A ship outfitting engineering equipment installation process integration control method

Abstract

This application discloses an integrated control method for the installation process of equipment in ship outfitting engineering, including: establishing an installation envelope model for each outfitting device in the ship's three-dimensional design model and assigning an installation time window, and outputting an installation process Gantt chart; deploying a deformation monitoring sensor group around the equipment base to continuously monitor the structural deformation after temperature compensation following welding; establishing a primary and secondary reference point network and calculating the target installation coordinates of the equipment base; performing epoxy grouting and monitoring the curing process through temperature sensors; performing precise six-degree-of-freedom alignment after hoisting the equipment body into place, and feeding back the deviation data to the coordinate transformation function to correct the target coordinates of subsequent equipment; and conducting pre-approval and multi-party signing for the sealing and control of the compartments. This method transforms the judgment of installation timing and process arrangement from experience-dependent to data-driven quantitative control, and improves the first-pass yield of equipment installation through precision closed-loop iterative correction.

Description

Technical Field

[0001] This application relates to the field of marine engineering, specifically to an integrated control method for the installation process of equipment in ship outfitting engineering. Background Technology

[0002] In the field of shipbuilding and outfitting engineering, the installation of ship outfitting equipment is crucial, directly impacting a ship's performance, safety, and service life. With the continuous development of the shipbuilding industry, the requirements for standardization, efficiency, and precision in the installation of key equipment such as steering systems, anchoring systems, lifting equipment, hatch covers, and watertight devices are increasingly stringent. Advanced installation technologies can improve the overall quality of a ship, reduce operating costs, and enhance its market competitiveness. Simultaneously, efficient and precise installation processes also help shorten the shipbuilding cycle, improve shipyard productivity, and promote the development of the entire shipbuilding industry.

[0003] In traditional ship outfitting equipment installation processes, the timing of installation lacks objective and quantitative standards; for the transfer of precision benchmarks, each section establishes its own local coordinate benchmarks during the construction phase, and the benchmarks are not remeasured and the coordinates are corrected after the overall sections are joined; when handling the arrangement of multiple professional processes, the construction sequence of multiple professions is arranged by the dispatcher based on experience, lacking a systematic analysis of construction space occupation and time overlap; and in terms of epoxy grouting quality control, the curing determination of the grouting layer does not monitor the actual curing state inside the grouting layer.

[0004] However, these traditional methods have many shortcomings. Regarding the timing of installation, the lack of quantitative standards means that if the base is positioned before the residual deformation of the hull structure is fully released, subsequent residual deformation will cause the base position to shift, exceeding the installation tolerances of precision equipment, leading to rework. In the accuracy benchmark transfer stage, the structural deformation after closure is not included in the calculation of installation coordinates. Using the design coordinates before closure for equipment positioning will result in a systematic deviation between the actual installation position and the design position. When aligning multiple pieces of equipment, the accumulated deviations cause alignment accuracy to exceed tolerances. The lack of quantitative analysis in the arrangement of multiple professional processes means that when installing large equipment, if pipelines and cables under the hoisting path have already been laid, the mechanical installation team must temporarily remove and then restore them, resulting in repeated construction. There is no process monitoring for epoxy grouting quality control. Premature removal of formwork or placement of equipment may result in incomplete curing of the grout layer, leading to insufficient load-bearing capacity. Current technologies have not formed a comprehensive integrated control method for outfitting equipment installation covering all stages, processes, and techniques, failing to meet the demands of efficient modern shipbuilding. Summary of the Invention

[0005] To address the technical problems in the prior art, this application provides an integrated control method for the installation process of ship outfitting equipment.

[0006] The integrated control method for the installation process of ship outfitting engineering equipment provided in this application adopts the following technical solution:

[0007] An integrated control method for the installation process of equipment in ship outfitting engineering includes:

[0008] In the ship's 3D design model, an installation envelope model is created for each outfitting equipment to be installed. The installation envelope model is a 3D geometry that surrounds the space required for the entire equipment installation process. An installation time window is assigned to the installation envelope of each equipment. The installation time window is the time period between the earliest time when the equipment can start installation and the latest time when it can be completed. Spatiotemporal cross-checking is performed on the installation time windows and installation envelopes of all equipment. For the installation time windows of each equipment with spatiotemporal conflicts detected, the installation time windows of the equipment with lower priority are prioritized according to the irreversibility of the process, the installation accuracy requirements, the weight of the equipment, and the spatial location. The installation time windows of the equipment with lower priority are moved to the back to eliminate spatiotemporal conflicts. The equipment is sorted according to the adjusted time windows and the installation process Gantt chart is output.

[0009] Deformation monitoring sensor groups are set up around the predetermined position of the equipment base to continuously monitor the structural deformation during and after the welding of the main section. After temperature compensation of the monitoring data, the displacement change between adjacent sampling periods is calculated. When the displacement change of all monitoring channels is less than the preset threshold for a preset number of consecutive sampling periods, it is determined that the structural deformation has become stable.

[0010] A primary reference point network is established in the dock, and secondary reference points are set on the structural nodes of each section. The initial coordinates of the secondary reference points are measured before the sections are joined. After the deformation stability judgment is passed, the actual coordinates of the secondary reference points are measured again. By comparing and fitting the initial coordinates and actual coordinates of the secondary reference points, the coordinate offset is calculated and a coordinate transformation function is established. The target installation coordinates of each equipment base are calculated according to the coordinate transformation function.

[0011] Based on the target installation coordinates, the equipment base is precisely marked, positioned, and fixed using a laser tracker. A grouting template is erected to enclose the grouting space. Epoxy grouting is performed between the equipment base and the ship's structural surface within the grouting space to form an epoxy grouting layer. The curing process of the epoxy grouting layer is monitored using a temperature sensor. When the monitored grouting layer temperature drops from the peak of the exothermic reaction to within the ambient temperature plus a preset temperature difference and the duration exceeds a preset time, curing is considered complete.

[0012] The equipment body is hoisted onto the equipment base and precisely aligned using adjustments in six degrees of freedom, including three translational directions and three rotational directions. After installation, the final coordinate measurement is performed, and the measured coordinates are compared with the target coordinates to determine the measured deviation. The measured deviation is then compared with the preset tolerance. If it is within the acceptable range, it is recorded; if it exceeds the preset tolerance, the precise alignment sub-step is returned and re-executed. The deviation data of the installed equipment is fed back into the coordinate transformation function for subsequent correction of the target coordinates of the equipment.

[0013] The internal space of the ship is divided into several sealed-off control areas. When all equipment in a sealed-off control area is installed, a pre-sealing review is triggered. After the pre-sealing review is passed, multiple parties sign off and the construction authority for that sealed-off control area is locked.

