Dynamic pose control method for hoisting of special-shaped concrete filled steel tube section

Abstract

The invention discloses a special-shaped steel pipe concrete pipe section hoisting dynamic pose control method, relates to the technical field of ocean engineering underwater pipeline installation, and mainly solves the problems of insufficient dynamic response and low space pose control precision when a special-shaped pipe section is hoisted in a complex water flow environment. The method comprises the steps that pipe section space pose design parameters are obtained, the pitch angle and the rolling angle of a pipe section are monitored in real time through an inclination angle sensor set, disturbance torque generated by real-time water flow force is calculated, sling length compensation amount is generated, and the take-up and pay-off speed of a chain block at each lifting point is independently adjusted; and meanwhile, adjusting mooring ropes moored on the two sides are pulled to control the horizontal rotation angle of the pipe section, the height of a lifting hook and tension of the mooring ropes are fed back and adjusted in cooperation with a floating crane positioning system, and finally accurate underwater in-position of the pipe section to the preset position of the seabed is achieved. The device is mainly used for hoisting and sinking operation of the special-shaped concrete filled steel tube section in the marine environment, water flow interference can be effectively resisted, and accurate butt joint and installation quality of a pipe section connector are guaranteed.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of underwater pipeline installation in marine engineering, and particularly relates to a hoisting dynamic pose control method for a special-shaped steel pipe concrete pipe section. BACKGROUND

[0002] In the field of marine engineering, the installation of underwater pipelines is a complex and technically demanding operation, especially the hoisting and underwater positioning of special-shaped steel pipe concrete pipe sections. Such pipe sections usually contain bends or elevation changes, and their structures are asymmetric, with special gravity distribution, and are easily affected by marine environmental loads, especially water flow forces, which can easily lead to spatial attitude instability during actual hoisting and sinking.

[0003] At present, common pipe section hoisting methods are mostly based on the design of symmetric straight pipe sections, and the arrangement of hoisting points and the adjustment strategy of hoisting ropes are relatively simple, which cannot meet the dynamic balance requirements of special-shaped pipe sections. Due to the significant unbalanced moment generated by special-shaped pipe sections under the action of water flow, the traditional hoisting process usually relies on the experience of operators to adjust the length of hoisting ropes and the hoisting speed, which has the problems of response lag and insufficient control accuracy, often leading to large pitch or roll deviations of the pipe section, seriously affecting the accuracy of underwater docking and the structural safety.

[0004] On the other hand, due to low underwater visibility and strong environmental disturbance, real-time monitoring means for the spatial pose of the pipe section are limited. The traditional method of relying on water surface measurement or single angle sensor cannot fully reflect the real state of the pipe section underwater, especially the combined deviation of the horizontal angle and the spatial inclination cannot be effectively captured and fed back, further increasing the difficulty of attitude control.

[0005] Since the hoisting process of special-shaped pipe sections involves multi-variable coupled control of hoisting rope adjustment, traction cable operation, and cooperation of floating crane systems, the traditional method cannot realize the coordinated operation of multiple actuators, especially when adjusting a certain degree of freedom, which easily leads to chain deviation of other degrees of freedom, and the coordination and stability of the overall system control still need to be improved.

[0006] Therefore, how to realize high-precision dynamic pose control of special-shaped steel pipe concrete pipe sections in complex marine environments is still a technical problem to be solved. SUMMARY

[0007] An object of embodiments of the present application is to solve at least the above problems and / or deficiencies, and to provide at least the advantages to be explained later.

[0008] Another object of the present application is to provide a hoisting dynamic pose control method for special-shaped steel pipe concrete pipe sections, which solves the problems of spatial pose instability, low control accuracy, and difficulty in maintaining the preset inclination and accurately positioning the pipe sections caused by dynamic water flow interference during hoisting in complex marine water flow environments.

[0009] Solve the problem of torsional deviation of the pipe segment in the horizontal direction (yaw angle) due to water flow torque during hoisting, lack of quick and automatic correction mechanism, and difficulty in stabilizing the horizontal rotation angle within the design allowable deviation range.

[0010] To this end, the present application is implemented by adopting the following technical solutions: The dynamic pose control method for hoisting the special-shaped steel pipe concrete pipe segment comprises the following steps: Obtain the spatial pose design parameters of the special-shaped pipe segment with elbows or elevation changes; Adjust the length of the hoisting rigging according to the pose parameters and the real-time water flow force to maintain the preset spatial inclination angle, comprising: a) Real-time monitor the pitch angle and roll angle of the pipe segment through the inclination sensor group arranged at the center of gravity of the pipe segment and the elbow; b) Calculate the disturbance torque of the real-time water flow force on the pipe segment based on a fluid mechanics model, and generate a hoisting cable length compensation amount combined with the inclination deviation value, wherein the fluid mechanics model uses the Morison equation to calculate the disturbance torque of the real-time water flow force on the pipe segment; c) Independently adjust the speed of the hand-operated hoist at each lifting point according to the compensation amount to maintain the preset spatial inclination angle, wherein the adjustment range of the cable on the elbow side is greater than that on the straight pipe segment side; here, the adjustment range refers to the length adjustment amount.

[0011] Control the horizontal rotation angle of the pipe segment by pulling the adjustment cables moored on both sides; Real-time adjust the hook height and cable tension in cooperation with the floating crane positioning system feedback; Adjust the pipe segment to the predetermined position on the seabed to complete the underwater positioning.

[0012] Preferably, the dynamic pose control method for hoisting the special-shaped steel pipe concrete pipe segment controls the horizontal rotation angle of the pipe segment by pulling the adjustment cables moored on both sides, comprising: Symmetrically connect the anti-flow traction cables on both sides of the pipe segment in the horizontal direction, and anchor the cable ends to the positioning ship or the seabed winch respectively; Real-time feedback yaw angle data through the top compass of the pipe segment, and start differential control when the horizontal rotation angle deviates from the design value by ±0.5°: if counterclockwise correction is needed, tighten the right side cable and simultaneously release the left side cable; if clockwise correction is needed, tighten the left side cable and simultaneously release the right side cable; through the tension sensor closed loop control of the tension difference of the cables on both sides, make them form a correction torque to resist the water flow torque.

[0013] Preferably, the dynamic pose control method for hoisting the special-shaped steel pipe concrete pipe segment real-time obtains the pipe segment pose data through the underwater acoustic positioning system; The underwater acoustic positioning system is an ultra-short baseline or long baseline acoustic positioning system, an acoustic transducer array of which is installed at the bottom of a floating crane, and an acoustic beacon is fixed at a key control point of a pipe section, which is a center of a pipe section interface or a design gravity center; The feedback real-time adjustment of the hook height and the cable tension of the cooperative floating crane positioning system comprises the following steps: Real-time acquisition of three-dimensional coordinate data of the center of the pipe section interface by the underwater acoustic positioning system; Real-time comparison of the three-dimensional coordinate data with a preset sinking trajectory model to generate a hook height adjustment instruction; When the sinking speed of the pipe section deviates from the preset speed value by 10%, the main lifting mechanism of the floating crane is controlled to adjust the lowering rate of the hook; When the horizontal position offset of the pipe section exceeds 5% of the pipe diameter, the tension of the traction cable and the displacement of the floating crane translation mechanism are adjusted synchronously; here, the pipe diameter refers to the outer diameter of the pipe section. Based on the coupling relationship between the hook height, the cable tension and the spatial pose of the pipe section, the pipe section is dynamically controlled to reach the seabed target position at a design attack angle.

