Offshore construction device

Abstract

The utility model relates to the field of hoisting equipment, in particular to an offshore construction device which comprises a vertical frame body which can be hydraulically driven to stretch out and draw back; one end of the first connecting arm is rotatably connected to the vertical frame body through a first rotating mechanism, the other end of the first connecting arm is relatively rotatably connected with one end of the second connecting arm through a second rotating mechanism, and a clamp assembly is arranged at the other end of the first connecting arm; a visual detection system is arranged on the clamp assembly and controls the clamping action so that the clamp assembly can clamp the materials in place, and the clamp assembly moves the materials to the set position. Hoisting work of the light hoisting equipment can be achieved through the vertical frame body, the two connecting arms and the clamp assembly, the structure of the light hoisting equipment is greatly simplified, and flexible and rapid construction is achieved; and through a visual detection system, the device can automatically carry out high-precision clamping action, and high automation of the light hoisting equipment is achieved.

Description

Technical Field

[0001] The utility model relates to the field of hoisting equipment, in particular to an offshore construction device. Background Art

[0002] In offshore construction projects, such as the construction of offshore wind farms and the maintenance of offshore oil drilling platforms, ships with light lifting equipment are needed to assist in the work, accurately move building materials into the water for further installation, or accurately move construction auxiliary tools (such as offshore fixed buoys, nets, underwater robots, samplers) between the water surface and the ship.

[0003] Typically, this type of auxiliary work is performed using a hydraulic fishing boat crane. For example, patent application number 202021912781.9 discloses a lightweight self-propelled lifting device, but it does not have a device for automatically detecting the clamps and is too bulky.

[0004] Therefore, how to further achieve the lightness and high automation of lifting equipment in offshore construction projects is a technical problem that needs to be solved. Utility Model Content

[0005] To this end, the utility model provides an offshore construction device, which can realize the lifting work of light lifting equipment through a vertical frame body, two connecting arms and a clamp assembly, greatly simplifying the structure of the light lifting equipment and realizing flexible and rapid construction; and through a visual detection system, the device can automatically perform high-precision clamping actions, realizing high automation of the light lifting equipment.

[0006] To achieve the above-mentioned object, the present invention provides an offshore construction device, comprising a vertical frame, a first connecting arm, a first rotating mechanism, a second connecting arm, a second rotating mechanism, a clamp assembly and a visual detection system;

[0007] The vertical frame is a hydraulically driven telescopic frame that is vertically arranged;

[0008] One end of the first connecting arm is rotatably connected to the top of the vertical frame through the first rotating mechanism, and the other end is relatively rotatably connected to one end of the second connecting arm through the second rotating mechanism. The other end of the second connecting arm is provided with the clamp assembly, and the clamp assembly is used to clamp construction materials;

[0009] The visual detection system is provided on the clamp assembly, and the visual detection system controls the clamping action of the first rotating mechanism, the second rotating mechanism and the clamp assembly, so that the clamp assembly clamps the material in place and the clamp assembly moves the material to a set position.

[0010] Furthermore, the visual inspection system includes a panoramic video camera and a first three-dimensional multi-line laser radar scanner;

[0011] The panoramic video camera is used to collect environmental video data of the fixture, and the first three-dimensional multi-line laser radar scanner is used to collect shaking state data of the fixture and construction materials.

[0012] Further, the clamp assembly includes a mounting portion, a charging hopper and a grab bucket;

[0013] The mounting portion is fixed to one end of the second connecting arm, the charging hopper is detachably mounted on the bottom end of the mounting portion, and the grab bucket is fixed on the bottom end of the mounting portion;

[0014] The bottom end of the charging hopper is lower than the bottom end of the grab bucket.

[0015] Furthermore, the panoramic video camera is arranged on the side of the mounting portion away from the second connecting arm, and the video detection end of the panoramic video camera is tilted downward so that its video detection range covers the front end of the clamp assembly.

[0016] Furthermore, the adapter of the first three-dimensional multi-line lidar scanner is arranged inside the mounting portion, and its detection end protrudes from the bottom end of the mounting portion. The detection end is arranged higher than the loading hopper and the grab bucket so that its detection range covers the bottom ends of the loading hopper and the grab bucket.

[0017] Furthermore, the bottom end of the mounting portion is detachably mounted on the charging hopper via a hook and a connecting chain;

[0018] The multiple side walls of the charging hopper are opened and closed outwards to grab construction materials.