[0014] In summary, this application includes at least one of the following beneficial technical effects:

[0015] 1. By deploying a group of deformation monitoring sensors around the equipment base and calculating the displacement change between adjacent sampling periods after temperature compensation of the monitoring data, the displacement change is taken as the quantitative judgment condition of deformation stability when the displacement change is less than a preset threshold for multiple consecutive sampling periods. This transforms the traditional installation timing judgment that relies on the experience of construction personnel into a quantitative judgment based on continuous monitoring data, reducing the base position offset and equipment installation rework caused by positioning the base when the residual deformation of the structure has not been fully released.

[0016] 2. By measuring the initial and measured coordinates of the secondary reference points before and after the main section is joined, a local correction field is established using rigid body transformation matrix and thin plate spline interpolation to calculate the target installation coordinates of each equipment base. The measured deviation data of the installed equipment is used as new correction sample points to feed back to the coordinate transformation function to update the parameters of the local correction field of thin plate spline interpolation. This makes the target coordinate calculation accuracy of subsequent equipment gradually improve with the increase of the number of installed equipment, forming an accuracy closed-loop iterative correction mechanism, reducing the number of equipment installation reworks caused by coordinate deviations, and improving the first-pass yield of equipment installation.

[0017] 3. By establishing an installation envelope model for each piece of equipment to be installed and performing spatiotemporal cross-detection, overlapping conflicts between different professional equipment in terms of installation time and space can be identified before construction. The installation sequence can be automatically adjusted according to priority rules, so that the hoisting path of large equipment is not occupied by other laid pipelines and cables within its installation time window, thereby reducing the need for repeated construction such as temporary dismantling of laid pipelines and cables due to conflicts between multiple disciplines. Attached Figure Description

[0018] Figure 1 This is a flowchart of the entire process steps in this application;

[0019] Figure 2This is a schematic diagram of the overall installation of equipment for the ship outfitting project in this application;

[0020] Figure 3 This is a schematic cross-sectional view of the grouting structure of the base in this application;

[0021] Figure 4 This is a schematic diagram of the deformation monitoring sensor layout in this application;

[0022] Figure 5 This is a schematic diagram of the accuracy reference network in this application;

[0023] Figure 6 This is a schematic diagram of the mounting envelope structure of this application;

[0024] Figure 7 This is a schematic diagram of the epoxy grouting curing temperature curve of this application;

[0025] Figure 8 This is a schematic diagram of the accuracy closed-loop iterative correction in this application;

[0026] Figure 9 This is a flowchart of the area enclosure management process for this application;

[0027] Explanation of reference numerals in the attached diagram: 1. Dock wall; 2. Deformation monitoring module; 21. Strain gauge sensor; 22. LVDT displacement sensor; 23. Stationary reference point; 24. Data acquisition workstation; 3. Precision reference module; 31. Primary reference point; 32. Secondary reference point; 33. Laser tracker; 4. Base grouting module; 41. Equipment base; 42. Epoxy grouting layer; 43. Thickness control shim; 44. Temperature sensor; 45. Grouting template; 46. Anchor bolt; 5. Equipment installation module; 51. Equipment body; 52. Gearbox; 53. Generator set; 54. Pump set; 55. Steering gear; 56. Anchor winch; 57. Measurement target point; 58. Laser alignment instrument; 59. Adjustment shim; 6. Capsule management module; 61. Capsule control area; 62. Capsule marking; A. Stern; B. Engine room; C. Bow. Detailed Implementation

[0028] The technical solutions in the embodiments of this application will be further described in detail below with reference to the accompanying drawings. The described embodiments are only possible technical implementations of this application, but are not limited thereto. Other embodiments obtained by those skilled in the art in conjunction with the embodiments of this application without creative effort are also within the protection scope of this application.

[0029] This application mainly adopts steps such as establishing an installation envelope, monitoring deformation, and transmitting accuracy, which achieves the effect of standardization and high-precision control of the entire process of ship outfitting equipment installation. The following is a further detailed description of this application.

[0030] Please refer to Figures 1 to 9 The integrated control method for ship outfitting equipment installation process provided in this application includes a process planning step S0, a deformation monitoring and installation timing determination step S1, a precision benchmark establishment and transfer step S2, a base positioning and epoxy grouting step S3, a precise equipment installation and precision closed-loop step S4, and a zone sealing and acceptance step S5. These steps cooperate with each other to form a complete ship outfitting equipment installation control system, realizing standardization and precise control of the entire process from planning to acceptance, effectively improving the installation quality and efficiency of ship outfitting equipment. The above six steps correspond to the process planning module, deformation monitoring module 2, precision benchmark module 3, base grouting module 4, equipment installation module 5, and zone sealing management module 6, respectively, and each module works collaboratively in chronological order.

[0031] Please refer to Figure 2 This application applies to the installation of outfitting equipment on a ship in a dry dock. The hull is assembled and welded from multiple sections in the dry dock, and the hull is erected on keel piers on the bottom of the dry dock, with a gap between the hull bottom and the bottom of the dry dock. A primary reference point 31 is set on the dry dock wall 1, and secondary reference points 32 are set at the structural nodes on each section. A laser tracker 33 is placed on the bottom of the dry dock, and connects each reference point from outside the hull through a measurement optical path to establish a unified coordinate system for the entire ship. A stationary reference point 23 is set on a fixed pile on the bottom of the dry dock, and extends through the bottom of the hull to the vicinity of the equipment base 41 through a rigid measuring bracket, providing an absolutely stationary reference end for the LVDT displacement sensor 22. The interior of the hull is divided into sealed control areas 61 by watertight bulkheads, where the stern A area corresponds to the first sealed control area 61A, the engine room B area corresponds to the second sealed control area 61B, and the bow C area corresponds to the third sealed control area 61C. The steering gear 55 is installed in area A at the stern; the engine room 51, gearbox 52, generator set 53, pump set 54, and other equipment are installed in area B; and the anchor winch 56 is installed in area C at the bow. All of the above equipment is mounted on its respective equipment base 41. The equipment body 51 is located on... Figure 2 Taking the equipment body 51 as an example, the equipment body 51 in this application refers to all outfitting equipment to be installed, including but not limited to the equipment body 51, gearbox 52, generator set 53, pump set 54, servo motor 55, anchor winch 56, etc. The laser alignment instrument 58 is a portable measuring tool, temporarily installed at the flange connection between the equipment body 51 and gearbox 52 during shaft alignment, and removed after measurement. Deformation monitoring sensors include strain gauge sensors 21 and LVDT displacement sensors 22, which are deployed around the equipment base 41, and data is transmitted to the data acquisition workstation 24.

