A simulation system for major offshore operations

Abstract

The present invention discloses a major offshore operation simulation system, which relates to the field of offshore oil engineering technology. It includes system functions such as semi-submersible platform large joint scheme preview, semi-submersible platform towing scheme preview, semi-submersible platform mooring reconnection scheme preview, semi-submersible platform SCR installation scheme preview, personnel training, simulation preview and evaluation, risk prediction and data communication framework. The present invention adopts real-time rigid-flexible hybrid multi-body dynamics to establish a digital operation simulation model, uses a semi-physical simulation control console to provide real human-computer interaction, and then uses a strong time consistency distributed communication framework to synchronize the simulation model and the setting of the physical control console, so as to ensure the logical consistency of time-related events, improve the simulation accuracy of the semi-submersible platform installation operation, enhance the credibility of the prediction of interference collision, pipeline morphology and tension warning risk points, and maximize the accuracy of risk point analysis and prediction and the fidelity of operator process training.

Description

Technical Field

[0001] The invention relates to the technical field of offshore petroleum engineering, in particular to a major offshore operation simulation system. Background Art

[0002] As the exploitation of marine resources gradually moves from near shallow sea areas to far deep sea areas, marine environmental conditions are becoming increasingly harsh. The safety of offshore platforms and their personnel is the first consideration in platform construction, installation and operation.

[0003] Before the existing platform construction is carried out, it is necessary to use computer simulation technology to conduct a preview evaluation of the offshore operation plan in advance, and to ensure the safety of the staff by analyzing and studying the marine equipment status information during the simulation process. However, when this simulation technology is actually used, due to the large number of external sudden factors of the offshore platform, it is impossible to ensure that the system framework can synchronize the simulation model to complete the preview evaluation, which reduces the accuracy of risk point analysis and prediction. Therefore, a new system is proposed to solve the above-mentioned problems. Summary of the invention

[0004] The purpose of the present invention is to provide a major offshore operation simulation system to solve the problems raised in the above background technology.

[0005] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a major offshore operation simulation system, including semi-submersible platform closure scheme preview, semi-submersible platform towing scheme preview, semi-submersible platform mooring reconnection scheme preview, semi-submersible platform SCR installation scheme preview, personnel training, simulation preview and evaluation, risk prediction and data communication framework and other system functions:

[0006] The submersible platform closure scheme preview, semi-submersible platform towing scheme preview, semi-submersible platform mooring rehearsal and semi-submersible platform SCR installation scheme preview are respectively installed with a software and hardware module, and the software and hardware module includes:

[0007] Numerical operation model: including the six-degree-of-freedom numerical simulation mathematical model of the semi-submersible platform, the mooring cable tension simulation calculation mathematical model based on the concentrated mass method and the Morsion equation, and the steel catenary riser tension simulation calculation mathematical model based on the concentrated mass method and the Morsion equation;

[0008] ROV simulator: including ROV hydrodynamic model, six-degree-of-freedom motion mathematical model, thrust control mathematical model, real-time receiving control instructions and environmental parameters and solving ROV thrust distribution and motion posture, truly reflecting the motion characteristics of ROV under normal and emergency conditions, with the control console, multi-function manipulator control handle, signal acquisition and conversion equipment consistent with the actual ROV layout and function, to build a realistic hardware simulation operation environment, with control, alarm and display functions;

[0009] Ship dynamic positioning simulation console: It consists of five parts: measurement system, control system, propeller system, power system and simulation console. The control system composed of computers is the core part of the whole system. The position and heading of the ship are obtained through the measurement of ship model, position reference system and gyrocompass, and the force acting on the ship is estimated by the state observer. The simulation console includes joystick control handle, depth and orientation function panel, alarm panel and sensor control panel.