[0019] In particular, the loading hopper and the grab bucket enable the device to have multiple ways of grabbing construction materials to meet different construction needs. For example, the loading hopper is used to transport mud, sand and concrete, and the grab bucket is used to grab metal building materials.

[0020] In particular, by setting up a panoramic video camera and the first three-dimensional multi-line laser radar scanner, accurate recognition and detection of the grabbing state and movement position of the loading hopper and grab bucket are achieved.

[0021] Furthermore, the first rotating mechanism includes a first hydraulic rotating cylinder and a first mounting groove, and the second rotating mechanism includes a second hydraulic rotating cylinder and a second mounting groove;

[0022] One end of the first connecting arm is recessed to form the first mounting groove, and the first mounting groove detachably clamps the top end surface and the bottom end surface of the first hydraulic rotary cylinder;

[0023] One end of the second connecting arm is recessed to form the second mounting groove, and the second mounting groove is capable of detachably clamping the top end surface and the bottom end surface of the second hydraulic rotary cylinder.

[0024] Furthermore, the first rotating mechanism includes a first hydraulic rotating cylinder and a first mounting groove, and the second rotating mechanism includes a second hydraulic rotating cylinder and a second mounting groove;

[0025] One end of the first connecting arm is recessed to form the first mounting groove, and the first mounting groove detachably clamps the top end surface and the bottom end surface of the first hydraulic rotary cylinder;

[0026] One end of the second connecting arm is recessed to form the second mounting groove, and the second mounting groove is capable of detachably clamping the top end surface and the bottom end surface of the second hydraulic rotary cylinder.

[0027] Furthermore, a second three-dimensional multi-line laser radar scanner is provided on the outer wall of the first hydraulic drum, the second three-dimensional multi-line laser radar scanner rotates at the same angle as the second connecting arm, and its scanning range covers the clamp assembly.

[0028] Furthermore, it also includes a PLC controller and a frequency converter;

[0029] The PLC controller controls the vertical frame, the first hydraulic drum, the second hydraulic drum and the clamp assembly through the frequency converter;

[0030] The PLC controller communicates with the visual inspection system via an automation bus.

[0031] Furthermore, the visual inspection system further includes an anti-sway controller equipped with a curve track change program to eliminate the swing of the fixture assembly;

[0032] The PLC controller communicates with the anti-sway controller through an automation bus, and the anti-sway controller communicates with the panoramic video camera of the visual detection system, the first three-dimensional multi-line laser radar scanner, and the second three-dimensional multi-line laser radar scanner of the first rotating mechanism through network communication.

[0033] In particular, the two hydraulic rotating drums and anti-sway controllers, as well as the two 3D multi-line lidar scanners, further enhance the flexibility of the device's movement, and the visual inspection range completely covers the fixture components.

[0034] Compared with the prior art, the beneficial effects of the present invention are:

[0035] 1. The lifting work of the light lifting equipment can be achieved through the vertical frame, two connecting arms and clamp components, which greatly simplifies the structure of the light lifting equipment and realizes flexible and fast construction. The visual inspection system also enables the device to automatically perform high-precision clamping actions, realizing high automation of the light lifting equipment.

[0036] 2. The loading hopper and grab bucket enable the device to have multiple ways of grabbing construction materials to meet different construction needs. For example, the loading hopper is used to transport mud, sand and concrete, and the grab bucket is used to grab metal building materials.

[0037] 3. By setting up a panoramic video camera and a 3D multi-line lidar scanner, accurate identification and detection of the grabbing status and movement position of the loading hopper and grab bucket are achieved.

[0038] 4. The two hydraulic drums, anti-sway controller and 3D multi-line laser radar scanner further realize the flexibility of device movement, and the visual inspection range completely covers the fixture components. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 This is a schematic diagram of the overall structure of the offshore construction device according to an embodiment of the present utility model;

[0040] Figure 2 This is a schematic diagram of the partial structure of the upper portion of the offshore construction device according to an embodiment of the present utility model;

[0041] Figure 3 For the embodiment of the utility model Figure 2 Schematic diagram of the local structure of part A without the connecting arm;

[0042] Figure 4 For the embodiment of the utility model Figure 2 Schematic diagram of the local structure of part B;

[0043] Figure 5 For the embodiment of the utility model Figure 2 Schematic diagram of the local structure of part C;

[0044] Figure 6 This is a schematic diagram of the communication connection relationship of the offshore construction device according to an embodiment of the present utility model.