[0032] Please refer to Figure 2 and Figure 3The equipment body 51 is mounted on the equipment base 41, and an epoxy grouting layer 42 is provided between the equipment base 41 and the hull structure. A thickness control gasket 43 and a temperature sensor 44 are embedded in the epoxy grouting layer 42. The temperature sensor 44 is respectively located at the center and edge of the grouting layer. Figure 3 As shown, thickness control shims 43 are pre-placed within the grouting space to control the uniformity of the grout layer thickness, and the lead wire of the temperature sensor 44 is led out from the reserved hole of the grouting template 45. Grouting templates 45 are installed around the equipment base 41 to enclose the grouting space. The equipment body 51 is fixed to the hull structure surface by anchor bolts 46 passing through the equipment body 51 and the equipment base 41. Adjustment shims 59 are provided between the equipment body 51 and the equipment base 41 for adjusting the height and inclination during precise alignment. Measurement target points 57 are provided on the equipment body 51 for the laser tracker 33 to measure the installation accuracy of the equipment. The sealed compartment marking 62 is affixed to the entrance of the sealed compartment control area 61 after the compartment has been sealed.

[0033] Please refer to Figure 1 Specifically, the process planning step S0 includes establishing the installation envelope model, assigning installation time windows, performing spatiotemporal cross-checking, and automatic sorting. The process planning module comprises an installation envelope modeling unit, a time attribute assignment unit, a spatiotemporal cross-checking unit, and a conflict resolution sorting unit, which are executed sequentially.

[0034] Please refer to Figure 6 The installation envelope model is composed of the Boolean union of the equipment body space V1, tool operation space V2, hoisting path space V3, and temporary support space V4, i.e., V_total = V1 ∪ V2 ∪ V3 ∪ V4. The equipment body space V1 is the enclosure of the equipment body 51 after adding preset safety clearances in each direction. For example, for a square piece of equipment, adding 50mm safety distances in the length, width, and height directions forms a larger cubic enclosure, ensuring sufficient space for operation during installation. The tool operation space V2 is the space swept by the tool along its operating trajectory during installation. Specifically, based on the geometry and operating trajectory of the tools used during installation, a sweeping calculation is performed on the tool's shape along the operating trajectory to generate the tool operation space V2. For example, the space occupied by tools such as hydraulic wrenches and torque wrenches used during equipment installation. Figure 6 As shown, the tool operating space V2 has a tool operating distance of 150~300mm outside the equipment body space V1. The hoisting path space V3 is the space swept by the equipment body 51 from the entrance along the hoisting path to the installation position. Specifically, based on the shape of the equipment body 51 and the spatial curve of the hoisting path, a sweeping calculation is performed along the hoisting path to generate the hoisting path space V3, as shown below. Figure 6 As shown, the hoisting path space V3 is located above the tool operating space V2, with a 100mm hoisting safety clearance on the outside. The temporary support space V4 is the space occupied by temporary support structures before the equipment body 51 is in place, such as the space occupied by jacks and other support structures used before equipment installation. Figure 6 As shown, the temporary support space V4 is located on both sides below the equipment body space V1.

[0035] The installation envelope modeling unit creates an installation envelope model for each outfitting device to be installed within the ship's 3D design model. During operation, the unit reads the 3D dimensions, installation position coordinates, required tool types and operating trajectories, hoisting path planning, and temporary support scheme for each device, generating four subspaces (V1, V2, V3, and V4) and calculating their Boolean union to obtain the complete installation envelope V_total for that device. By establishing the installation envelope model, all the space required for equipment installation is quantitatively expressed, providing a precise spatial geometric basis for subsequent spatiotemporal conflict detection and avoiding the spatial conflict omissions caused by relying solely on empirical estimations of installation space in traditional methods.

[0036] The time attribute assignment unit assigns an installation time window to the installation envelope of each device. The installation time window is the time period between the earliest time when the device is allowed to start installation and the latest time to complete installation. The determination of the installation time window comprehensively considers factors such as the device arrival time, the completion time of the preceding processes, the welding progress, and the deformation stability judgment results.

[0037] Spatiotemporal cross-detection is performed by a spatiotemporal cross-detection unit, including temporal conflict detection and spatial conflict detection. Temporal conflict detection projects the installation time windows of all devices onto the time axis to identify the set of device pairs with overlapping time windows. Spatial conflict detection performs 3D envelope interference detection only on device pairs with overlapping time windows, calculating the intersection volume of the installation envelopes of the two devices. If the intersection volume is greater than zero, a spatiotemporal conflict is determined to exist. By first performing temporal conflict detection to filter out device pairs with overlapping time windows, and then performing 3D spatial interference detection only on these device pairs, full spatial interference calculations for all device pairs are avoided, significantly reducing computational complexity and improving detection efficiency.

[0038] The conflict resolution and sorting unit adjusts the installation time windows of each piece of equipment with detected spatiotemporal conflicts. Priority factors are ranked from highest to lowest as follows: irreversible processes requiring epoxy grouting are prioritized; equipment with high installation tolerance levels is prioritized; heavy equipment is prioritized; and equipment located deep within a compartment is prioritized. For equipment pairs with spatiotemporal conflicts, the earliest start time of the installation time window for the lower-priority equipment is moved to after the latest completion time of the installation time window for the higher-priority equipment. After this move, spatiotemporal cross-detection is performed again. If new conflicts arise, the priority rules are continued until all conflicts are resolved. The equipment is then sorted according to the adjusted time windows, and an installation process Gantt chart is output, thus rationally arranging the installation sequence of each piece of equipment. Among these, irreversible processes requiring epoxy grouting have the highest priority because once epoxy grouting is completed, it is irreversible. If the grouting time is delayed due to space occupied by other processes, the entire installation process will be halted. Equipment with high tolerance levels is prioritized because high-precision equipment is more sensitive to structural deformation and should be installed as soon as possible after the deformation stabilizes to reduce the impact of subsequent deformation. Heavy equipment is prioritized because the hoisting of large equipment requires a large hoisting path space, and installing it first can avoid obstructing the space for the installation of subsequent smaller equipment. Equipment located deep inside the cabin is prioritized because the hoisting path for deep equipment is long, and if it is installed later, it may be blocked by the already installed outer equipment.

[0039] The process of step S0 in the process planning is as follows: First, the installation envelope modeling unit creates an installation envelope model for each piece of equipment to be installed; then, the time attribute assignment unit assigns an installation time window to each installation envelope; next, the spatiotemporal cross-detection unit performs time conflict detection and spatial conflict detection on all equipment, identifying equipment pairs with spatiotemporal conflicts; finally, the conflict resolution and sorting unit shifts the installation time window of lower-priority equipment according to priority rules to eliminate spatiotemporal conflicts, outputting a conflict-free installation process Gantt chart. This process Gantt chart serves as the basis for the construction scheduling of all subsequent steps, guiding each specialty to construct in sequence. Through step S0, the traditional process arrangement relying on the scheduler's experience is transformed into a quantitative analysis based on three-dimensional space and time, avoiding repeated construction caused by multi-disciplinary cross-conflicts from the source, and reducing the need for temporary removal of laid pipelines and cables due to occupied hoisting paths.