[0010] Immersive projection system: including 360-degree spherical image generation system and 180-degree hemispherical image generation system; real-time splicing of multi-channel image signals through image edge fusion and brightness correction, 3D geometric model library, cable software real-time soft selection module, real-time 3D image rendering module, real-time and dynamic rendering to generate 3D scene images;

[0011] Marine environment simulation model: including mathematical models of ocean waves, sea breezes, ocean currents, etc., providing real-time ocean environment information such as wind, waves, currents, etc. under various operating conditions based on training subject information;

[0012] Comprehensive management and evaluation software: including conventional subject design, system operation management, and providing coaches with functions such as subject design and training control;

[0013] Tugboat control simulation console: including 360-degree full-rotation thruster handle, rudder control handle, virtual control touch screen, PLC information collection and signal conversion module;

[0014] Universal crane seat: including audio communication equipment, virtual control touch screen, crane control handle, physical panel buttons, PLC information collection and signal conversion module;

[0015] Platform winch control simulation software: receives the handle control signal in the ship's semi-physical simulation control console; displays the winch's operating status information.

[0016] Going further, the specific steps in personnel training are as follows:

[0017] A1. Generate simulation subjects using integrated management and assessment software according to training objectives;

[0018] A2. Immersive projection system provides operators with images simulating offshore construction;

[0019] A3. Use ROV simulator, universal crane seat, ship dynamic positioning simulation console, and universal tugboat control simulation console as human-computer interaction interface;

[0020] A4. Numerical operation models are used during training to provide realistic physical effects.

[0021] Furthermore, the specific steps of simulation preview and evaluation are as follows:

[0022] a Comprehensive management and evaluation software configuration program preview subjects and issue system operation control instructions;

[0023] b. The operator operates the physical handle and panel buttons in the universal crane seat and converts the control instructions;

[0024] c. The wind, wave and current information released by the ocean environment simulation model enters the numerical simulation operation model and the ship dynamic positioning simulation operation console;

[0025] d. Real-time calculation of the six-degree-of-freedom motion parameters of the operating vessel and the semi-submersible platform during the crane rope retraction and operation process;

[0026] The e visual simulation system receives the motion parameters of the operating ship and the information of wind, wave and current, and renders the offshore operation scene in real time.

[0027] Furthermore, the software module functions as follows:

[0028] B1. Assume operating conditions and use integrated management and assessment software to generate simulation subjects;

[0029] B2. Run simulation subjects and quantitatively analyze whether there are risk points such as interference and collision between the calculation results of the numerical operation model and the rendered images of the immersive projection system during the simulation process, and whether the cable tension exceeds the threshold.

[0030] Furthermore, the software modules are characterized as follows:

[0031] C1. It is a decentralized node architecture based on Ethernet protocol data exchange;

[0032] C2, providing a strong consistency simulation logic time synchronization interface by using the publish / subscribe model;

[0033] C3. Use the network connection monitoring thread to use the Ping-Pong mechanism to periodically monitor the network connection with other nodes.

[0034] Furthermore, the number of simulation nodes included in the software module system is at least 2, and all simulation nodes are in an equal position.

[0035] Compared with the prior art, the present invention has the following beneficial effects:

[0036] Compared with the existing technology, this major offshore operation simulation system uses real-time rigid-flexible hybrid multi-body dynamics to establish a digital operation simulation model, uses a semi-physical simulation console to provide real human-computer interaction, and then uses a strong time-consistent distributed communication framework to synchronize the simulation model and the physical console settings, thereby ensuring the logical consistency of time-related events. It improves the simulation accuracy of semi-submersible platform installation operations and enhances the credibility of prediction of interference collision, pipeline shape and tension warning risk points. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 This is a schematic diagram of the composition of the major offshore operations simulation system. DETAILED DESCRIPTION

[0038] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0039] It should be noted that, in the description of the present invention, the terms "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" etc. indicating directions or positional relationships are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore should not be understood as a limitation on the present invention.

[0040] Furthermore, it should be understood that for the sake of ease of description, the sizes of the various components shown in the drawings are not drawn according to actual proportions. For example, the thickness or width of certain layers may be exaggerated relative to other layers.