[0045] In the figure: 1. vertical frame; 11. first rotating mechanism; 111. first mounting groove; 112. first hydraulic rotary drum; 113. second three-dimensional multi-line laser radar scanner; 2. first connecting arm; 21. second rotating mechanism; 211. second mounting groove; 212. second hydraulic rotary drum; 3. second connecting arm; 4. clamp assembly; 41. mounting part; 42. loading hopper; 43. grab bucket; 5. visual inspection system; 51. panoramic video camera; 52. first three-dimensional multi-line laser radar scanner. DETAILED DESCRIPTION

[0046] In order to make the purpose and advantages of the present invention more clearly understood, the present invention is further described below in conjunction with embodiments; it should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0047] The preferred embodiments of the present invention are described below with reference to the accompanying drawings. Those skilled in the art should understand that these embodiments are only used to explain the technical principles of the present invention and are not intended to limit the scope of protection of the present invention.

[0048] It should be noted that, in the description of the present invention, terms such as "up", "down", "left", "right", "inside", and "outside" indicating directions or positional relationships are based on the directions or positional relationships shown in the accompanying drawings. This is only for the convenience of description and does not indicate or imply that the device or element must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it cannot be understood as a limitation on the present invention.

[0049] Furthermore, it should be noted that, in the description of this utility model, unless otherwise expressly specified or limited, the terms "installed," "connected," and "connected" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; mechanical connections, electrical connections; direct connections, indirect connections through an intermediate medium, and internal connections between two components. Those skilled in the art will understand the specific meanings of the above terms in this utility model based on specific circumstances.

[0050] like Figures 1 to 6 As shown, the utility model provides an offshore construction device, which can realize the lifting work of light lifting equipment through a vertical frame body, two connecting arms and a clamp assembly, greatly simplifying the structure of the light lifting equipment and realizing flexible and rapid construction; and through a visual detection system, the device can automatically perform high-precision clamping actions, realizing high automation of the light lifting equipment.

[0051] in, Figure 1 This is a schematic diagram of the overall structure of the offshore construction device according to an embodiment of the present utility model; Figure 2 This is a schematic diagram of the partial structure of the upper portion of the offshore construction device according to an embodiment of the present utility model; Figure 3 For the embodiment of the utility model Figure 2 Schematic diagram of the local structure of part A without the connecting arm; Figure 4 For the embodiment of the utility model Figure 2 Schematic diagram of the local structure of part B; Figure 5 For the embodiment of the utility model Figure 2Schematic diagram of the local structure of part C; Figure 6 This is a schematic diagram of the communication connection relationship of the offshore construction device according to an embodiment of the present utility model.

[0052] These include: 1. vertical frame; 11. first rotating mechanism; 111. first mounting groove; 112. first hydraulic rotating drum; 113. second three-dimensional multi-line laser radar scanner; 2. first connecting arm; 21. second rotating mechanism; 211. second mounting groove; 212. second hydraulic rotating drum; 3. second connecting arm; 4. clamp assembly; 41. mounting part; 42. loading hopper; 43. grab bucket; 5. visual inspection system; 51. panoramic video camera; 52. first three-dimensional multi-line laser radar scanner.

[0053] Example 1:

[0054] like Figures 1 to 6 As shown, this embodiment proposes an offshore construction device, including a vertical frame body 1, a first connecting arm 2, a first rotating mechanism 11, a second connecting arm 3, a second rotating mechanism 21, a clamp assembly 4 and a visual detection system 5; the vertical frame body 1 is a hydraulically driven telescopic, vertically arranged frame; one end of the first connecting arm 2 is rotatably connected to the top of the vertical frame body 1 through the first rotating mechanism 11, and the other end is relatively rotatably connected to one end of the second connecting arm 3 through the second rotating mechanism 21, and the other end of the second connecting arm 3 is provided with the clamp assembly 4, and the clamp assembly 4 is used to clamp construction materials; the visual detection system 5 is provided on the clamp assembly 4, and the visual detection system 5 controls the clamping action of the first rotating mechanism 11, the second rotating mechanism 21 and the clamp assembly 4, so that the clamp assembly 4 clamps the material in place and the clamp assembly 4 moves the material to the set position.