[0040] Please refer to Figure 1 , Figure 2 and Figure 4In step S1, which involves deformation monitoring and determining the installation timing, the deformation monitoring sensor group includes a strain gauge sensor 21 and an LVDT displacement sensor 22. The sensor group is arranged with the center of the equipment base 41 as the origin, and a set of sensors is placed at each of the four corners of the equipment base 41. Each set includes one triaxial strain gauge sensor 21 and one LVDT displacement sensor 22. An LVDT displacement sensor 22 is placed at the center of the equipment base 41 as a reference point. Figure 4 As shown, the four monitoring points at the four corners of the equipment base 41 are marked as S1, S2, S3, and S4, respectively, and the central reference point is marked as S5. There are a total of four strain gauge sensors 21 and five LVDT displacement sensors 22. The triaxial strain gauge sensors 21 can measure strain in different directions, used to calculate the local stress distribution of the structure near the base and determine the degree of release of residual welding stress. The LVDT displacement sensors 22 are used to directly measure the absolute displacement changes of each corner point and the center point of the base relative to the stationary reference point 23.

[0041] The reference end of the LVDT displacement sensor 22 is fixed to a stationary reference point 23, which is set on a fixed pile on the bottom of the dock and extends through the hull to near the equipment base 41 via a rigid measuring bracket. Since the dock bottom is a permanent concrete structure, it will not undergo displacement change during the monitoring period, thus providing an absolutely stationary reference for the LVDT displacement sensor 22. This ensures that the measured displacement value is the true deformation of the hull structure, rather than the relative displacement between two points that are both deformed. The rigid measuring bracket is made of Invar alloy or carbon fiber material with a low coefficient of thermal expansion to reduce the impact of ambient temperature changes on the bracket's length. Figure 4 As shown, the reference ends of each LVDT displacement sensor 22 are connected to the stationary reference point 23 via dashed lines, and the data from all sensors are transmitted to the data acquisition workstation 24 via wired connection.

[0042] Continuous monitoring of structural deformation was conducted during and after the welding of the main section closure. Temperature compensation was applied to the monitoring data, performed independently for each monitoring point. The calculation method was: D_compensated_i = D_raw_i - α × L_i × (T_current - T_reference), where D_compensated_i is the compensated displacement value of the i-th monitoring point, D_raw_i is the original displacement value of the i-th monitoring point, α is the thermal expansion coefficient of the hull steel, L_i is the distance from the i-th monitoring point to its corresponding stationary reference point 23, T_current is the current ambient temperature, and T_reference is the ambient temperature at the time of the first data acquisition. Temperature compensation can eliminate the interference of ambient temperature changes on displacement data. Then, the displacement change between adjacent sampling periods was calculated. When the displacement change of all monitoring channels is less than a preset threshold for a consecutive preset number of sampling periods, the structural deformation is considered to have stabilized. The preset threshold is divided into at least two levels according to the equipment installation tolerance level. The threshold corresponding to the equipment with a higher installation tolerance level is lower than the threshold corresponding to the equipment with a lower installation tolerance level. For example, the threshold for precision equipment (such as servo motor 55, equipment body 51, and propulsion shaft system with an installation tolerance of less than ±0.3mm) can be set to 0.05mm, and the threshold for ordinary equipment (such as ventilator, pump, and pipe support with an installation tolerance of greater than ±1.0mm) can be set to 0.15mm.

[0043] The process of deformation monitoring and installation timing determination step S1 is as follows: First, in step S1.1, deformation monitoring sensor groups are deployed around the predetermined positions of each equipment base 41 according to the above-mentioned deployment rules, and each sensor is connected to the data acquisition workstation 24 via wired connection; then, in step S1.2, the data acquisition workstation 24 continuously collects the raw data of each sensor at a preset sampling frequency, and independently performs temperature compensation on the displacement data of each monitoring point; next, in step S1.3, the data acquisition workstation 24 performs trend analysis on the compensated displacement data and calculates the displacement change between adjacent sampling periods; finally, based on the determination result, when the displacement change of all monitoring channels is less than a preset threshold for a consecutive preset number of sampling periods, the "deformation stability" determination result is output, allowing the process to proceed to the subsequent step S2. Through this step, the traditional "deformation stability" judgment, which relies on the experience of construction personnel, is transformed into a quantitative judgment based on continuous monitoring data, eliminating the problems of base position offset and accuracy exceeding standards caused by premature installation from the source.

[0044] Please refer to Figure 1 , Figure 2 and Figure 5 In step S2, which involves establishing and transferring precision benchmarks, a network of primary benchmark points 31 is established within the dock, and secondary benchmark points 32 are set at the structural nodes of each section. For example... Figure 5 As shown, primary reference points 31 are set on the port and starboard walls of the dock, forming an absolute reference frame for the unified coordinate system of the entire ship; secondary reference points 32 are set on the structural nodes inside each section, with at least three secondary reference points 32 set in each section to ensure the reliability of coordinate transformation; a laser tracker 33 is placed on the bottom surface of the dock and connects the primary reference points 31 and secondary reference points 32 through a measurement optical path, transmitting the absolute coordinates of the primary reference points 31 to each secondary reference point 32. Before the sections are joined, a network of primary reference points 31 is established in step S2.1, and the initial coordinates of the secondary reference points 32 are measured in step S2.2. After the deformation stability judgment is passed, the measured coordinates of the secondary reference points 32 are remeasured. In step S2.3, coordinate transformation is performed, including calculating the coordinate offset matrix ΔP = P_actual - P_initial caused by the closing deformation, where P_actual is the measured coordinate matrix of the secondary reference point 32 and P_initial is the initial coordinate matrix of the secondary reference point 32; the least squares method is used to fit the rigid body transformation matrix containing the translation vector T and the rotation matrix R; for the local area where the fitting residual exceeds the preset residual threshold, supplementary secondary reference points 32 are added; the thin plate spline interpolation method is used to interpolate the residual vector after rigid body transformation at each secondary reference point 32, i.e., ΔP − (R × P_initial + T − P_initial), to establish a local correction field. The preset residual threshold is determined according to the installation tolerance requirements of the equipment in this area. In step S2.4, the target installation coordinates are output. The target installation coordinates of each equipment base 41 are calculated using the following formula: P_target = R × P_design + T + TPS_correction(P_design), where P_design is the design installation coordinate of the equipment, and TPS_correction is the correction amount of the local correction field of the thin plate spline interpolation to the design coordinates. Through such coordinate transformation and correction, the influence of closing deformation on installation accuracy can be transformed from a systematic deviation into a calculable and compensable correction amount.