[0041] It should be noted that like reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined or described in one drawing, it will not require further detailed discussion and description in the description of the subsequent drawings.

[0042] like Figure 1As shown, the present invention provides a technical solution: a major offshore operation simulation system, including semi-submersible platform large joint plan preview, semi-submersible platform towing plan preview, semi-submersible platform mooring back plan preview, semi-submersible platform SCR installation plan preview, personnel training, simulation preview and evaluation, risk prediction and data communication framework and other system functions:

[0043] It should be noted that the data communication framework in the form of publish / subscribe is constructed based on the Ethernet protocol, and its specific implementation can adopt middleware such as ROS2, HLA, DDS, RTPS, etc.; the data communication framework needs to provide a strong time synchronization interface;

[0044] It should be further explained that the design scheme rehearsal simulation module includes but is not limited to the scheme rehearsal modules such as the semi-submersible platform closure, semi-submersible platform towing, semi-submersible platform offshore mooring and tie-back, and semi-submersible platform offshore SCR installation.

[0045] It should also be noted that when designing the simulation system communication protocol, the attribute information describing the characteristics of the object itself is defined as the object class; the activities or actions generated by the object itself are defined as the communication class. The data communication protocol uses the object attribute table, which must include but is not limited to the following fields: attribute English name, attribute byte length, attribute type, attribute valid value range, attribute description, etc.

[0046] In addition, it should be noted that the simulation system communication framework adopts the server segment / client architecture. The data acquisition client runs on each computer participating in the simulation. The simulation program exchanges data and synchronizes the simulation logic time with the data acquisition client through the HTTP protocol. The data acquisition client uses the middleware to report the data and time synchronization request to the server.

[0047] It should be noted that after receiving the exchange data, the server transmits the data to the corresponding data acquisition client based on the publish-subscribe rule of the communication protocol; the data acquisition client transmits the data to the simulation application via HTTP.

[0048] It should be emphasized that the server uniformly schedules all time advancement requests and uses frame synchronization technology to synchronize the logical time of all simulation clients;

[0049] It should be noted that PDMS is used to carry out three-dimensional design and modeling of the semi-submersible platform; and different parts of the PDMS model are exported as needed according to the simulation module: the semi-submersible platform is divided into two parts, the upper block and the lower hull, for large closure; the semi-submersible platform is exported as a whole for towing; the mooring cable and the semi-submersible platform are exported for offshore mooring tie-back installation of the semi-submersible platform; the SCR and the semi-submersible platform are exported for SCR tie-back installation of the semi-submersible platform;

[0050] It should be noted that the simulation numerical models are established by theoretical deduction and numerical calculation: the real-time kinematic model of the semi-submersible platform based on time domain theory, the dynamic model of the mooring system, the dynamic model of the SCR system, and the tugboat towing dynamic model are established respectively;

[0051] It should be noted that the operating equipment involved in the proposed simulation construction plan includes but is not limited to: underwater robots and mechanical arms, tugboats and deck winches, ballast systems, cranes, anchor winches, etc.;

[0052] It should be noted that a real-time rendering engine is used to develop a 3D scene simulation subsystem, and the simulation numerical model solution results are received through a data communication framework to drive the 3D model rendering;

[0053] It should be noted that the operating personnel conduct human-computer interaction with the simulation numerical model by operating the operating equipment simulation software.