[0014] Preferably, the dynamic pose control method for hoisting the special-shaped steel pipe concrete pipe section, The cooperative floating crane positioning system adopts a multi-degree-of-freedom cooperative control algorithm, which is a sling-cable-floating crane motion coupling control realized by a fuzzy PID controller; When real-time sensing data is missing, a pre-generated hoisting parameter table is called to execute pipe section pose adjustment, and the parameter table is generated by numerical simulation of sea condition working conditions.

[0015] Preferably, the dynamic pose control method for hoisting the special-shaped steel pipe concrete pipe section further comprises a buoyancy assisting and positioning control method, comprising the following steps: A plugging air bag is installed in the pipe at one end of the pipe section to be installed, and a flange blind plate is installed at the other end to form a sealed chamber; Compressed gas is filled into the sealed chamber and pressurized to a test pressure to verify the sealing integrity of the pipe section; During hoisting, the gas pressure in the sealed chamber is maintained within the design pressure range to balance the pressure at both ends of the plugging air bag, ensure that the air bag does not move or leak, and does not damage the sea pipe; If the attitude of the pipe section does not meet the preset requirements, the axial position of the plugging air bag in the pipe is adjusted, and / or a buoyancy bag is tied outside the sea pipe to adjust the buoyancy distribution and pitch attitude of the pipe section.

[0016] Preferably, the dynamic pose control method for hoisting the special-shaped steel pipe concrete pipe section preinstalls a positioning pile system on the seabed in the pipe section interface joint area; The positioning pile system comprises at least four concrete pile bodies arranged according to predetermined coordinates, and a mechanical structure is arranged on the top of the pile body and used for cooperating with a pipe segment guiding device; At the end of the pipe segment sinking, the pipe segment is guided and finally horizontally positioned by the guiding device on the pipe segment and the top of the positioning pile.

[0017] The installation and utilization of the positioning pile system comprises the following steps: the positioning pile is hoisted by a crane, and the preliminary rough positioning of the pile position is performed by using an RTK positioning system; The diver is sent to work underwater to assist in adjusting the posture of the pile body and finally confirming the design elevation of the pile top; After the positioning pile is installed in place, the coordinates of the positioning pile are taken as known control points, and are integrated into a real-time positioning control system of the pipe segment to form a closed-loop control network for guiding the pipe segment in place.

[0018] Preferably, the dynamic posture control method for hoisting the special-shaped steel pipe concrete pipe segment comprises the following steps: obtaining spatial posture design parameters, including: Collecting three-dimensional terrain and seabed geological data of the water area to be installed; Extracting pipe segment elbow angle, variable elevation segment inclination and elbow coordinates; Calculating the hoisting trajectory posture based on the interface docking accuracy, pier coordinates and current direction; Generating posture control indicators containing horizontal rotation angle and vertical inclination in combination with pipe material characteristics; Extracting the center of gravity position and hoisting point pre-positioning data from the three-dimensional model; Integrating the posture parameters into a floating crane real-time positioning control module.

[0019] Preferably, the extraction of the center of gravity position and hoisting point data comprises the following steps: Establishing a three-dimensional finite element model of the pipe segment and loading composite working conditions; Identifying the maximum equivalent stress region coordinates in the stress cloud diagram; Reverse deducing the hoisting point pre-positioning coordinates to make the tension force direction coincide with the pipe segment axis; Outputting the three-dimensional offset of the center of gravity relative to the elbow control point.

[0020] Preferably, the dynamic posture control method for hoisting the special-shaped steel pipe concrete pipe segment comprises the following steps for dynamically adjusting the length of the hoisting rigging: Connecting a 1-meter to 5-meter adjustable short rope at the end of the hoisting rope; Calibrating the horizontal offset based on the measured flow rate and the projected area of the pipe segment; Adjusting the lengths of the four groups of short ropes in equal proportions to make the inclination deviation less than 0.5 degrees.

[0021] Preferably, the dynamic posture control method for hoisting the special-shaped steel pipe concrete pipe segment comprises the following steps for adjusting the pipe segment in place: The pipe section is paused at a height of 4 to 5 meters from the seabed 4, and a guide wire rope is installed; The pipe section is controlled to descend to a height of 0.5 meters from the rubble mound to adjust the horizontal height; The radial displacement is limited by the positioning pile to keep the butt joint spacing at 500 millimeters.

[0022] Preferably, the irregular-shaped steel pipe concrete pipe section hoisting dynamic pose control method further comprises the following steps: A multi-lifting-point beam system connecting the main hook of the floating crane and the pipe section is configured; A detachable reinforcing beam is installed at the elbow or stress concentration area of the irregular pipe section; The multi-lifting-point beam system comprises: The main beam length is set to 72 meters; A 55-ton rated load shackle is used to connect the lifting cable and the pipe section lifting belt; The lifting point spacing is controlled to be 15 meters, and the pipe section is cantilevered by 7.5 meters at both ends; The detachable reinforcing beam comprises: A semicircular steel plate clamp is used to fix the steel reinforcing beam; The steel specifications are selected according to the finite element stress calculation results; The reinforcing beam installation direction is set perpendicular to the stress direction of the elbow.

[0023] Compared with the prior art, the advantages and beneficial technical effects of the present application are: The present application can realize active closed-loop control of the spatial pose of the irregular pipe section, effectively offset the interference of dynamic water flow, significantly improve the stability and attitude holding capacity of the pipe section during hoisting, and lay a solid foundation for the final high-precision underwater butt joint.

[0024] The present application realizes rapid and automatic deviation correction of the horizontal angle of the pipe section by the method of differentially controlling the cables on both sides, effectively suppresses the torsion caused by the water flow torque, ensures the sinking of the pipe section along the designed axis direction, and improves the azimuth accuracy of the butt joint.

[0025] The present application provides reliable, continuous and accurate three-dimensional position data of key points for the entire control system by using a high-precision underwater acoustic positioning system and reasonably arranging transducers and beacons, solves the pain point of underwater environment pose measurement, and is the premise and guarantee for realizing precise control.

[0026] The present application makes the sinking process of the pipe section become a predictable and controllable trajectory tracking process by establishing a real-time comparison of the sinking trajectory and a multi-actuator linkage adjustment mechanism, greatly improves the positioning accuracy and operation efficiency, and reduces the collision risk caused by blind adjustment.

