rotation direction) angular value , Fast smoothing filtering is performed to effectively suppress measurement noise and ensure the real-time response performance of the system.

[0063] After data preprocessing, the difference in yaw angle between the two angle measurement devices was calculated. This reflects the degree of inclination of the desulfurization tower. The host computer system 30 will use a preset two-point geometric algorithm, referring to... Figure 7 The geometric model shown This represents the degree of tilt of the desulfurization tower. The calculation formula is: in: .

[0064] offset distance of desulfurization tower The calculation formula is: in The reference distance is from the desulfurization tower to the dual-axis rotating detection device 10.

[0065] The above algorithm is used to calculate... The degree of inclination of the desulfurization tower; The degree of tilt of the desulfurization tower to the left or right; : Desulfurization tower offset distance.

[0066] S4, the host computer 30 displays and monitors the installation accuracy parameters in real time through an intuitive graphical user interface; when the installation accuracy parameters exceed the preset installation accuracy threshold, an audible and visual alarm is triggered. The preset installation accuracy threshold can be calibrated according to actual conditions.

[0067] Specifically, the host computer 30 will present the calculated desulfurization tower installation accuracy parameters to the operator in real time through an intuitive graphical user interface and perform real-time monitoring. When the installation accuracy is detected to exceed the preset installation accuracy threshold, the host computer 30 will automatically trigger an alarm, promptly prompting the operator to make adjustments to ensure that the desulfurization tower installation quality meets the specifications.

[0068] Specifically, by continuously repeating the above operations, the host computer 30 will continuously and rapidly update the real-time calculated data. , , The system provides real-time visualization via a graphical user interface. It displays the real-time tilt angle of the desulfurization tower frequently and without delay, allowing users to instantly and intuitively grasp the current tilt status and make dynamic adjustments based on real-time feedback. If the host computer 30 detects that the desulfurization tower's attitude parameters exceed the preset accuracy threshold, it will immediately trigger a rapid alarm mechanism, alerting on-site operators that the real-time attitude deviation of the desulfurization tower has exceeded the limit and requires immediate and dynamic adjustment to ensure that the installation accuracy of the desulfurization tower is always controlled within the allowable range. To meet the needs of real-time monitoring and rapid response, this solution can appropriately simplify or weaken data storage and report generation functions, allocating more resources from the host computer 30 to real-time data processing, real-time visualization, and real-time over-limit alarms.

[0069] It should be noted that for details not disclosed in the real-time installation accuracy detection system for ship desulfurization towers in this embodiment of the invention, please refer to the details disclosed in the real-time installation accuracy detection method for ship desulfurization towers in this embodiment of the invention, which will not be repeated here.

[0070] The present invention creates applicable known and potential product / technology application areas and their application methods as follows: In the field of marine engineering, the core application of this invention lies in the real-time monitoring of the installation accuracy of desulfurization towers on ships. For desulfurization tower installation projects on various newly built and renovated ships, this system and method can be applied throughout key stages such as hoisting, positioning, and fixing, enabling real-time online monitoring of the spatial attitude and positional deviations of the desulfurization tower. This ensures that key parameters such as the tower's verticality, tilt angle, and horizontal position accurately meet design specifications, thereby guaranteeing the safe and stable operation of the desulfurization tower and ultimately improving the overall environmental performance and operational reliability of the ship. The application value of this invention is particularly prominent for desulfurization tower installation projects on medium and large-sized ships with limited installation space and stringent precision requirements.

[0071] In the field of large tower equipment installation: The application of this invention can be extended to the field of installation accuracy testing for large tower equipment. During the installation of onshore and offshore wind turbine towers, this system and method can be used for verticality calibration during segmented hoisting and flange connection accuracy testing, enabling real-time monitoring and quality assurance of the tower installation process, significantly improving the efficiency and safety of wind farm construction. In the petrochemical industry, the installation accuracy of large towers such as distillation towers and absorption towers is crucial. This invention can also be applied to the hoisting, verticality and horizontality calibration, and equipment alignment of such large towers, ensuring the quality of tower installation and improving the overall operational safety and efficiency of chemical production plants. This invention is also applicable to tall structures such as large chimneys and smokestacks, enabling real-time verticality monitoring and overall attitude calibration during segmented hoisting, ensuring the safety, stability, and functionality of tall structures.

[0072] In the field of large bridge and elevated structure installation: This invention can be applied to the installation accuracy detection of large bridges and elevated structures within the infrastructure construction sector. For the construction of bridge piers and towers, this system and method can achieve precise monitoring of their verticality, ensuring the installation accuracy of the bridge foundation structure and improving the overall load-bearing capacity and durability of the bridge. In the beam installation stage of elevated bridges and urban overpasses, this invention also plays a crucial role, enabling real-time detection of the horizontality, alignment, and centering accuracy during beam hoisting, positioning, and splicing, thereby improving bridge installation efficiency and quality, and ultimately ensuring the safe operation of transportation infrastructure.

[0073] In the field of large-scale building structure installation: In the construction engineering field, this invention can be applied to the installation accuracy detection of steel structures and curtain walls in high-rise buildings. For the construction of steel frame structures in high-rise buildings, this system and method can accurately detect the verticality and horizontality of steel columns and beams, ensuring the safety and stability of the building structure. In the curtain wall installation stage, this invention can be used to detect the installation position accuracy of curtain wall unit panels, improving the construction accuracy and efficiency of high-rise buildings, and ultimately enhancing the overall aesthetics and safety of the building. This invention is also applicable to the installation of space frame structures in large stadiums and convention centers, enabling real-time monitoring of the installation accuracy during the hoisting, splicing, and overall lifting of space frame structure units, ensuring the installation quality and safety reliability of large stadium structures.