[0054] It should be noted that in the embodiment provided in this application, the process of the semi-submersible platform closure is as follows:

[0055] Process 1: Comprehensive management and evaluation software configures the operating conditions, initializes the status of simulation equipment / systems such as hull, crane, anchor winch, ballast, etc., and sends subject information to the 3D visual simulation and simulation numerical model through the data communication framework;

[0056] Process 2: After the simulation subsystem completes state initialization, the integrated management and evaluation software controls the operation of the simulation system;

[0057] Process 3: The operator operates the ballast simulation software to adjust the ballast water of the ship to meet the draft requirements for docking;

[0058] Process 4: The operator operates the winch simulation software to calculate the winch tension in real time and uses the data communication framework to transmit the tension data to the simulation numerical model;

[0059] Process 5: The simulation data model receives the winch force through the data communication framework, calculates the six-degree-of-freedom motion results of the hull, and uses the data communication framework to transmit the six-degree-of-freedom data to the three-dimensional scene simulation subsystem;

[0060] Process 6: The 3D visual simulation subsystem receives the initial information of the working condition and the six-degree-of-freedom motion results of the hull through the data communication framework, transforms the position and posture of the 3D model, and detects the minimum distance between the hull and the dock slideway;

[0061] Process 7: The operator operates the crane simulation software to lower the upper block, and the block position data is transmitted to the three-dimensional visual simulation and simulation numerical model through the data communication framework;

[0062] Process 8: The 3D scene simulation subsystem uses the data communication framework to receive the upper block position and the 6-DOF information of the hull, transform the 3D model position, calculate the offset distance between the block guide and the center point of the hull conical cross structure in real time, and output the rendering image and auxiliary information;

[0063] Process 9: The operator observes the images and auxiliary information output by the 3D vision, and repeats processes 7 and 8 until the upper block contacts the hull. The operator observes the draft of the lower hull, adjusts the ballast of the hull so that the draft meets the construction requirements, and transmits information such as moment and center of gravity of the hull to the simulation numerical model and 3D vision simulation subsystem using the data communication framework;

[0064] Process 10: The simulation model uses the data communication framework to receive information such as torque and center of gravity of the ship, calculates the six-degree-of-freedom motion results of the ship, and transmits them to the crane simulation software using the data communication framework;

[0065] Process 11: The crane simulation software uses the data communication framework to receive the six-degree-of-freedom information of the hull, calculates the load transfer result and the position and posture of the upper block, and uses the data communication framework to transfer the load to the simulation numerical model, and transfers the position and posture of the upper block to the three-dimensional scene simulation subsystem;

[0066] Process 12: The simulation numerical model uses the data communication framework to receive the load transfer of the upper module and calculate the six-degree-of-freedom motion results of the hull;

[0067] Process 13: The 3D scene simulation subsystem receives the upper assembly position and the six-freedom motion of the hull through the data communication framework, transforms the position of the 3D simulation model, calculates the shortest distance of the 3D model in real time, and outputs the rendered image and auxiliary information.

[0068] It should be further emphasized that in the embodiment provided in this application, the offshore mooring tie-back process of the semi-submersible platform is as follows:

[0069] a) The integrated management and evaluation software configures the operating conditions, initializes the status of the simulation equipment / systems such as the semi-submersible platform, the operating vessel, the anchor windlass, and the ballast, and sends the subject information to the three-dimensional visual simulation and simulation numerical model through the data communication framework;

[0070] b) The operator operates the crane simulation software, retracts and extends the crane operating rope and controls the boom posture, and transmits the operating rope endpoint and boom posture data to the 3D scene simulation subsystem using the data communication framework;

[0071] c) The 3D scene simulation subsystem uses the data communication framework to receive the working rope endpoint and boom posture data, transform the 3D simulation model posture, and output the rendering picture;

[0072] d) The operator observes the position of the end point of the signal chain, repeats steps b and c, and transmits the signal chain to the stern of the operating vessel;

[0073] e) The operation software operates the platform anchor machine simulation software, retracts and extends the signal chain, calculates the signal chain tension, and uses the data communication framework to transmit the signal chain endpoint posture and signal chain tension to the numerical simulation model and the three-dimensional scene simulation subsystem;

[0074] f) The operator operates the winch simulation software of the workboat, calculates the end position of the signal chain guide rope and the tension of the signal chain guide rope, and uses the data communication framework hull to the numerical simulation model and the three-dimensional visual simulation subsystem;