[0027] The application enhances the robustness and adaptability of the control system by adopting an intelligent cooperative control algorithm and presetting an emergency parameter table, can handle complex control tasks of multivariable coupling, and can maintain basic operation when sensor data is abnormal, thereby ensuring the safety and continuity of operation.

[0028] The application generates a complete set of pose control parameters by systematically integrating multi-source data, provides accurate initial input and judgment reference for automatic control, avoids deviation of the entire control process caused by inaccurate initial data, and improves the planning and reliability of the overall operation.

[0029] The application scientifically determines the lifting point position based on finite element analysis, ensures the stress rationality of the pipe body during lifting, maximally avoids local stress concentration or structural damage caused by improper lifting point setting, and ensures lifting safety and structural integrity.

[0030] The application provides a lifting rope fine adjustment scheme with strong operability and rapid response by introducing an adjustable short rope and performing equal proportion fine adjustment, can effectively eliminate small inclination deviation, and ensures high attitude stability of the pipe section in a dynamic environment.

[0031] The application creates optimal conditions for underwater docking by pausing, guiding and accurately spacing before final positioning, realizes smooth transition from macro motion to micro motion, and greatly improves the success rate and accuracy of the final interface docking.

[0032] The application optimizes the lifting tool system and locally enhances the pipe body structure, improves the carrying capacity of the lifting system and the anti-deformation capacity of the pipe section from the hardware level, and provides a solid hardware foundation and safety redundancy for the entire dynamic pose control process.

[0033] Other advantages, objects and features of the embodiments of the application will be partially embodied by the following description, and will be partially understood by those skilled in the art through research and practice of the embodiments of the application. DETAILED DESCRIPTION

[0034] In order to further illustrate the technical means adopted by the application and its effects, the application will be further described below in conjunction with embodiments. The specific embodiments described herein are only used to explain the application, and not to limit the application.

[0035] It should be noted that the experimental methods described in the following embodiments are all conventional methods unless otherwise specified, and the reagents and materials can be obtained from commercial channels unless otherwise specified.

[0036] According to one of the embodiments of the application, the irregular steel pipe concrete pipe section lifting dynamic pose control method comprises the following steps: Obtain the spatial orientation design parameters of irregularly shaped pipe sections with bends or elevation changes; The lifting sling length is dynamically adjusted based on the position parameters and real-time water flow force to maintain the preset spatial inclination angle, including: a) Real-time monitoring of the pitch and roll angles of the pipe section using tilt sensor arrays deployed at the center of gravity and bends of the pipe section; b) Calculate the disturbance moment of the real-time water flow force on the pipe section based on the fluid dynamics model, and generate the sling length compensation amount by combining the tilt angle deviation value. The fluid dynamics model uses the Morison equation to calculate the disturbance moment of the real-time water flow force on the pipe section. c) Adjust the speed of the hand chain hoist at each lifting point independently according to the compensation amount to maintain the preset spatial inclination angle of the pipe section, wherein the adjustment range of the lifting cable on the elbow side is greater than that on the straight pipe section side. The horizontal rotation angle of the pipe section is controlled by adjusting the cables moored on both sides. The collaborative floating crane positioning system provides real-time feedback to adjust the hook height and cable tension. The regulating pipe section was positioned underwater at its predetermined location on the seabed.

[0037] In the specific implementation process, the design parameters of the irregular pipe section to be installed are first obtained, including its spatial attitude, bend angle, and elevation change data. After the hoisting begins, tilt sensor groups pre-installed at the center of gravity and key bend positions of the pipe section continuously collect data on the pitch and roll angles of the pipe section. Simultaneously, using a fluid dynamics model based on the Morrison equation, the disturbance torque generated by the current on the pipe section is calculated in real time. The control system compares the actual tilt angle monitored by the sensors with the preset value, calculates the deviation, and, combined with the water flow disturbance torque model, generates a length compensation command for each sling. This command is sent to the manual hoists controlling each hoisting point, allowing them to independently adjust the retrieval and extension speed, thereby dynamically adjusting the sling length. In particular, the adjustment range of the sling on the bend side is greater than that on the straight pipe section side to compensate for the greater force difference. Through this closed-loop feedback adjustment, the pipe section can effectively resist water flow interference and maintain the preset spatial tilt angle during dynamic sinking.

[0038] Meanwhile, the horizontal rotation of the pipe section is controlled by adjusting cables moored on both sides. The ends of the cables are anchored to a positioning vessel or a seabed winch. A compass at the top of the pipe section monitors its yaw angle in real time. When a deviation from the design allowable range is detected, the system activates differential control logic. For counter-clockwise correction, the right-hand cable is tightened while the left-hand cable is simultaneously released; for clockwise correction, the opposite operation is performed. A tension sensor controls the tension difference between the two cables in a closed-loop manner, creating a corrective torque to resist the water flow torque, thereby stabilizing the horizontal rotation of the pipe section within the design requirements.

[0039] The entire lifting process needs the cooperative participation of the floating crane positioning system. The system receives real-time position data of the pipe section from sensors such as underwater acoustic positioning systems, and adjusts the height of the floating crane hook and the tension of the adjusting cable accordingly, to ensure that the pipe section moves along the predetermined sinking trajectory. When the pipe section finally approaches the seabed pier, it enters the adjustment and positioning stage, and through fine operation, it is finally accurately sunk to the predetermined interface position, and the underwater butt joint is completed.

[0040] The present application exhibits its significant beneficial effects through the above-mentioned embodiments. The method realizes active and closed-loop control of the spatial pose of the special-shaped pipe section, combines dynamic perception, real-time calculation and precise execution. It can effectively offset the interference of dynamic water flow force, significantly improve the stability and attitude holding capability of the pipe section during lifting. Through independent adjustment of the lifting cable and differential control of the cable in different regions, fine management of the three-dimensional spatial attitude of the pipe section is realized. The cooperative control of the system enhances the coordination and reliability of the operation, and finally guarantees the high-precision butt joint of the pipe section underwater interface, improves the quality and efficiency of the entire installation operation.

[0041] According to another embodiment of the present application, a special-shaped steel pipe concrete pipe section lifting dynamic pose control method, the horizontal angle of the pipe section is controlled by pulling the adjusting cable moored on both sides, comprising: Symmetrically connecting anti-flow traction cables on both sides of the horizontal direction of the pipe section, and anchoring the cable ends to the positioning ship or the seabed winch; Real-time feedback of the yaw data through the top compass of the pipe section, when the horizontal angle deviates from the design value by ±0.5°, differential control is started: if counterclockwise correction is needed, the right cable is tightened and the left cable is released simultaneously; if clockwise correction is needed, the left cable is tightened and the right cable is released simultaneously; Through the tension sensor closed-loop control of the tension difference of the two sides of the cable, a correction moment is formed to resist the water flow torque.

