A fully floating leveling operation automatic load adjustment method

Abstract

The present invention belongs to the technical field of subgrade leveling of immersed tube tunnels, and specifically relates to an automatic load adjustment method for full-floating leveling operations. The method comprises the following steps: moving a large cart and a small cart of a full-floating leveling ship to the starting position of the leveling operation; presetting the parameters such as the adjustment and stop adjustment of the longitudinal inclination value between the first and fourth compartments, the injection and drainage heel value of the second and third compartments, and the stop injection and drainage heel value, the large cart speed limit, and the small cart speed limit in the leveling measurement and control system; under the control of the leveling measurement and control system, automatically adjusting the water volume of the relevant ballast tanks according to the real-time inclination of the hull, the speed of the large cart and the small cart, etc., to realize the automatic static leveling of the hull when the large cart and the small cart are stationary, and the automatic dynamic leveling when the large cart and the small cart are moving. The present invention solves the drawbacks of manual load adjustment during the existing subgrade leveling operation, realizes the automatic load adjustment of the full-floating leveling ship during the leveling operation, and ensures that the hull is always level, thereby improving the construction efficiency and construction accuracy.

Description

Technical Field

[0001] The invention belongs to the technical field of immersed tube tunnel subgrade leveling, and in particular relates to an automatic load adjustment method for full-floating leveling operations. Background Art

[0002] The construction of gravel bed of immersed tube tunnel has the characteristics of high precision requirements and great difficulty in construction control. When constructing in some sea areas with complex geological conditions such as Dalian Bay, because the foundation trench and slopes in some areas of the submarine tunnel are rock slopes formed after reef blasting, the traditional leveling ship has a high risk of inserting piles and leveling, and is no longer applicable. Therefore, the leveling ship adopts a fully floating method to level the gravel bed, that is, the leveling ship does not need to insert / extract piles, and the hull is in a fully floating state to level the gravel bed.

[0003] The leveling ship is a U-shaped frame structure ship, the middle part of the frame is a moon pool, and the leveling ship is equipped with movable carts and trolleys, which can realize the movement of the riprap pipe in the entire moon pool. Specifically, firstly, the large cart and the small cart are moved to the starting position of the leveling operation, usually the large cart is moved to the stern position and the small cart is moved to the port side position, and then the large cart drives the small cart to move longitudinally along the leveling ship toward the bow to complete the leveling operation of a gravel ridge; then the small cart moves laterally along the large cart for a certain distance to the starboard side, and the large cart drives the small cart to move longitudinally along the leveling ship toward the stern to complete the leveling operation of the next gravel ridge; then the small cart moves laterally along the large cart for a certain distance to the starboard side, and this cycle is repeated until the leveling operation of the gravel bed at the position of the leveling ship is completed; it can be seen that during the leveling operation, the large cart moves longitudinally back and forth in both directions between the stern and the bow, and the small cart moves laterally in one direction between the port and the starboard, and the amount of transverse movement of the small cart each time is much smaller than the amount of longitudinal movement of the large cart each time; when the large cart moves longitudinally, the small cart does not move relative to the large cart, and when the small cart moves laterally, the large cart does not move relative to the hull. During the leveling operation, the hull is in a fully floating state, and the positions of the large and small vehicles are constantly changing, which has a great impact on the center of gravity of the hull. If the hull cannot be kept level during the construction process, the accuracy of the gravel bed construction will be seriously affected. The leveling ship for traditional pile leveling operations usually has only four ballast tanks, which is difficult to meet the construction accuracy requirements of fully floating leveling operations. Therefore, a fully floating leveling ship is needed for leveling operations.