[0075] g) The numerical simulation model uses the data communication framework to receive the signal chain tension and the signal chain guide rope tension, calculates the six-degree-of-freedom results of the operation ship, and uses the data communication framework to transmit the six-degree-of-freedom information of the operation ship to the three-dimensional visual simulation subsystem;

[0076] h) The 3D scene simulation subsystem uses the data communication framework to receive the signal chain endpoint position, signal chain guide rope endpoint position, and six-degree-of-freedom information of the workboat, transforms the simulated 3D model position, and outputs a rendered image;

[0077] i) The operator observes the 3D visual rendering screen and repeats the dh step until the signal chain is completely recovered to the deck of the operating vessel;

[0078] j) The operator operates the dynamic positioning system of the workboat, sets the target point position, calculates the six-degree-of-freedom motion results of the ship during the displacement process, and uses the data communication framework to transmit the six-degree-of-freedom information of the hull to the three-dimensional visual simulation subsystem;

[0079] k) The 3D scene simulation subsystem uses the data communication framework to receive the six-degree-of-freedom information of the workboat, transforms the pose of the simulated 3D model, and outputs a rendered image;

[0080] l) The operator observes the 3D scene rendering screen and repeats steps eh until the signal chain is completely decentralized.

[0081] In addition, it should be emphasized that in the embodiment provided in this application, the installation process of the offshore SCR tieback of the semi-submersible platform is as follows:

[0082] a) The integrated management and evaluation software configures the operating conditions, initializes the status of simulation equipment / systems such as the semi-submersible platform, operating vessel, AR winch, mooring cable, etc., and sends the subject information to the three-dimensional visual simulation and simulation numerical model through the data communication framework;

[0083] b) The operator operates the dynamic positioning simulation subsystem of the workboat, sets the target point position, calculates the six-degree-of-freedom motion results of the ship during the displacement process, and uses the data communication framework to transmit the six-degree-of-freedom information of the hull to the three-dimensional scene simulation subsystem;

[0084] c) The operator operates the AR winch simulation software to lift the SCR, calculates the SCR pulling force, and uses the data communication framework to transmit the SCR pulling force to the three-dimensional vision simulation subsystem and the work vessel dynamic positioning simulation subsystem;

[0085] d) The 3D scene simulation subsystem uses the data communication framework to receive the SCR pulling force and the six-freedom motion information of the workboat, transform the 3D model posture, and output the rendering image and auxiliary information;

[0086] e) Observe the three-dimensional visual rendering screen during operation, keep the SCR tension within the expected range, and repeat steps b to d until the operation vessel reaches the operation point near the semi-submersible platform;

[0087] f) The operator operates the ROV simulator to grab the signal cable and connect the crossing cable, and transmits the ROV six automatic motion information and the signal cable endpoint position to the three-dimensional visual simulation subsystem using the data communication framework;

[0088] g) The operator operates the deck winch simulation software of the workboat to recover the signal chain, calculates the signal chain recovery length, and uses the data communication framework to transmit the length to the 3D scene simulation subsystem;

[0089] h) The 3D scene simulation subsystem uses the data communication framework to receive the ROV six-degree-of-freedom motion information, the signal cable endpoint position, and the signal chain recovery length, transform the 3D simulation model posture, and output the rendering image and auxiliary information;

[0090] i) The operator observes the rendered image and repeats steps g and h until the signal chain is recovered to a predetermined length;

[0091] j) The operator operates the dynamic positioning simulation subsystem of the workboat to maintain the ship's position;

[0092] k) The operator uses the AR winch simulation software to winch out the AR cable and transfer the SCR load to the crossing cable;

[0093] l) The operator observes the rendering screen and operates the ROV simulator to release the A&R cable;

[0094] m) The operator operates the dynamic positioning simulation subsystem of the workboat, sets the next work target and moves the boat;

[0095] n) The operator operates the crane simulation software of the working ship to recover the hook cable and transfer the SCR load to the working ship;

[0096] o) The operator operates the ROV simulator to release the crossing cable;

[0097] p) The operator operates the semi-submersible platform main winch simulation software to lift the winch cable until the SCR load is transferred to the platform;

[0098] q) After the main winch is lifted to the predetermined position, it is connected to the left and right auxiliary winches to recycle the SCR into the slot.