[0042] Before the pipe segment is hoisted into place, symmetrical anti-flow traction cables are connected to both sides of the pipe segment in the horizontal direction. These cables are not simply tied, but their ends are precisely anchored to a dedicated positioning ship or a winch previously set on the seabed to ensure that the direction of the applied tension is controllable and effective. A high-precision compass installed on the top of the pipe segment serves as the core sensor, continuously monitoring the yaw angle data of the pipe segment and transmitting the data in real time to the control system. The control system has a strict control logic, and once the real-time monitored horizontal turning angle deviates from the design value by plus or minus zero point five degrees, the system automatically starts the differential control program. If counterclockwise correction is required, the control system will issue instructions to the actuator to tighten the cable on the right side and simultaneously release the cable on the left side. If clockwise correction is required, the actuator will perform the operation of tightening the cable on the left side and simultaneously releasing the cable on the right side. The entire correction process is not open-loop control, but through the real-time feedback of the tension values on both sides of the cable by the tension sensors installed on the cable, a closed-loop control loop is formed to accurately control the tension difference between the two cables. The fundamental purpose is to form a correction moment that can resist and offset the water flow torque, so as to stabilize the azimuth angle of the pipe segment within the preset range.

[0043] The present application realizes rapid and accurate stable control of the horizontal turning angle of the pipe segment by establishing an automatic differential correction mechanism based on real-time yaw angle feedback and tension closed-loop control. It can automatically sense small angle deviations and immediately trigger a response, efficiently generating the required correction moment by synchronously tightening and releasing the cables on opposite sides, thereby effectively suppressing the persistent twisting drift caused by water flow torque. This method greatly reduces the dependence on manual judgment and operation, changes the control process from lagging and rough manual operation to leading and precise automatic control, significantly improves the directional stability of the pipe segment in the horizontal direction, and lays a solid foundation for ensuring that the pipe segment can be accurately connected with the installed pipe segment in the correct axial direction.

[0044] According to another embodiment of the present application, the dynamic pose control method for hoisting the special-shaped steel pipe concrete pipe segment, the pose data of the pipe segment is obtained in real time through an underwater acoustic positioning system; The underwater acoustic positioning system is an ultra-short baseline or long baseline acoustic positioning system, and the acoustic transducer array is installed at the bottom of the floating crane ship, and the acoustic beacon is fixed at the key control point of the pipe segment, which is the interface center or the designed center of gravity of the pipe segment.

[0045] To realize the precise tracking of the underwater space position of the pipe section, the system adopts a high-precision underwater acoustic positioning technology. Specifically, one of an ultra-short baseline or a long baseline acoustic positioning system is selected. The acoustic transducer array of the system, as a fixed acoustic signal transmitting and receiving unit, is installed at the bottom of the floating crane ship, so that it can have a good underwater view. Before the pipe section is launched, underwater beacons are firmly installed at the key control point positions of the pipe section, usually the interface center or the precisely calculated design center of gravity. During the lifting process, the transducer array at the bottom of the ship continuously transmits acoustic signals to the underwater beacons and receives the returned response signals. By calculating the propagation time difference and phase difference of the acoustic wave signals, the system can calculate the high-precision distance and azimuth data of each beacon relative to the ship body in real time, and then, combined with the global satellite positioning system and attitude data of the floating crane ship, the three-dimensional coordinate data of the key control points on the pipe section in the absolute coordinate system are obtained through complex coordinate conversion and calculation, and the data are provided as the core feedback to the upper control system.

[0046] The present application provides reliable, continuous and accurate three-dimensional space coordinate data of the key points of the pipe section for the whole pose control system by introducing and integrating a high-precision underwater acoustic positioning system. This measure fundamentally solves the pain point of difficult spatial measurement in the underwater environment, and makes the invisible underwater motion trajectory of the pipe section completely visualized and quantified. It provides the most critical and accurate decision basis for all subsequent dynamic adjustment instructions, such as hook lifting, cable winding and unwinding, etc., so that the whole control system can be closed-loop controlled based on real and comprehensive spatial data, greatly improving the scientificity of the whole control process and the final positioning accuracy, and is an indispensable technical support for realizing underwater high-precision operation.

[0047] Further, in the above embodiment, the real-time adjustment of the hook height and the cable tension by the cooperative floating crane positioning system comprises the following steps: real-time acquisition of three-dimensional coordinate data of the pipe section interface center by the underwater acoustic positioning system; real-time comparison of the three-dimensional coordinate data with a preset sinking trajectory model to generate a hook height adjustment instruction; when the pipe section sinking speed deviates from the preset speed value by 10%, the floating crane main lifting mechanism is controlled to adjust the hook lowering rate; when the pipe section horizontal position deviation exceeds 5% of the pipe diameter, the tension of the traction cable and the displacement of the floating crane translation mechanism are synchronously adjusted; based on the coupling relationship between the hook height, the cable tension and the spatial pose of the pipe section, the pipe section is dynamically controlled to reach the seabed target position at a design attack angle.

[0048] In the sinking process of the pipe section, the three-dimensional coordinate data of the pipe section interface center collected by the underwater acoustic positioning system in real time is continuously sent to the control system. The control system internally pre-stores an ideal sinking trajectory model generated according to installation requirements. The system continuously compares the real-time coordinate data with the preset model at a millisecond level. Through this comparison, the system can generate adjustment instructions for correcting the height of the hook in real time. When the system detects that the sinking speed of the pipe section deviates from the preset speed value, the main lifting mechanism of the floating crane will be immediately controlled to adjust the lowering rate of the hook to make it return to the preset trajectory. When the system detects that the horizontal position of the pipe section deviates beyond the allowed range, the control strategy changes to coordinated adjustment, which simultaneously issues instructions to adjust the tension of the traction cable, and may also drive the translation mechanism of the floating crane to make a slight ship position adjustment, to correct the horizontal deviation in a compound action. All these adjustments are not isolated, but based on a deep understanding of the coupling relationship between the height of the hook, the tension of the cable and the spatial pose of the pipe section, they are dynamically calculated and distributed, and the final goal is to ensure that the pipe section can smoothly and accurately reach the target position on the seabed with the designed attack angle.

[0049] The present application converts the sinking process of the pipe section from a possible out-of-control free motion to a predictable and controllable precise trajectory tracking process by comparing real-time position data with a preset trajectory model and adjusting the hook, cable and even the ship position of the floating crane in a coordinated manner. It establishes a multi-parameter coordinated optimization control strategy, effectively avoids the negative coupling effect of single adjustment action, and ensures that the pipe section smoothly sinks along an ideal path in three-dimensional space. This method greatly improves the controllability of the sinking process and the success rate of the first time, significantly reduces the time and risk of repeated adjustment under water, and provides core process protection for achieving millimeter-level precise docking.