[0074] Other potential application areas: In addition to the known and potential application areas mentioned above, the technology created by this invention can be further extended to other fields requiring high-precision spatial attitude and position detection, such as the installation accuracy detection of precision pointing mechanisms like large astronomical telescopes and radar antennas, and the long-term health monitoring of structures like large bridges, buildings, and towers, for real-time monitoring of structural deformation and tilt. In surveying fields such as engineering surveying, topographic mapping, and 3D modeling, the system of this invention can also serve as a high-precision, real-time spatial position and attitude measurement tool, leveraging its unique technical advantages.

[0075] In the description of this specification, references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0076] Furthermore, 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. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0077] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0078] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A real-time installation accuracy detection system for ship desulfurization towers, characterized in that, include: A dual-axis rotation detection device integrates a distance measurement module and an angle measurement module. The distance measurement module includes a transmitter of a transmission-type distance sensor, a first receiver, and a second receiver. The transmitter is fixedly installed at a reference position on the ship's structure, while the first and second receivers are detachably installed at different heights on the desulfurization tower. The distance measurement module is used to characterize the spatial relationship between the different heights of the desulfurization tower and the reference position. The angle measurement module is a three-axis attitude sensor, fixedly installed at the reference position on the ship's structure, used to measure the roll angle, pitch angle, and yaw angle of the desulfurization tower in real time. A data communication device is used to receive data transmitted by the distance measurement module and the angle measurement module, and to package, encode and transmit the data; The host computer is used to receive and parse distance data, yaw angle, and roll angle from the data communication module, restore the original measurement information, and use a preset spatial attitude algorithm to fuse multiple sets of distance data with the reference position attitude angle to calculate the forward and backward tilt, left and right tilt, and offset distance of the desulfurization tower in real time. The host computer is also used to display the calculation results and to issue an audible and visual alarm when the yaw angle, tilt, or offset distance of the desulfurization tower exceeds a preset installation accuracy threshold.

2. The real-time installation accuracy detection system for ship desulfurization towers according to claim 1, characterized in that, The system also includes: A receiver auxiliary installation device is provided to assist in the installation of the first receiver and the second receiver, so that the optical axes of the first receiver and the second receiver are parallel or coaxial with the axis of the desulfurization tower.

3. The real-time installation accuracy detection system for ship desulfurization towers according to claim 2, characterized in that, The receiver auxiliary installation device includes a retractable bracket and a retractable scale indicator.

4. The real-time installation accuracy detection system for ship desulfurization towers according to claim 1, characterized in that, The system also includes: An auxiliary positioning device is used to assist in positioning the dual-axis rotation detection device within the ZOY plane, ensuring that the transmitting end, the angle measuring module, and the axis of the desulfurization tower are located in the same vertical plane, i.e., on the vertical bisector of the line connecting the two bases of the desulfurization tower.

5. The real-time installation accuracy detection system for ship desulfurization towers according to claim 2, characterized in that, The auxiliary positioning device includes a retractable scale and a laser pointer.

6. The real-time installation accuracy detection system for ship desulfurization towers according to claim 1, characterized in that, The distance between the transmitter and the first receiver is a first distance, and the distance between the transmitter and the second receiver is a second distance; the angle formed by the angle measuring module and the first receiver is a first angle, and the angle formed by the angle measuring module and the second receiver is a second angle; The host computer calculates the left and right tilt and offset distance of the desulfurization tower based on the first distance, the second distance, the first angle, and the second angle, respectively.

7. The real-time installation accuracy detection system for ship desulfurization towers according to claim 6, characterized in that, The left and right tilt of the desulfurization tower is calculated using the following formula: in, The angle used to reflect the left and right tilt of the desulfurization tower. For the first distance, The second distance, For the first angle, This is the second angle; The offset distance of the desulfurization tower is calculated using the following formula: in, The reference distance is the distance from the desulfurization tower to the dual-axis rotating detection device.

8. The real-time installation accuracy detection system for ship desulfurization towers according to claim 1, characterized in that, The host computer determines the degree of forward and backward tilt of the desulfurization tower based on the difference between two consecutive yaw angles.

9. A method for real-time installation accuracy testing of a ship's desulfurization tower, characterized in that, The method is based on the real-time installation accuracy detection system for ship desulfurization towers according to any one of claims 1-8, and the method includes: S1, install the dual-axis rotation detection device to the reference position of the ship structure, and detachably install the first receiving end and the second receiving end at different height positions of the desulfurization tower body; S2, during the installation of the desulfurization tower, the dual-axis rotation detection device is operated to sequentially align the transmitter with the first receiver and the second receiver through its dual-axis rotation mechanism. At each alignment position, the distance between the transmitter and the first receiver, the distance between the transmitter and the second receiver, the angle formed by the angle measurement module and the first receiver, the angle formed by the angle measurement module and the second receiver, and the yaw angle of the desulfurization tower body are collected synchronously. S3, the host computer calculates the installation accuracy parameters of the desulfurization tower in real time based on the angle data and example data. The installation accuracy parameters include the front and rear tilt degree, the left and right tilt degree, and the offset distance. S4, the host computer presents and monitors the installation accuracy parameters in real time through an intuitive graphical user interface; when the installation accuracy parameters exceed the preset installation accuracy threshold, an audible and visual alarm is triggered.

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