[0099] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A major offshore operation simulation system, including semi-submersible platform closure plan preview, semi-submersible platform towing plan preview, semi-submersible platform mooring back plan preview, semi-submersible platform SCR installation plan preview, personnel training, simulation preview and evaluation, risk prediction and data communication framework and other system functions, characterized by: The submersible platform closure scheme preview, semi-submersible platform towing scheme preview, semi-submersible platform mooring and tie-back scheme preview and semi-submersible platform SCR installation scheme preview are respectively installed with a software and hardware module. The software and hardware modules include: Numerical operation model: including the six-degree-of-freedom numerical simulation mathematical model of the semi-submersible platform, the mooring cable tension simulation calculation mathematical model based on the concentrated mass method and the Morsion equation, and the steel catenary riser tension simulation calculation mathematical model based on the concentrated mass method and the Morsion equation; ROV simulator: including ROV hydrodynamic model, six-degree-of-freedom motion mathematical model, thrust control mathematical model, real-time Receive control instructions and environmental parameters and solve the thrust distribution and motion posture of ROV, truly reflect the motion characteristics of ROV under normal and emergency conditions, and build a realistic hardware simulation operation environment with control console, multi-function manipulator control handle, signal acquisition and conversion equipment consistent with the actual ROV layout and function, with control, alarm and display functions; Ship dynamic positioning simulation console: It consists of five parts: measurement system, control system, propeller system, power system and simulation console. The control system composed of computers is the core part of the whole system. The position and heading of the ship are obtained through the measurement of ship model, position reference system and gyrocompass, and the force acting on the ship is estimated by the state observer. The simulation console includes joystick control handle, depth and orientation function panel, alarm panel and sensor control panel. Immersive projection system: including 360-degree spherical image generation system and 180-degree hemispherical image generation system; Edge fusion and brightness correction can splice multiple image signals in real time. The 3D geometric model library, cable software real-time soft selection module, and real-time 3D image rendering module can render and generate 3D scene images in real time and dynamically. Marine environment simulation model: including mathematical models of ocean waves, sea breezes, ocean currents, etc., providing real-time ocean environment information such as wind, waves, currents, etc. under various operating conditions based on training subject information; Comprehensive management and evaluation software: including conventional subject design, system operation management, and providing coaches with functions such as subject design and training control; Tugboat control simulation console: including 360-degree full-rotation thruster handle, rudder control handle, virtual control touch screen, PLC information collection and signal conversion module; Universal crane seat: including audio communication equipment, virtual control touch screen, crane control handle, physical panel buttons, PLC information collection and signal conversion module; Platform winch control simulation software: receives the handle control signal in the semi-physical simulation control console of the ship; displays the operation status information of the winch; The process of the semi-submersible platform closure is as follows: Process 1: Comprehensive management and evaluation software configures the operating conditions, initializes the status of simulation equipment / systems such as hull, crane, anchor winch, ballast, etc., and sends subject information to the 3D visual simulation and simulation numerical model through the data communication framework; Process 2: After the simulation subsystem completes state initialization, the integrated management and evaluation software controls the operation of the simulation system; Process 3: The operator operates the ballast simulation software to adjust the ballast water of the ship to meet the draft requirements for docking; Process 4: The operator operates the winch simulation software to calculate the winch tension in real time and uses the data communication framework to transmit the tension data to the simulation numerical model; Process 5: The simulation data model receives the winch force through the data communication framework, calculates the six-degree-of-freedom motion results of the hull, and uses the data communication framework to transmit the six-degree-of-freedom data to the three-dimensional scene simulation subsystem; Process 6: The 3D visual simulation subsystem receives the initial information of the working condition and the six-degree-of-freedom motion results of the hull through the data communication framework, transforms the position and posture of the 3D model, and detects the minimum distance between the hull and the dock slideway; Process 7: The operator operates the crane simulation software to lower the upper block, and the block position data is transmitted to the three-dimensional visual simulation and simulation numerical model through the data communication framework; Process 8: The 3D scene simulation subsystem uses the data communication framework to receive the upper block position and the 6-DOF information of the hull, transform the 3D model position, calculate the offset distance between the block guide and the center point of the hull conical cross structure in real time, and output the rendering image and auxiliary information; Process 9: The operator observes the images and auxiliary information output by the 3D vision, and repeats processes 7 and 8 until the upper block contacts the hull. The operator observes the draft of the lower hull, adjusts the ballast of the hull so that the draft meets the construction requirements, and transmits information such as moment and center of gravity of the hull to the simulation numerical model and 3D vision simulation subsystem using the data communication framework; Process 10: The simulation model uses the data communication framework to receive information such as torque and center of gravity of the ship, calculates the six-degree-of-freedom motion results of the ship, and transmits them to the crane simulation software using the data communication framework; Process 11: The crane simulation software uses the data communication framework to receive the six-degree-of-freedom information of the hull, calculates the load transfer result and the position and posture of the upper block, and uses the data communication framework to transfer the load to the simulation numerical model, and transfers the position and posture of the upper block to the three-dimensional scene simulation subsystem; Process 12: The simulation numerical model uses the data communication framework to receive the load transfer of the upper module and calculate the six-degree-of-freedom motion results of the hull; Process 13: The 3D scene simulation subsystem receives the upper assembly position and the six-freedom motion of the hull through the data communication framework, transforms the position of the 3D simulation model, calculates the shortest distance of the 3D model in real time, and outputs the rendered image and auxiliary information.