[0045] The process of establishing and transferring the accuracy benchmark in step S2 is as follows: First, before the main sections are joined, the absolute coordinates of the primary benchmark point 31 on the dock wall 1 are measured using a laser tracker 33 to establish a unified coordinate system for the entire ship; then, the initial coordinates P_initial of the secondary benchmark points 32 within each main section are measured; after the main sections are joined and welded and the deformation is determined to be stable in step S1, the actual coordinates P_actual of each secondary benchmark point 32 are remeasured using the laser tracker 33; then, the target installation coordinates P_target of each equipment base 41 are calculated through rigid body transformation and thin plate spline interpolation and output to step S3. By comparing and transforming the coordinates of the secondary benchmark points 32 before and after joining, the overall rigid body displacement and local non-uniform deformation caused by the joining deformation are included in the correction calculation, so that the equipment installation coordinates can accurately reflect the actual structural state after joining, avoiding the systematic deviation caused by the use of pre-joining design coordinates in traditional methods.

[0046] Please refer to Figure 1 , Figure 2 , Figure 3 and Figure 7 In step S3, during the base positioning and epoxy grouting process, based on the target installation coordinates, in step S3.1, the laser tracker 33 is used to precisely mark, position, and fix the equipment base 41. In step S3.2, a grouting template 45 is erected to enclose the grouting space. After determining the grouting gap scheme, in step S3.3, epoxy grouting is performed between the equipment base 41 and the ship's structural surface within the grouting space to form an epoxy grouting layer 42. Figure 3 As shown, the epoxy grouting layer 42 is located between the equipment base 41 and the hull structure surface. The grouting template 45 is installed around the equipment base 41 to enclose the grouting space. The thickness control shim 43 is placed in the grouting space in advance to control the uniformity of the grouting layer thickness. The temperature sensor 44 is embedded in the grouting layer to monitor the curing process.

[0047] The curing process monitoring of the epoxy grout is carried out in step S3.4, including embedding temperature sensors 44 at the center and at least one edge of the epoxy grout layer 42 to record the temperature of the epoxy grout layer 42 at a preset frequency. Figure 7 As shown, the temperature curve of the epoxy grout layer 42 exhibits a characteristic of first rising and then falling: after grouting, the epoxy resin undergoes an exothermic curing reaction, with the temperature gradually increasing from the ambient temperature T_env to the exothermic reaction peak T_peak, and then starting to decrease after reaching the peak time t_peak. Preliminary curing determination: when the temperature of the epoxy grout layer 42 drops from the exothermic reaction peak to within the ambient temperature plus a first preset temperature difference ΔT1, and the duration exceeds the first preset time, as... Figure 7At time t1, preliminary curing is considered complete, and the grouting formwork 45 can be removed. Complete curing is determined when the temperature of the epoxy grouting layer 42 remains within the range of the second preset temperature difference ΔT2 between the ambient temperature and the second preset time, as shown in the figure. Figure 7 As shown at time t2, complete curing is determined, and the equipment body 51 can be positioned and the anchor bolts 46 tightened. The second preset temperature difference ΔT2 is less than the first preset temperature difference ΔT1, and the second preset duration is greater than the first preset duration. For example, the first preset temperature difference ΔT1 can be set to 5℃, and the first preset duration can be set to 4 hours; the second preset temperature difference ΔT2 can be set to 3℃, and the second preset duration can be set to 24 hours; the temperature acquisition frequency can be set to once every 10 minutes. By monitoring the changes in the temperature curve to determine the curing state, compared to the traditional fixed waiting time method, it can adapt to the differences in curing speed under different environmental temperature conditions, ensuring that the grouting layer reaches the design strength under any working condition before proceeding to subsequent processes.

[0048] The working process of base positioning and epoxy grouting step S3 is as follows: First, in step S3.1, the laser tracker 33 accurately marks the installation baseline of the equipment base 41 on the hull structure surface according to the target installation coordinates P_target output in step S2, and fixes the equipment base 41 in place; then, in step S3.2, the grouting gap between the equipment base 41 and the hull structure surface is measured to determine the grouting scheme; next, in step S3.3, grouting templates 45 are erected around the equipment base 41 to enclose the grouting space, and thickness control gaskets 43 and temperature sensors 44 are pre-placed in the grouting space before epoxy grouting construction is carried out; finally, in step S3.4, the temperature of the grouting layer is continuously monitored by the temperature sensor 44, and the preliminary curing judgment and complete curing judgment are completed in sequence before proceeding to step S4. The curing determination method driven by temperature monitoring replaces the traditional fixed waiting time method. In low-temperature environments, it avoids the risk of premature demolding leading to incomplete curing of the grout layer, and in high-temperature environments, it avoids unnecessary waiting time waste, thereby improving the grouting quality qualification rate and construction efficiency.

[0049] Please refer to Figure 1 , Figure 2 , Figure 3 and Figure 8In the precise installation and accuracy closed-loop step S4, in step S4.1, the equipment body 51 is hoisted onto the equipment base 41. In step S4.2, precise alignment is performed, including coarse alignment, fine alignment, and locking. Coarse alignment involves measuring the actual coordinates of the preset measurement target point 57 on the equipment body 51 using a laser tracker 33, calculating the deviation of the equipment body 51 in six degrees of freedom (three translational directions and three rotational directions), and adjusting the equipment position by adjusting shims 59 and / or hydraulic pushers until the deviation of each degree of freedom is less than the preset proportion of the corresponding tolerance. For example, in the coarse alignment stage, the deviation of each degree of freedom should be less than 50% of the corresponding tolerance. For equipment requiring shaft alignment, a laser alignment instrument 58 is used to measure radial and angular offsets. The equipment position is adjusted until the alignment deviation meets the preset tolerance standards for the corresponding equipment type. For example, the radial offset tolerance of the equipment body 51 to gearbox 52 is ≤0.05mm, and the angular offset tolerance is ≤0.05mm / m; the radial offset tolerance of gearbox 52 to propulsion shaft is ≤0.03mm, and the angular offset tolerance is ≤0.03mm / m; the radial offset tolerance of servo motor 55 to rudder stick is ≤0.10mm, and the angular offset tolerance is ≤0.10mm / m. Tightening involves gradually tightening the anchor bolts 46 to the design torque value in at least two steps, following a diagonal sequence. After each tightening, the deviation is re-measured to confirm that the tightening process did not cause the deviation to exceed the tolerance. Typically, tightening is done in three steps, with each tightening amount being 1 / 3 of the design torque.

[0050] In step S4.3, after installation, a final coordinate measurement is performed. The measured coordinates P_final are compared with the target coordinates P_target to determine the measured deviation ΔP = P_final - P_target. The measured deviation is then compared with the preset tolerance. If it is within the acceptable range, it is recorded; otherwise, the process returns to step S4.2, the precise alignment sub-step, and is repeated. Figure 8 As shown, step S2 outputs the target installation coordinates P_target to step S4. After completing the precise alignment in step S4, P_final is measured and the deviation ΔP = P_final - P_target is calculated. It is then determined whether the deviation is within the tolerance range: if it is within the tolerance range, it is recorded as qualified; if it exceeds the tolerance range, the process returns to step S4.2 to re-align.