[0050] According to another embodiment of the present application, the dynamic pose control method for hoisting the special-shaped steel pipe concrete pipe section, the coordinated floating crane positioning system adopts a multi-degree-of-freedom coordinated control algorithm, which is a fuzzy PID controller for realizing hoist-cable-floating crane motion coupling control. When the real-time sensing data is missing, a pre-generated hoisting parameter reference table is called to execute pipe section pose adjustment, and the parameter reference table is generated by numerical simulation of sea state conditions.

[0051] The core control algorithm of the cooperative floating crane positioning system adopts a multi-degree-of-freedom cooperative control algorithm. The algorithm is specifically implemented by a fuzzy PID controller. Unlike traditional PID control, this controller can handle the nonlinear relationship and coupling effect between multiple input variables, and is specifically used to coordinate the complex interaction between the hoist rope winding and unwinding, cable tension adjustment, and floating crane hull movement. The controller's inputs include multi-source data from the inclination sensor, acoustic positioning system, tension sensor, and compass. After fuzzy logic rule processing and PID operation, the output is the cooperative control instruction for the hand-operated hoist, winch, and floating crane propeller. In addition, the system also has an emergency mechanism. When the system detects that part of the real-time sensor signals are lost or have severely degraded quality, it will automatically call a pre-generated hoisting parameter reference table. This reference table contains a set of optimal control parameters calculated in advance for various typical sea conditions through numerical simulation technology. The system will select the closest set of parameters from the table based on the currently identified sea condition characteristics to temporarily execute the pipe segment pose adjustment until the real-time sensor data is restored to be reliable.

[0052] By adopting the intelligent multi-degree-of-freedom cooperative control algorithm, the present application effectively solves the coupled control problem of multiple actuators such as floating cranes, hoist ropes, and cables in complex operations, enabling the actuators to cooperate with each other rather than interfere with each other, significantly improving the stability and control efficiency of the entire system. At the same time, by introducing an emergency parameter table based on numerical simulation, the system provides decision-making redundancy in the case of abnormal sensor data, enhancing the robustness and fault tolerance of the control system, ensuring that the operation can be safely and continuously carried out in unexpected situations, and avoiding overall loss of control or interruption of the operation due to data loss.

[0053] According to another embodiment of the present application, the method for dynamically controlling the pose of a special-shaped steel pipe concrete pipe segment during hoisting further comprises a buoyancy assisting and positioning control method, comprising the following steps: A sealing air bag is installed in one end of the pipe segment to be installed, and a flange blind plate is installed at the other end to form a sealed chamber; Compressed gas is filled into the sealed chamber and pressurized to a test pressure to verify the sealing integrity of the pipe segment; During hoisting, the gas pressure in the sealed chamber is maintained within the design pressure range to balance the pressure at both ends of the sealing air bag, ensuring that the air bag does not move, does not leak, and does not damage the marine pipe; If the pipe segment pose does not meet the preset requirements, the axial position of the sealing air bag in the pipe is adjusted, and / or a buoyancy bag is tied outside the marine pipe to adjust the buoyancy distribution and pitch attitude of the pipe segment.

[0054] Before hoisting the special-shaped steel pipe concrete pipe section, the floating assisting and positioning control method is implemented. First, a plugging air bag is installed in the pipe at one end of the pipe section to be installed, and a flange blind plate is installed at the other end, so that a complete sealed chamber is formed inside the pipe section. Then, compressed gas is filled into the sealed chamber and pressurized to a pre-set test pressure, so as to verify the sealing integrity of the pipe section under this pressure and ensure that there is no gas leakage.

[0055] During the entire hoisting and sinking process, the gas pressure in the sealed chamber needs to be continuously monitored and maintained within the design pressure range. The key role of this pressure maintenance measure is to balance the water pressure and internal pressure borne by the two ends of the plugging air bag, so as to ensure that the air bag does not move axially, does not leak gas, and does not squeeze or damage the inner wall of the pipe section during the entire operation process.

[0056] If the actual attitude of the pipe section, such as the pitch angle, is found to be inconsistent with the pre-set requirements during hoisting through monitoring, the buoyancy needs to be adjusted in time. The adjustment means includes adjusting the axial position of the plugging air bag inside the pipe section, and adjusting the buoyancy center of the pipe section by changing the position of the air bag. In addition, one or more floating bags can also be tied on the underwater part of the pipe section, so as to change the overall buoyancy distribution and moment by increasing the local buoyancy, and then accurately adjust the pitch attitude of the pipe section to restore it to the pre-set ideal state.

[0057] For example, a special-shaped steel pipe concrete pipe section needs to be installed in a certain marine pipeline project. At the beginning of the operation, the construction personnel install a plugging air bag at one end of the pipe section and a flange blind plate at the other end according to the foregoing implementation mode to form a sealed chamber. Compressed air is filled and pressurized to a test pressure, and the pressure table reading is observed to be stable, confirming that the sealing is good. After hoisting starts, the control system monitors the cabin pressure in real time to keep it constant. When sinking to the middle, the monitoring system shows that the inclination angle of the head of the pipe section is slightly higher than the pre-set value. At the same time, in order to avoid excessive adjustment, a small floating bag is additionally tied on the tail of the pipe section to assist in providing additional buoyancy. Through these adjustments, the pitch attitude of the pipe section is quickly corrected, and finally the pipe section is stably sunk and successfully positioned in the design attitude.

[0058] The traditional method usually adopts a simpler passive way to control the posture of the special-shaped pipe section during hoisting. In many cases, a sealable chamber with adjustable pressure is not arranged inside the pipe section, but a rigid end plate is directly used for plugging. For buoyancy adjustment, usually only depends on the binding of buoys or floats at fixed positions outside the pipe section, and the number and position thereof are determined by experience before entering the water, and it is difficult to dynamically adjust after launching. If the posture of the pipe section deviates during sinking, the traditional method lacks effective in-cabin adjustment means, and can only try to correct by very roughly adjusting the hoisting cable or relying on the movement of the floating crane, which has a lag response and low control accuracy. Due to the inability to accurately move the floating center inside the pipe section, the traditional method has limited ability to correct the posture, and the externally bound floats have the risk of falling off or moving, which is not reliable and can easily lead to poor pipe section installation posture, increasing the risk of connection failure.

[0059] The present scheme realizes active and dynamic fine regulation of the buoyancy distribution of the pipe section by using an internal plugging air bag to construct a sealed pressure chamber and combining external float bag assisted floating and positioning control method. The method can effectively balance the internal and external pressure, protect the safety of the pipe section structure, and prevent the plugging device from failing. More importantly, it directly changes the floating center by adjusting the air bag position, supplemented by external float adjustment, providing a rapid response and high precision control method for posture correction. This significantly enhances the ability of the special-shaped pipe section to resist interference and maintain a stable sinking posture in complex sea conditions, overcomes the shortcomings of the traditional method such as slow adjustment and poor accuracy, provides an important guarantee for the subsequent accurate positioning and installation of the pipe section, and improves the success rate and reliability of the entire underwater installation operation.