2. A major offshore operation simulation system according to claim 1, characterized in that: The specific steps in personnel training are as follows: A1. Generate simulation subjects using integrated management and assessment software according to training objectives; A2. Immersive projection system provides operators with images simulating offshore construction; A3. Use ROV simulator, universal crane seat, ship dynamic positioning simulation console, and universal tugboat control simulation console as human-computer interaction interface; A4. Numerical operation models are used during training to provide realistic physical effects.

3. A major offshore operation simulation system according to claim 1, characterized in that: The specific steps of simulation rehearsal and evaluation are as follows: (a) Comprehensively manage and evaluate software configuration scheme rehearsal subjects and issue system operation control instructions; (b) The operator operates the physical handle and panel buttons in the universal crane seat and the converted control instructions; (c) The wind, wave and current information released by the marine environment simulation model enters the numerical simulation operation model and the ship dynamic positioning simulation console; (d) Real-time calculation of the six-degree-of-freedom motion parameters of the operating vessel and the semi-submersible platform during the crane rope retraction and operation process; (e) The visual simulation system receives the motion parameters of the operating ship and the wind, wave and current information, and renders the offshore operation scene in real time.

4. A major offshore operation simulation system according to claim 1, characterized in that: The software module functions are as follows: B1. Assume operating conditions and use integrated management and assessment software to generate simulation subjects; B2. Run simulation subjects and quantitatively analyze whether there are risk points such as interference and collision between the calculation results of the numerical operation model and the rendered images of the immersive projection system during the simulation process, and whether the cable tension exceeds the threshold.

5. A major offshore operation simulation system according to claim 4, characterized in that: The characteristics of the software module are as follows: C1. It is a decentralized node architecture based on Ethernet protocol data exchange; C2, providing a strong consistency simulation logic time synchronization interface by using the publish / subscribe model; C3. Use the network connection monitoring thread to use the Ping-Pong mechanism to periodically monitor the network connection with other nodes.

6. A major offshore operation simulation system according to claim 5, characterized in that: The number of simulation nodes included in the software module system is at least 2, and all simulation nodes are in an equal position.

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