[0051] In step S4.4, the deviation data of the installed equipment is fed back to the coordinate transformation function in step S2 for correction of the target coordinates of subsequent equipment. After the installation of each equipment body 51 is completed, the measured deviation data and its spatial coordinates at the location of the equipment base 41 are used as new correction sample points and fed back to the coordinate transformation function. The deviation data at the location of the equipment base 41 and the rigid body transformation residual at the secondary reference point 32 are used together as the fitting data for thin-plate spline interpolation, updating the parameters of the local correction field of the thin-plate spline interpolation. This ensures that the target coordinate calculation accuracy of other subsequently installed equipment in this area gradually improves with the increase in the number of installed equipment. Figure 8 As shown, the deviation data ΔP is fed back to step S2 through the iterative correction feedback path to update the parameters of the local correction field TPS of the thin plate spline interpolation, making the target coordinate P_target of the subsequent equipment more accurate, forming a positive feedback closed loop of "the more it is installed, the more accurate it becomes".

[0052] The process of precise equipment installation and accuracy closed-loop step S4 is as follows: First, in step S4.1, according to the schedule of the process Gantt chart, the equipment body 51 is hoisted onto the equipment base 41 along the predetermined hoisting path using lifting equipment; then, in step S4.2, three sub-steps are performed in sequence: coarse alignment, fine alignment, and locking. Accuracy is measured using laser tracker 33 and laser alignment instrument 58, position is adjusted using shims 59 and hydraulic pushers, and the anchor bolts 46 are used for locking and fixing; next, in step S4.3, the final coordinate measurement is performed and the deviation is calculated to determine whether it is qualified; finally, in step S4.4, the deviation data is fed back to step S2 to update the coordinate transformation function. Through a three-step process of coarse alignment, fine alignment, and locking, the accuracy is gradually approached from millimeter to sub-millimeter level, ensuring that the equipment's precision is controlled throughout the installation and locking process. Through a precision closed-loop iterative correction mechanism, the target coordinates of subsequent equipment are continuously corrected using the measured deviation data of the installed equipment, achieving a positive feedback effect in which the installation accuracy gradually improves as the construction progresses.

[0053] Please refer to Figure 1 , Figure 2 and Figure 9 In the area sealing and acceptance step S5, the internal space of the ship is divided into several sealing and control areas 61, with the watertight bulkheads of the ship serving as the boundaries. For example... Figure 2 As shown, the interior of the ship is divided into three control zones by watertight bulkheads: the first control zone 61A (corresponding to the stern A zone), the second control zone 61B (corresponding to the engine room B zone), and the third control zone 61C (corresponding to the bow C zone).

[0054] In step S5.2, after all equipment in a certain sealed control area 61 is installed, the completion rate C of the area is calculated as (number of completed equipment / total number of equipment) × 100%. When C = 100%, the pre-sealing review is triggered (step S5.3); when C < 100%, construction continues until all equipment is installed.

[0055] like Figure 9 As shown, step S5.4, the pre-sealing inspection includes four checks: accuracy retest, tightness test, electrical testing, and interface connection inspection. Accuracy retesting involves retesting the installation accuracy of all equipment within the sealed-off control area 61. The retest time must be at least a preset interval from the final coordinate measurement after installation, typically no less than 72 hours, to confirm that the equipment has not experienced excessive displacement under its own weight and the shrinkage of the grout layer during curing. That is, the displacement change of the actual coordinates of the equipment during retesting relative to the coordinates measured after installation should be less than a preset retest deviation threshold, for example, ±0.02mm. The tightness test involves conducting a tightness test on all watertight or airtight components within the sealed-off control area 61. The test pressure is typically 1.5 times the design pressure, and the pressure holding time is no less than 30 minutes. The electrical testing involves measuring the insulation resistance of all cables within the sealed-off control area 61. The insulation resistance value should meet the preset minimum insulation resistance requirement, typically 1MΩ (measured using a 500V megohmmeter). The interface docking check is to check whether all interfaces of the sealed-off control area 61 and the adjacent sealed-off control area 61 have been docked.

[0056] like Figure 9 As shown, after all four checks are passed, in step S5.5, the quality inspector, the construction supervisor, and the shipowner's representative jointly sign off on the work order. After the signing, the work order authority for the sealed area 61 is locked, prohibiting any new construction operations, and a sealed area sign 62 is affixed. If repairs are needed within the sealed area 61, an unsealing approval process must be initiated and the unsealing can only be completed after all three parties agree. If any of the four checks fails, rectification must be carried out and the check must be repeated until all checks are passed.

[0057] The process of area closure and acceptance step S5 is as follows: First, in step S5.2, the system automatically counts the installation completion status of equipment within each closure control area 61 and calculates the completion rate. When the completion rate of an area reaches 100%, the closure pre-approval process is automatically triggered in step S5.3. Then, in step S5.4, four checks are performed sequentially: accuracy retest, tightness test, electrical testing, and interface connection inspection. After all four checks are passed, in step S5.5, the quality inspector, construction manager, and shipowner representative jointly sign off. After the signing is completed, the system automatically locks the construction work order permissions for that area and generates a closure record. By automatically triggering the closure pre-approval through completion rate calculation, ensuring comprehensive quality compliance through four checks, ensuring clear responsibilities through three-party signing, and preventing reverse construction through permission locking, a complete closed loop for area closure management is formed, avoiding the problem of secondary construction damage to completed areas due to lax closure management in traditional methods.

[0058] The overall work process is as follows: Please refer to Figure 1 First, step S0, process planning, is executed. The process planning module outputs a conflict-free Gantt chart of the installation process through the sequential operation of the installation envelope modeling unit, time attribute assignment unit, spatiotemporal cross detection unit, and conflict resolution sorting unit. Then, step S1, deformation monitoring and installation timing determination, is executed. The deformation monitoring module 2 continuously collects deformation data using strain gauge sensors 21 and LVDT displacement sensors 22 deployed around the equipment base 41. After temperature compensation and trend analysis by the data acquisition workstation 24, it determines whether the deformation is stable. After the deformation stabilizes, step S2, accuracy benchmark establishment and transfer, is executed. The accuracy benchmark module 3 measures the primary benchmark point 31 and secondary benchmark point 32 using a laser tracker 33, and calculates the coordinates of each equipment base 41. The target installation coordinates are determined; then step S3, base positioning and epoxy grouting, is executed. The base grouting module 4 positions the equipment base 41 according to the target coordinates, performs epoxy grouting, and monitors the curing process through the temperature sensor 44; after the grouting is fully cured, step S4, precise equipment installation and accuracy closed loop, is executed. The equipment installation module 5 hoists the equipment body 51 into place, accurately aligns it using the target point 57, laser alignment instrument 58, and adjusting shims 59, and locks it in place with anchor bolts 46, feeding back the deviation data to step S2 to update the coordinate transformation function; after all equipment in each sealed control area 61 is installed, step S5, area sealing and acceptance, is executed. The sealing management module 6 completes the sealing through completion calculation, four checks, tripartite signing, and access control. The above six steps form a complete closed loop from process planning to sealing acceptance. Among them, step S4 and step S2 form an iterative correction closed loop through deviation data feedback, realizing continuous improvement of installation accuracy.