[0060] According to another embodiment of the present application, the special-shaped steel pipe concrete pipe section hoisting dynamic posture control method comprises the following steps: The positioning pile system comprises at least four concrete piles arranged according to predetermined coordinates, and the top of each pile is provided with a mechanical structure for cooperating with the guide device of the pipe section. At the end of the pipe section sinking, the guide device installed on the pipe section is used to contact and guide the top of the positioning pile, so as to realize the final horizontal positioning of the pipe section.

[0061] The installation and use of the positioning pile system comprise the following steps: using a crane to hoist the positioning pile, and using an RTK positioning system to preliminarily and roughly position the pile; Sending divers to work underwater to assist in adjusting the posture of the pile body and finally confirming the design elevation of the top of the pile; After the positioning pile is installed in place, the coordinates thereof are taken as known control points, integrated into the real-time positioning control system of the pipe section, and a closed-loop control network for guiding the positioning of the pipe section is formed.

[0062] In implementation, the operator first uses the crane to hoist the positioning pile and uses the RTK positioning system to preliminarily coarsely position the pile position. The diver is dispatched to work underwater to assist in adjusting the pile body posture and finally confirm the design elevation of the pile top. The positioning pile system includes at least four concrete piles arranged according to predetermined coordinates, and the pile top is provided with a mechanical structure for cooperating with the pipe segment guide device. After the positioning pile is installed in position, its coordinates are taken as known control points, integrated into the real-time positioning control system of the pipe segment, and a closed-loop control network for guiding the pipe segment in position is formed. At the end of the pipe segment sinking, the guide device installed on the pipe segment is used to contact and guide the mechanical structure at the top of the positioning pile, so that the final horizontal precise positioning of the pipe segment is realized.

[0063] In the comparative example, the closest prior art usually relies on underwater measurement or manual guidance by divers for pipe segment positioning, such as using acoustic positioning system alone or manually placing a guide frame, but such method is greatly affected by environmental factors, has limited accuracy, is prone to positioning deviation due to sea current or poor visibility, needs repeated adjustment, and is low in efficiency.

[0064] Compared with the prior art, the embodiment provides mechanical guidance through the pre-installed positioning pile system, realizes active precise positioning of the pipe segment at the end of sinking, reduces the dependence on external measuring equipment, improves the positioning reliability and speed, provides a stable mechanical positioning reference, ensures the horizontal position of the pipe segment through the cooperation of the positioning pile and the guide device, simplifies the docking process, improves the installation accuracy and efficiency, and reduces the difficulty of underwater operation.

[0065] According to another embodiment of the application, a steel pipe concrete pipe segment hoisting dynamic posture control method comprises the following steps: Collecting three-dimensional terrain and seabed geological data of the water area to be installed; Extracting pipe segment elbow angle, variable elevation segment inclination and elbow coordinates; Calculating hoisting trajectory posture based on interface docking accuracy, pier coordinates and sea current direction; Generating posture control indicators containing horizontal angle and vertical inclination in combination with pipe material characteristics; Extracting center of gravity position and hoisting point pre-positioning data from the three-dimensional model; Integrating the posture parameters into the floating crane real-time positioning control module.

[0066] Acquiring the spatial pose design parameters is a systematic preparatory work. First, high-precision three-dimensional terrain data and seabed geological data of the water area to be installed are collected to understand the installation environment. Then, key geometric features are extracted from the design file of the pipe section, including the specific angle of the elbow, the inclination of the variable elevation section, and the coordinate position of the elbow in the global coordinate system. Based on this information, considering the docking accuracy requirements of the pipe interface, the coordinates of the installed foundation pier, and the main tidal direction of the sea area, the optimal lifting trajectory and the spatial pose of the pipe section on the trajectory are determined through calculation. At the same time, combined with the pipe material characteristics of the steel pipe concrete, a series of specific pose control indicators are generated, such as the allowable maximum horizontal turning angle and vertical inclination threshold. In addition, the calculated center of gravity spatial position and the preset lifting point position data for lifting are extracted from the three-dimensional design model of the pipe section. Finally, all these acquired and calculated pose parameters are integrated and input into the real-time positioning control module of the floating crane as the initial reference and basis for the entire automatic control process.

[0067] The present application generates a complete and scientific set of initial lifting parameters by systematically integrating multi-source information and performing accurate calculations. This process provides crucial accurate input and judgment reference for subsequent automatic dynamic control, ensuring that the entire control process has a clear goal and follows a set of rules. This avoids deviations in the initial stage of the control system due to inaccurate or missing initial data, thereby improving the planning, predictability, and final success rate of the entire lifting operation from the source Further, in the above embodiment, extracting the center of gravity position and lifting point data includes the following steps: Establishing a three-dimensional finite element model of the pipe section and loading composite working conditions; Identifying the maximum equivalent stress region coordinates in the stress cloud map; Reverse derivation of the lifting point pre-positioning coordinates to make the tension force direction coincide with the pipe section axis; The three-dimensional offset of the center of gravity relative to the control point of the elbow is output. The extraction of the center of gravity position and the lifting point data is an accurate process based on simulation analysis. First, according to the detailed design drawing of the pipe section, a high-precision three-dimensional finite element model is established. Then various combined working conditions loads that may be encountered in the lifting process are applied on the model, such as self weight, water flow force, inertia force and concentrated load of the sling. After the finite element calculation is solved by the computer, the stress cloud picture obtained by analysis is used to identify the region with the maximum equivalent stress in the model and its spatial coordinates. The preset position of the lifting point needs to avoid these high stress areas. Then, according to the force balance principle, the optimal preset coordinate position of the lifting point is determined through reverse deduction and iterative calculation. The principle of determining this position is to make the direction of the tension force generated by the multiple slings coincide with the direction of the axis of the pipe section as much as possible, so as to maximize the avoidance of additional bending moment in the lifting process. Finally, the system outputs a key parameter, i.e. the three-dimensional offset of the center of gravity of the pipe section relative to the control point of the elbow, which provides direct data support for the subsequent differential adjustment in the position control.

[0068] The present application scientifically determines the center of gravity position and the optimal lifting point arrangement of the special-shaped pipe section by adopting the advanced engineering simulation method of finite element analysis. This method can accurately predict the mechanical behavior under the lifting condition, thereby ensuring that the lifting point is set at a safe and reasonable position, making the pipe section in a good stress state during lifting, effectively avoiding local stress concentration or structural damage caused by improper lifting point setting, and essentially ensuring the structural safety of the lifting operation and the initial stability of the pipe section posture.

[0069] According to another embodiment of the present application, the method for dynamically controlling the position and posture of the special-shaped steel pipe concrete pipe section during lifting, the dynamic adjustment of the length of the lifting rigging includes the following steps: Connecting 1-5 meters adjustable short ropes at the end of the sling; Calibrating the horizontal offset based on the measured flow rate and the projected area of the pipe section; Adjusting the length of the four groups of short ropes in proportion to make the inclination deviation less than 0.5 degrees.