[0055] It can be understood that the offshore construction device described in this embodiment is preferably arranged on a ship, and the bottom end of the vertical frame body 1 is installed on the ship, and can be used to lift construction materials including offshore fixed buoys, nets, underwater robots, samplers and building materials, and move them from the ship to the sea, offshore buildings, offshore platforms, etc., and move them from offshore buildings and offshore platforms to the ship.

[0056] Further, see Figure 3 The visual inspection system 5 includes a panoramic video camera 51 and a first three-dimensional multi-line laser radar scanner 52; the panoramic video camera 51 is used to collect environmental video data of the fixture, and the first three-dimensional multi-line laser radar scanner 52 is used to collect shaking state data of the fixture and construction materials.

[0057] Further, see Figure 3The clamp assembly 4 includes a mounting portion 41, a charging hopper 42 and a grab bucket 43; the mounting portion 41 is fixed to one end of the second connecting arm 3, the charging hopper 42 is detachably mounted on the bottom end of the mounting portion 41, and the grab bucket 43 is fixed on the bottom end of the mounting portion 41; the bottom end of the charging hopper 42 is lower than the bottom end of the grab bucket 43.

[0058] Further, see Figure 3 The panoramic video camera 51 is arranged on the side of the mounting portion 41 away from the second connecting arm 3, and the video detection end of the panoramic video camera 51 is tilted downward so that its video detection range covers the front end of the clamp assembly 4.

[0059] Further, see Figure 3 The adapter of the first three-dimensional multi-line laser radar scanner 52 is arranged inside the mounting portion 41, and its detection end protrudes from the bottom end of the mounting portion 41. The detection end is arranged higher than the loading hopper 42 and the grab bucket 43 so that its detection range covers the bottom ends of the loading hopper 42 and the grab bucket 43.

[0060] Further, see Figure 3 The bottom end of the mounting portion 41 is detachably mounted with the charging hopper 42 via a hook and a connecting chain; the multiple side walls of the charging hopper 42 can be opened and closed outward to grab construction materials.

[0061] In particular, the loading hopper 42 and the grab bucket 43 enable the device to have multiple ways of grabbing construction materials to meet different construction needs. For example, the loading hopper 42 is used to transport mud, sand and concrete, and the grab bucket 43 is used to grab metal building materials.

[0062] In particular, by providing a panoramic video camera 51 and a first three-dimensional multi-line laser radar scanner 52, accurate recognition and detection of the grabbing state and movement position of the charging hopper 42 and the grab bucket 43 are achieved.

[0063] Further, see Figure 4 and 5 The first rotating mechanism 11 includes a first hydraulic rotating cylinder 112 and a first mounting groove 111, and the second rotating mechanism 21 includes a second hydraulic rotating cylinder 212 and a second mounting groove 211; one end of the first connecting arm 2 is recessed to form the first mounting groove 111, and the first mounting groove 111 can detachably clamp the top end surface and the bottom end surface of the first hydraulic rotating cylinder 112; one end of the second connecting arm 3 is recessed to form the second mounting groove 211, and the second mounting groove 211 can detachably clamp the top end surface and the bottom end surface of the second hydraulic rotating cylinder 212.

[0064] Further, see Figure 5A second three-dimensional multi-line laser radar scanner 113 is set on the outer wall of the first hydraulic rotating cylinder 112. The second three-dimensional multi-line laser radar scanner 113 rotates at the same angle as the second connecting arm 3, and its scanning range covers the clamp assembly 4.

[0065] Furthermore, it also includes a PLC controller and a frequency converter; the PLC controller controls the vertical frame 1, the first hydraulic rotary drum 112, the second hydraulic rotary drum 212 and the clamp assembly 4 through the frequency converter; the PLC controller communicates with the visual inspection system 5 through an automation bus.

[0066] Furthermore, the visual inspection device also includes an anti-sway controller equipped with a curve track change program to eliminate the swing of the clamp assembly 4; the PLC controller communicates with the anti-sway controller through an automation bus, and the anti-sway controller communicates with the panoramic video camera 51 of the visual inspection system 5, the first three-dimensional multi-line laser radar scanner 52 and the second three-dimensional multi-line laser radar scanner 113 of the first rotating mechanism 11 through network communication.