[0059] The implementation principle of this embodiment is as follows: Step S0, through process planning, rationally plans the space and time for equipment installation, avoiding conflicts between multiple disciplines and reducing repetitive construction time. Step S1, deformation monitoring and installation timing determination, transforms "experience-based judgment" into "data-driven" approaches, eliminating accuracy exceedances and rework caused by premature installation. Step S2, accuracy benchmark establishment and transfer, transforms the impact of closure deformation on installation accuracy into calculable and compensable correction amounts, improving the first-pass yield of equipment installation. Step S3, base positioning and epoxy grouting, monitors the curing process of the epoxy grout layer 42, ensuring that subsequent processes are only carried out after the grout layer reaches its design strength under any working condition, thus improving the quality pass rate of the epoxy grout layer 42. Step S4, precise equipment installation and accuracy closed-loop process, through a three-step process of coarse alignment, fine alignment, and locking, and an accuracy closed-loop iterative correction mechanism, ensures that the accuracy of the equipment is controlled throughout the installation and locking process, achieving a positive feedback effect of "the more it's installed, the more accurate it becomes." The area sealing and acceptance step S5, through completion calculation triggering pre-sealing review, four inspections to ensure quality, tripartite signing to ensure clear responsibilities, and access control to prevent reverse construction, forms a complete closed loop for area sealing management. The entire process is standardized, eliminating reliance on manual experience, ensuring stable construction quality, and effectively shortening the overall construction period for the installation of all ship outfitting equipment.

[0060] Furthermore, the method of this application is also applicable to different types of ships, such as bulk carriers, container ships, and LNG carriers. For scenarios involving construction in low-temperature environments, such as LNG carriers, the coefficient of thermal expansion α in the temperature compensation formula should be adjusted according to the actual type of hull steel used (e.g., low-temperature steel). The first preset temperature difference ΔT1, the first preset time, the second preset temperature difference ΔT2, and the second preset time in the epoxy grout curing determination should be adjusted accordingly based on the curing characteristics of the epoxy grouting material used in low-temperature environments. For example, when the ambient temperature is below 10℃, the first and second preset times should be appropriately extended to accommodate the slower curing speed of epoxy resin in low-temperature environments. The preset threshold and the number of preset sampling cycles in deformation monitoring should also be adjusted accordingly based on the slower deformation release rate of steel in low-temperature environments.

[0061] The specific embodiments described above do not constitute a limitation on the scope of protection of this application. Any other corresponding changes and modifications made based on the technical concept of this application should be included within the scope of protection of this application.

Claims

1. A method for integrated control of equipment installation processes in ship outfitting engineering, characterized in that, Includes the following steps: In the ship's 3D design model, an installation envelope model is created for each outfitting equipment to be installed. The installation envelope model is a 3D geometry that surrounds the space required for the entire equipment installation process. An installation time window is assigned to the installation envelope of each equipment. The installation time window is the time period between the earliest time when the equipment can start installation and the latest time when it can be completed. Spatiotemporal cross-checking is performed on the installation time windows and installation envelopes of all equipment. For the installation time windows of each equipment with spatiotemporal conflicts detected, the installation time windows of the equipment with lower priority are prioritized according to the irreversibility of the process, the installation accuracy requirements, the weight of the equipment, and the spatial location. The installation time windows of the equipment with lower priority are moved to the back to eliminate spatiotemporal conflicts. The equipment is sorted according to the adjusted time windows and the installation process Gantt chart is output. Deformation monitoring sensor group is set up around the predetermined position of the equipment base (41) to continuously monitor the structural deformation during the welding process of the main section and after the welding is completed. After temperature compensation of the monitoring data, the displacement change between adjacent sampling periods is calculated. When the displacement change of all monitoring channels is less than the preset threshold for a consecutive preset number of sampling periods, it is determined that the structural deformation has become stable. A primary reference point (31) network is established in the dock, and secondary reference points (32) are set on the structural nodes of each section. The initial coordinates of the secondary reference points (32) are measured before the sections are joined. After the deformation stability judgment is passed, the actual coordinates of the secondary reference points (32) are measured again. By comparing and fitting the initial coordinates of the secondary reference points (32) with the actual coordinates, the coordinate offset is calculated and a coordinate transformation function is established. The target installation coordinates of each equipment base (41) are calculated according to the coordinate transformation function. According to the target installation coordinates, the equipment base (41) is precisely marked, positioned and fixed using a laser tracker (33). A grouting template (45) is erected to enclose the grouting space. Epoxy grouting is performed between the equipment base (41) and the ship's structural surface in the grouting space to form an epoxy grouting layer (42). The curing process of the epoxy grouting layer (42) is monitored by a temperature sensor (44). When the monitored grouting layer temperature drops from the peak of the exothermic reaction to within the ambient temperature plus a preset temperature difference and the duration exceeds the preset time, the curing is determined to be complete. The equipment body (51) is hoisted onto the equipment base (41). Precise alignment is achieved through adjustments in six degrees of freedom, including three translational directions and three rotational directions. After installation, the final coordinate measurement is performed. The measured coordinates are compared with the target coordinates to determine the measured deviation. The measured deviation is compared with the preset tolerance. If it is qualified, it is recorded. If it exceeds the preset tolerance, the precise alignment sub-step is returned to be re-executed. The deviation data of the installed equipment is fed back to the coordinate transformation function for subsequent correction of the target coordinates of the equipment. The internal space of the ship is divided into several sealed control areas (61). When all equipment in a sealed control area (61) is installed, a pre-sealing review is triggered. After the pre-sealing review is passed, multiple parties sign off and lock the construction authority of the sealed control area (61).

2. The method according to claim 1, characterized in that, The installation envelope model consists of the Boolean union of the following four subspaces: The equipment body space V1 is the enclosure of the equipment body (51) in each direction after adding the preset safety gaps; Tool operating space V2 is the space swept by the tool as it moves along the operating trajectory during the installation process; The hoisting path space V3 is the space swept by the equipment body (51) from the entrance along the hoisting path to the installation position; The temporary support space V4 is the space occupied by the temporary support structure before the equipment body (51) is in place.