[0070] The operation of dynamically adjusting the length of the hoisting rigging is realized through a specific hardware configuration and process. A short length of 1-5 meters of electrically adjustable short length device is specially connected in series at the end of the hoist rope connecting the hand-operated hoist and the pipe section hoist. When adjusting, the control system first calculates the horizontal deviation of the pipe section caused by the water flow force based on the real-time monitored seawater flow rate data and the underwater projection area of the pipe section in the current posture. Then, the system converts this deviation requirement into length adjustment instructions for the adjustable short length device at the end of the four main hoist ropes. The adjustment process is not independent and disorderly, but follows a strict equal proportion principle. The system controls the four groups of short length devices to elongate or shorten synchronously and proportionally according to the calculated compensation amount. Through this fine and coordinated fine-tuning, the deviation between the actual spatial inclination of the pipe section and the preset value is finally stably controlled within a very small range.

[0071] The present application provides a rapid response and high precision hoist rope fine-tuning scheme by introducing independently fine-tunable short length devices and adopting an equal proportion synchronous adjustment strategy. It can quickly compensate for the slight inclination changes caused by disturbances such as water flow, effectively avoiding the dramatic fluctuations in the force state of each hoisting point during the adjustment process, and ensuring that the pipe section can maintain high posture stability in a dynamic environment, providing continuous process protection for high-precision positioning.

[0072] According to another embodiment of the present application, the method for dynamically controlling the position of a special-shaped steel pipe concrete pipe section during hoisting, the adjustment of the pipe section positioning includes the following steps: The pipe section is temporarily suspended at a height of 4-5 meters from the seabed and a guide wire rope is installed; The pipe section is lowered to a height of 0.5 meters from the rubble pier to adjust the horizontal height; The radial displacement is limited to maintain a butt joint spacing of 500 mm by positioning piles.

[0073] The process of adjusting the pipe section positioning is designed as a fine operation implemented in stages. When the pipe section is lowered to a height of 4-5 meters from the seabed, the entire sinking process is paused. At this time, the operator goes into the water or assists with remote control equipment to install temporary guide wire ropes for the pipe section, with the other end of the wire rope connected to the installed pipe section or base pier, providing physical guidance for the final butt joint. After the pause, the pipe section is lowered at a very slow speed, and when the lower end of the pipe section is only 0.5 meters from the top surface of the rubble pier, the final horizontal and height adjustment is performed. At this very close distance, the radial movement of the pipe section is limited by the pre-installed positioning piles, carefully maintaining a small spacing of about 500 mm between the pipe section interface and the interface to be butt jointed, preparing for the final precise butt joint.

[0074] The present application creates a controllable and safe operating environment for the final positioning of the pipe section by a series of fine operation steps such as specifying the clear suspension height, installing the guide device, maintaining the safety distance, etc. It realizes the smooth transition from macro sinking to micro docking, greatly reduces the collision risk, provides sufficient time and space for the operator to perform the final precise positioning and adjustment, and thus ensures that the underwater interface can realize high-precision docking within millimeters.

[0075] According to another embodiment of the present application, the method for dynamically controlling the position of a special-shaped steel pipe concrete pipe section during hoisting further comprises the following steps: A multi-lifting-point beam system connecting the main hook of the floating crane and the pipe section is configured; A detachable reinforcing beam is installed at the bend or stress concentration area of the special-shaped pipe section; The configuration of the multi-lifting-point beam system comprises: The main beam length is set to 72 meters; A 55-ton rated load shackle is used to connect the lifting cable and the pipe section lifting belt; The lifting point spacing is controlled to be 15 meters, and the overhang length at both ends of the pipe section is 7.5 meters; The installation of the detachable reinforcing beam comprises: A semicircular steel plate clamp is used to fix the steel reinforcing beam; The steel specification is selected according to the finite element stress calculation results; The reinforcing beam installation direction is set perpendicular to the stress direction of the bend.

[0076] The implementation of the method includes configuring a special multi-lifting-point beam system to connect the main hook of the floating crane and the pipe section, and installing a detachable reinforcing beam at the weak part of the pipe section body. When configuring the multi-lifting-point beam system, first determine the length of the main beam, then use a high-rated load shackle to reliably connect the lifting cable and the pre-wrapped pipe section lifting belt, and control the lifting point spacing and the overhang length at both ends of the pipe section by calculation to ensure uniform stress on the pipe body during hoisting. For the installation of the reinforcing beam, first select a specific specification of steel according to the finite element stress calculation results, then use a semicircular steel plate clamp to tightly fix it on the stress concentration area of the outer wall of the pipe section, and ensure that the installation direction of the reinforcing beam is perpendicular to the main stress direction of the bend to maximize the bending stiffness of the area.

[0077] The present application optimizes the beam system to disperse the main load and adds temporary reinforcing beams at key positions, significantly improving the reliability and safety of the entire hoisting system from the hardware level. It effectively disperses the hoisting load, avoids stress concentration, protects the pipe section structure from damage during hoisting, provides a solid and safe hardware foundation for the entire dynamic position control process, and ensures the smooth completion of the hoisting operation.

[0078] While embodiments of the application have been disclosed in connection with the above specification, it should be understood that it can be employed in various other arrangements, modifications and embodiments without departing from the spirit or scope of the application as set forth in the appended claims and equivalents thereof. Therefore, other modifications and embodiments of the application will be apparent to one of ordinary skill in the art from the teachings herein. It is, therefore, contemplated to fall within the scope of the claims and their equivalents.

Claims

1. A method for dynamic position control during the hoisting of irregularly shaped steel pipe concrete segments, characterized in that, Includes the following steps: Obtain the spatial orientation design parameters of irregularly shaped pipe sections with bends or elevation changes; The lifting sling length is dynamically adjusted based on the position parameters and real-time water flow force to maintain the preset spatial inclination angle, including: a) Real-time monitoring of the pitch and roll angles of the pipe section using tilt sensor arrays deployed at the center of gravity and bends of the pipe section; b) Calculate the disturbance moment of the real-time water flow force on the pipe section based on the fluid dynamics model, and generate the sling length compensation amount by combining the tilt angle deviation value. The fluid dynamics model uses the Morison equation to calculate the disturbance moment of the real-time water flow force on the pipe section. c) Adjust the speed of the hand chain hoist at each lifting point independently according to the compensation amount to maintain the preset spatial inclination angle of the pipe section, wherein the adjustment range of the lifting cable on the elbow side is greater than that on the straight pipe section side. The horizontal rotation angle of the pipe section is controlled by adjusting the cables moored on both sides. The collaborative floating crane positioning system provides real-time feedback to adjust the hook height and cable tension. The regulating pipe section was positioned underwater at its predetermined location on the seabed.