[0067] In particular, the flexibility of the device movement is further achieved through two hydraulic rotating drums and anti-sway controllers, and two three-dimensional multi-line laser radar scanners, and the visual inspection range completely covers the fixture assembly 4.

[0068] Specifically, the first hydraulic drum 112 and the second hydraulic drum 212 are preferably hydraulic motors, and the rotation angle of the first hydraulic drum 112 is greater than 180 degrees and less than 270 degrees, and the rotation angle of the second hydraulic drum 212 is greater than 90 degrees and less than 180 degrees, so as to achieve flexible and highly stable rotation.

[0069] Specifically, see Figure 6 The automation bus described in this embodiment is an automation bus of industrial Ethernet technology based on the PROFINET protocol, and the PLC controller communicates with the anti-sway controller via TCP / IP (Transmission Control Protocol / Internet Protocol).

[0070] It should be noted that the installation portion 41 described in this embodiment is a control cabinet of the device.

[0071] It should be noted that the panoramic video camera 51 described in this embodiment is a panoramic PTZ camera, that is, a combination of a panoramic camera and a high-speed ball camera (i.e., a PTZ camera), which has the advantages of a global wide viewing angle of a panoramic camera and a local close-up gaze advantage of a high-speed ball camera. The processor of the visual detection system 5 performs effectiveness filtering, defogging, dust removal, anti-shake, etc. on the visual data, nonlinear imaging distortion processing, monocular vision imaging model and stabilization processing, optimal peak detection and threshold segmentation, etc. to complete image preprocessing, and then performs a deep learning algorithm on the processed image set to finally realize the segmentation of the feature area and extract whether the front end of the clamp assembly 4 has moved to the set position, for example, whether it has moved completely to the sea surface or completely moved into the specified receiving frame.

[0072] It should be noted that the first three-dimensional multi-line laser radar scanner 52 and the second three-dimensional multi-line laser radar scanner 113 described in this embodiment are both multi-line laser radar scanning devices (3D Lidar Scanners), which are connected to the system data processor installed in the installation part 41 via the industrial Ethernet bus. The system data processor receives the point cloud data information of the laser scanner, completes the real-time capture of the running trajectory of the fixture component 4, generates and models the running trajectory of the fixture component 4 in real time, and generates the position information (X, Y, Z coordinates) of the fixture component 4 relative to the coordinate system of the positioning system. The system data processor exchanges data with the anti-sway controller. Figure 6 The anti-sway controller analyzes the coordinate information of the fixture assembly 4 transmitted from the system data processor, and combines the output value of the panoramic video camera 51 to perform high-precision closed-loop anti-sway control, and controls the running trajectory of the fixture assembly 4 in real time, controls the lifting and opening and closing of the device, realizes the fully automatic operation of the device, and optimizes the trajectory of the fixture assembly 4. At the same time, it realizes different loading and unloading operations for bulk construction materials with different viscosities, thereby improving construction efficiency.

[0073] It should be noted that the anti-sway controller described in this embodiment adopts Siemens FexTrjectory curve track change technology, combined with closed-loop control, to achieve the elimination of the swing of the clamp assembly 4 caused by external forces (such as wind) during continuous swing. At the same time, the height value and torsion angle feedback from the panoramic video camera 51 and the laser radar detection system can be used to correct the data of the calculation model, thereby improving the calculation accuracy and the anti-sway control accuracy of the clamp assembly 4.

[0074] It should be noted that the PLC controller described in this embodiment controls the first hydraulic drum 112 and the second hydraulic drum 212 through the hydraulic system.

[0075] Furthermore, the PLC controller also communicates with a remote control console to enable manual control of the device under special circumstances.

[0076] Thus far, the technical solutions of the present invention have been described in conjunction with the preferred embodiments shown in the accompanying drawings. However, it is readily understood by those skilled in the art that the scope of protection of the present invention is obviously not limited to these specific embodiments. Without departing from the principles of the present invention, those skilled in the art may make equivalent changes or substitutions to the relevant technical features, and the technical solutions after such changes or substitutions will fall within the scope of protection of the present invention.

[0077] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Those skilled in the art will readily appreciate that the present invention is susceptible to various modifications and variations. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention shall be included within the scope of protection of the present invention.