3. The method according to claim 1, characterized in that, The spatiotemporal crossover detection includes sequential temporal conflict detection and spatial conflict detection: Time conflict detection involves projecting the installation time windows of all devices onto a timeline to identify the set of device pairs whose time windows overlap. Spatial conflict detection involves performing three-dimensional envelope interference detection only on pairs of devices with overlapping time windows, calculating the intersection volume of the installation envelopes of the two devices, and determining that a spatiotemporal conflict exists when the intersection volume is greater than zero. The priority factors are arranged in the following order from high to low: irreversible processes requiring epoxy grouting are given priority, equipment with high installation tolerances is given priority, heavy equipment is given priority, and equipment located deep inside the cabin is given priority.

4. The method according to claim 1, characterized in that, The layout rules for the deformation monitoring sensor group are as follows: Using the geometric center of the equipment base (41) as the layout reference center, a set of sensors is placed at each of the four corners of the equipment base (41). Each set includes a triaxial strain gauge sensor (21) and an LVDT displacement sensor (22). An LVDT displacement sensor (22) is placed at the center of the equipment base (41) as a reference point. The reference end of the LVDT displacement sensor (22) is fixed on a stationary reference point (23). The stationary reference point (23) is set on a fixed component that is spaced at a preset distance from the equipment base (41) and whose displacement change during the monitoring period is less than the measurement accuracy requirement.

5. The method according to claim 4, characterized in that, The temperature compensation is performed independently for each monitoring point, and the calculation method is as follows: D_compensated_i = D_raw_i - α × L_i × (T_current - T_reference) Where D_compensated_i is the displacement value of the i-th monitoring point after compensation, D_raw_i is the original displacement value of the i-th monitoring point, α is the thermal expansion coefficient of the hull steel, L_i is the distance from the i-th monitoring point to its corresponding fixed reference point (23), T_current is the current ambient temperature, and T_reference is the ambient temperature at the time of the first acquisition. The preset threshold is divided into at least two levels according to the equipment installation tolerance level, wherein the threshold corresponding to the equipment with a higher installation tolerance level is lower than the threshold corresponding to the equipment with a lower installation tolerance level.

6. The method according to claim 1, characterized in that, The establishment of the coordinate transformation function includes the following operations: Calculate the coordinate offset matrix ΔP = P_actual - P_initial caused by the closing deformation, where P_actual is the measured coordinate matrix of the secondary reference point (32) and P_initial is the initial coordinate matrix of the secondary reference point (32); The least squares method is used to fit the rigid body transformation matrix containing the translation vector T and the rotation matrix R; For the local area where the fitting residual exceeds the preset residual threshold, a supplementary secondary reference point (32) is added. The thin plate spline interpolation method is used to interpolate the residual vector after rigid body transformation at each secondary reference point (32), i.e. ΔP −(R × P_initial + T − P_initial), to establish a local correction field. The preset residual threshold is determined according to the installation tolerance requirements of the equipment in this area. The target installation coordinates of each equipment base (41) are calculated according to the following formula: P_target = R × P_design + T + TPS_correction(P_design), where P_design is the design installation coordinates of the equipment, and TPS_correction is the correction amount of the thin plate spline interpolation local correction field to the design coordinates.

7. The method according to claim 1, characterized in that, The curing determination of the epoxy grout includes preliminary curing determination and complete curing determination: Temperature sensors (44) are embedded at the center and at least one edge of the epoxy grouting layer (42) to record the temperature of the epoxy grouting layer (42) at a preset frequency. Preliminary curing determination: When the temperature of the epoxy grouting layer (42) drops from the peak of the exothermic reaction to within the ambient temperature plus the first preset temperature difference and the duration exceeds the first preset time, the preliminary curing is determined to be completed and the grouting template (45) can be removed. Complete curing determination: When the temperature of the epoxy grout layer (42) remains within the range of the second preset temperature difference between the ambient temperature and the second preset time, it is determined that the curing is complete, and the equipment body (51) can be positioned and the anchor bolts (46) can be tightened. Wherein, the second preset temperature difference is less than the first preset temperature difference, and the second preset duration is greater than the first preset duration.

8. The method according to claim 1, characterized in that, The precise alignment includes: Coarse alignment: The actual coordinates of the preset measurement target point (57) on the equipment body (51) are measured by the laser tracker (33). The deviation of the equipment body (51) in six degrees of freedom in three translational directions and three rotational directions is calculated. The position of the equipment is adjusted by adjusting the shims (59) and / or the hydraulic pusher until the deviation of each degree of freedom is less than the preset proportion of the corresponding tolerance. Fine alignment: For equipment that requires shaft alignment, use a laser alignment instrument (58) to measure radial and angular offsets, and adjust the equipment position until the alignment deviation meets the preset tolerance standard of the corresponding equipment type; Tightening: Tighten the anchor bolts (46) in at least two steps in a diagonal sequence to the design torque value. After each tightening, re-measure the deviation to confirm that the tightening process has not caused the deviation to exceed the tolerance.

9. The method according to claim 6, characterized in that, The specific steps for feeding back the deviation data for subsequent correction of the target coordinates of the equipment are as follows: After each device body (51) is installed, the measured deviation data and its spatial coordinates at the device base (41) are used as new correction sample points and fed back to the coordinate transformation function. The deviation data at the device base (41) and the rigid body transformation residual at the secondary reference point (32) are used together as the fitting data for thin plate spline interpolation. The parameters of the local correction field of thin plate spline interpolation are updated so that the target coordinate calculation accuracy of other devices installed in this area gradually increases with the increase of the number of installed devices.

10. The method according to claim 1, characterized in that, The sealed-off control area (61) is divided by the watertight bulkheads of the ship's hull; The pre-sealing inspection includes the following four checks: Accuracy retest: The installation accuracy of all equipment in the sealed control area (61) is retested. The retest time is at least a preset time interval from the final coordinate measurement after installation. If the retest deviation is less than the preset retest deviation threshold, it is judged as passing. Leakage test: Leakage test shall be conducted on all watertight or airtight perforated components within the sealed control area (61); Electrical testing: The insulation resistance of all cables in the sealed control area (61) shall be measured and the insulation resistance value shall meet the preset minimum insulation resistance requirement; Interface docking check: Check whether all interfaces between the sealed control area (61) and the adjacent sealed control area (61) have been docked; After all four inspections are passed, the quality inspector, the construction manager and the shipowner's representative shall sign the agreement. After the signing is completed, the work order authority of the sealed control area (61) shall be locked, and no new construction operations shall be allowed. The sealed area shall be marked (62). If repairs are required in the sealed control area (61), the unsealing approval process shall be initiated and the unsealing shall be completed only after the three parties agree.

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