2. The dynamic posture control method for hoisting irregularly shaped steel pipe concrete segments as described in claim 1, characterized in that, The horizontal rotation angle of the pipe section is controlled by adjusting the cables moored on both sides, including: Anti-current traction cables are symmetrically connected on both sides of the pipe section in the horizontal direction, and the ends of the cables are anchored to the positioning vessel or the seabed winch, respectively. The yaw angle data is fed back in real time by the gyrocompass at the top of the pipe section. When the horizontal rotation angle deviates from the design value by ±0.5°, differential control is activated: if counterclockwise correction is required, the right cable is tightened and the left cable is released simultaneously; if clockwise correction is required, the left cable is tightened and the right cable is released simultaneously. The tension difference between the two cables is controlled by a closed-loop tension sensor to create a corrective torque that resists the torque of the water flow.

3. The dynamic posture control method for hoisting irregularly shaped steel pipe concrete segments as described in claim 1, characterized in that, Real-time pipe segment orientation data is acquired using an underwater acoustic positioning system; The underwater acoustic positioning system is an ultra-short baseline or long baseline acoustic positioning system. Its acoustic transducer array is installed on the bottom of the floating crane, and the acoustic beacon is fixed at the key control point of the pipe section. The key control point is the interface center of the pipe section or the design center of gravity. The collaborative floating crane positioning system provides real-time feedback for adjusting the hook height and cable tension, including the following steps: The three-dimensional coordinate data of the center of the pipe section interface is collected in real time using an underwater acoustic positioning system. The three-dimensional coordinate data is compared with the preset sinking trajectory model in real time to generate hook height adjustment instructions; When the sinking speed of the pipe section deviates from the preset speed value by 10%, the main lifting mechanism of the floating crane is controlled to adjust the hook lowering rate. When the horizontal position deviation of the pipe section exceeds 5% of the pipe diameter, the tension of the traction cable and the displacement of the floating crane translation mechanism are adjusted simultaneously. Based on the coupling relationship between hook height, cable tension and pipe segment spatial orientation, the pipe segment is dynamically controlled to reach the target position on the seabed at the designed angle of attack.

4. The dynamic posture control method for hoisting irregularly shaped steel pipe concrete segments as described in claim 3, characterized in that, The cooperative floating crane positioning system adopts a multi-degree-of-freedom cooperative control algorithm, which is a motion coupling control of sling-cable-floating crane implemented by a fuzzy PID controller; When real-time sensor data is missing, the pipe segment position adjustment is performed by calling a pre-generated lifting parameter reference table, which is generated by numerical simulation of sea conditions.

5. The dynamic posture control method for hoisting irregularly shaped steel pipe concrete segments as described in claim 1, characterized in that, It also includes buoyancy and positioning control methods, comprising the following steps: A sealing airbag is installed inside one end of the pipe section to be installed, and a flange blind plate is installed at the other end to form a sealed chamber. Compressed gas is introduced into the sealed chamber and pressurized to the test pressure to verify the sealing integrity of the pipe section; During the hoisting process, the gas pressure inside the sealed chamber should be maintained within the design pressure range; If the pipe segment's attitude does not meet the preset requirements, the buoyancy distribution and pitch attitude of the pipe segment can be adjusted by adjusting the axial position of the sealing airbag inside the pipe and / or by attaching floating bags to the outside of the subsea pipeline.

6. The dynamic posture control method for hoisting irregularly shaped steel pipe concrete segments as described in claim 5, characterized in that, A positioning pile system is pre-installed on the seabed in the pipe section interface docking area; The positioning pile system includes at least four concrete piles arranged at predetermined coordinates, and the top of the piles is provided with a mechanical structure for cooperating with the pipe section guiding device. In the final stage of pipe segment sinking, the guide device installed on the pipe segment is used to contact and guide the top of the positioning pile to achieve the final horizontal precise positioning of the pipe segment; The installation and use of the positioning pile system includes: using a crane ship to hoist the positioning piles and using an RTK positioning system for preliminary coarse positioning of the pile positions. Dispatch divers to work underwater to assist in adjusting the pile's posture and finally confirm the design elevation of the pile top; After the positioning piles are installed and in place, their coordinates are used as known control points and integrated into the real-time positioning control system of the pipeline segment to form a closed-loop control network for guiding the pipeline segment into place.

7. The method for dynamic position control during hoisting of irregularly shaped steel pipe concrete segments as described in claim 1, characterized in that, Includes the following steps: Obtaining spatial pose design parameters includes: Collect three-dimensional topographic and seabed geological data of the waters to be installed; Extract the bend angle, elevation change section inclination angle, and bend coordinates of the pipe section; The hoisting trajectory and pose are calculated based on the interface docking accuracy, pier coordinates, and ocean current direction. Based on the characteristics of the pipe material, pose control indicators including horizontal rotation angle and vertical tilt angle are generated; Extract the center of gravity position and pre-positioning data of the lifting points from the 3D model; Integrate pose parameters into the floating crane's real-time positioning control module; The extraction of center of gravity and suspension point data includes the following steps: Establish a three-dimensional finite element model of the pipe section and load composite working conditions; Identify the coordinates of the region of maximum equivalent stress in the stress contour map; The pre-positioning coordinates of the lifting point are derived in reverse so that the direction of the resultant tension force coincides with the axis of the pipe section. Output the three-dimensional offset of the center of gravity relative to the bend control point.

8. The method for dynamic position control during hoisting of irregularly shaped steel pipe concrete segments as described in claim 1, characterized in that, Dynamically adjusting the length of lifting slings includes the following steps: Connect a 1-meter to 5-meter adjustable short cable to the end of the sling; The horizontal offset was checked based on the measured flow velocity and the projected area of ​​the pipe section. Adjust the lengths of the four short wires proportionally to make the tilt angle deviation less than 0.5 degrees.

9. The method for dynamic position control during hoisting of irregularly shaped steel pipe concrete segments as described in claim 1, characterized in that, The installation of the regulating pipe section includes the following steps: The pipeline section was paused at a height of 4 to 5 meters above the seabed, and guide steel wire ropes were installed. The control section was lowered to a height of 0.5 meters from the crushed stone block to adjust its horizontal level; The radial displacement is limited by positioning stakes to maintain a docking distance of 500 mm.

10. The dynamic posture control method for hoisting irregularly shaped steel pipe concrete segments as described in claim 1, characterized in that, It also includes the following steps: Configure a multi-point lifting beam system that connects the main hook of the floating crane to the pipe section; Install detachable reinforcing beams at bends or stress concentration areas in irregularly shaped pipe sections; The multi-point lifting beam system includes: The main lifting beam is set to be 72 meters long; The shackles with a rated load of 55 tons are used to connect the slings to the pipe section. The spacing between the suspension points is controlled at 15 meters, and the pipe section is overhanging at both ends by 7.5 meters. The installation of detachable reinforcing beams includes: The steel-reinforced beams are fixed using semi-circular steel plate clamps; The steel profile specifications are selected based on the finite element stress calculation results. The reinforcing beam should be installed perpendicular to the direction of force applied to the bend.