Claims

1. An offshore construction device, characterized in that: It comprises a vertical frame (1), a first connecting arm (2), a first rotating mechanism (11), a second connecting arm (3), a second rotating mechanism (21), a clamp assembly (4) and a visual detection system (5); The vertical frame (1) is a hydraulically driven telescopic frame that is vertically arranged; One end of the first connecting arm (2) is rotatably connected to the top of the vertical frame (1) via the first rotating mechanism (11), and the other end is rotatably connected to one end of the second connecting arm (3) via the second rotating mechanism (21). The other end of the second connecting arm (3) is provided with the clamp assembly (4), and the clamp assembly (4) is used to clamp construction materials. The visual detection system (5) is provided on the clamp assembly (4), and the visual detection system (5) controls the clamping action of the first rotating mechanism (11), the second rotating mechanism (21) and the clamp assembly (4), so that the clamp assembly (4) clamps the material in place and the clamp assembly (4) moves the material to a set position.

2. The offshore construction device according to claim 1, characterized in that: The visual detection system (5) includes a panoramic video camera (51) and a first three-dimensional multi-line laser radar scanner (52); The panoramic video camera (51) is used to collect environmental video data of the clamp, and the first three-dimensional multi-line laser radar scanner (52) is used to collect shaking state data of the clamp and construction materials.

3. The offshore construction device according to claim 2, characterized in that: The clamp assembly (4) includes a mounting portion (41), a charging hopper (42) and a grab bucket (43); The mounting portion (41) is fixed to one end of the second connecting arm (3), the charging hopper (42) is detachably mounted on the bottom end of the mounting portion (41), and the grab bucket (43) is fixed on the bottom end of the mounting portion (41); The bottom end of the charging hopper (42) is lower than the bottom end of the grab bucket (43).

4. The offshore construction device according to claim 3, characterized in that: The panoramic video camera (51) is arranged on the side of the mounting portion (41) away from the second connecting arm (3), and the video detection end of the panoramic video camera (51) is arranged tilted downward so that its video detection range covers the front end of the clamp assembly (4).

5. The offshore construction device according to claim 3, characterized in that: The adapter of the first three-dimensional multi-line laser radar scanner (52) is arranged inside the mounting portion (41), and its detection end protrudes from the bottom end of the mounting portion (41). The detection end is arranged higher than the charging hopper (42) and the grab bucket (43) so that its detection range covers the bottom ends of the charging hopper (42) and the grab bucket (43).

6. The offshore construction device according to claim 3, characterized in that: The bottom end of the mounting portion (41) is detachably mounted on the charging hopper (42) via a hook and a connecting chain; The multiple side walls of the charging hopper (42) are opened and closed outwards to grab construction materials.

7. The offshore construction device according to any one of claims 1 to 6, characterized in that: The first rotating mechanism (11) includes a first hydraulic rotating cylinder (112) and a first mounting groove (111), and the second rotating mechanism (21) includes a second hydraulic rotating cylinder (212) and a second mounting groove (211); One end of the first connecting arm (2) is recessed to form the first mounting groove (111), and the first mounting groove (111) can detachably clamp the top end surface and the bottom end surface of the first hydraulic rotary cylinder (112); One end of the second connecting arm (3) is recessed to form the second mounting groove (211), and the second mounting groove (211) can detachably clamp the top end surface and the bottom end surface of the second hydraulic rotary cylinder (212).

8. The offshore construction device according to claim 7, characterized in that: A second three-dimensional multi-line laser radar scanner (113) is provided on the outer wall of the first hydraulic drum (112); the second three-dimensional multi-line laser radar scanner (113) rotates at the same angle as the second connecting arm (3), and its scanning range covers the clamp assembly (4).

9. The offshore construction device according to claim 7, characterized in that: It also includes PLC controllers and frequency converters; The PLC controller controls the vertical frame (1), the first hydraulic rotary drum (112), the second hydraulic rotary drum (212) and the clamp assembly (4) through the frequency converter; The PLC controller communicates with the visual inspection system (5) via an automation bus.

10. The offshore construction device according to claim 9, characterized in that: The visual inspection system (5) further includes an anti-sway controller equipped with a curve track change program to eliminate the swing of the clamp assembly (4); The PLC controller communicates with the anti-sway controller via an automation bus, and the anti-sway controller communicates with the panoramic video camera (51) of the visual detection system, the first three-dimensional multi-line laser radar scanner (52), and the second three-dimensional multi-line laser radar scanner (113) of the first rotating mechanism (11) via network communication.

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