[0004] like Figure 1As shown, the ballast water system of the fully floating leveler includes eight ballast tanks and four ballast pumps, and each ballast tank is provided with an inlet and outlet valve and a liquid level sensor. The eight ballast tanks include the first left ballast tank 11 and the first right ballast tank 21 located at the left and right ends of the bow, the fourth left ballast tank 14 and the fourth right ballast tank 24 located at the left and right ends of the stern, the second left ballast tank 12 and the third left ballast tank 13 located at the front and rear ends of the port side, and the second right ballast tank 22 and the third right ballast tank 23 located at the front and rear ends of the starboard side. The four ballast pumps include a first left ballast pump 15 and a second left ballast pump 16 located in the middle pump room on the port side, and a first right ballast pump 25 and a second right ballast pump 26 located in the middle pump room on the starboard side; the first left ballast pump 15 and the second left ballast pump 16 are both connected to the first left ballast tank 11, the second left ballast tank 12, the third left ballast tank 13 and the fourth left ballast tank 14, and are used for transferring water between the first left ballast tank 11 and the fourth left ballast tank 14, and filling and draining water from the second left ballast tank 12 and the third left ballast tank 13; the first right ballast pump 25 and the second right ballast pump 26 are both connected to the first right ballast tank 21, the second right ballast tank 22, the third right ballast tank 23 and the fourth right ballast tank 24, and are used for transferring water between the first right ballast tank 21 and the fourth right ballast tank 24, and filling and draining water from the second right ballast tank 22 and the third right ballast tank 23. The fully floating trimmer is equipped with a hull inclinometer to measure the inclination of the hull, including the longitudinal and heel values. Figure 1 As shown by the middle arrow, a positive value of heel represents that the port side is lower, and a negative value of heel represents that the starboard side is lower; a positive value of trim represents that the bow is lower, and a negative value of trim represents that the stern is lower.

[0005] At present, during the bed leveling operation in the industry, the ballast water volume of each ballast tank on the leveling ship is usually adjusted by manual real-time monitoring of the hull posture changes, and the opening and closing of each ballast pump and valve are manually controlled to keep the hull level. The whole process is complicated, inefficient, and has a heavy workload. In addition, misoperation may occur, resulting in the failure of the leveling operation. In addition, the manual load adjustment method is difficult to meet the construction accuracy requirements of the full floating leveling operation. In view of this, it is urgent to develop an automatic load adjustment method for the full floating leveling operation. Summary of the invention

[0006] In view of the shortcomings existing in the related technologies, the present invention provides an automatic loading adjustment method for a fully floating leveling operation, aiming to solve the various drawbacks of manual loading adjustment during the existing base bed leveling operation, realize automatic loading adjustment of the fully floating leveling ship during the leveling operation and ensure that the hull remains level at all times, thereby improving construction efficiency and construction accuracy.

[0007] The fully floating leveling operation automatic load adjustment method of the present invention comprises the following steps:

[0008] S1. Hull in place: The fully floating leveling vessel enters the construction site and is positioned at the area to be constructed; the large and small carts on the fully floating leveling vessel are moved to the starting point of the leveling operation;

[0009] S2. Loading parameter setting: preset the trim value A_Y from one cabin to four cabins in the trim measurement and control system of the fully floating trim ship 14set , Stop adjusting the trim value A_Y from cabin 1 to cabin 4 14stop 、Transfer the trim value A_Y from the fourth cabin to the first cabin 41set 、The fourth cabin stops transferring the trim value A_Y to the first cabin 41stop 、The second and third cabins drainage heel value A_X 23out 、The heel value of the second and third cabins when drainage is stopped A_X 23outstop 、The heel value of the second and third compartments after water filling is A_X 23in 、The heel value of the second and third compartments when water filling stops A_X 23instop , Truck speed limit B_V set , Truck speed cutoff value B_V stop , Car speed limit S_V set ; Among them, A_Y 41set <0 <A_Y 14set , A_Y 14stop <0 <A_Y 41stop , A_X 23out <0 <A_X 23in , A_X 23instop <0 <A_X 23outstop ;

[0010] S3, static leveling, is automatically performed under the control of the leveling measurement and control system, and includes the following steps:

[0011] S31, static heeling leveling: read the heel value A_X displayed by the hull inclinometer on the fully floating leveling ship;

[0012] If A_X ≥ A_X 23in , then start the first right ballast pump and / or the second right ballast pump to fill the second right ballast tank and the third right ballast tank with water until A_X = A_X 23indtop , stop water injection;

[0013] If A_X≤A_X 23out , then start the first right ballast pump and / or the second right ballast pump to drain the second right ballast tank and the third right ballast tank until A_X = A_X 23outstop , stop draining;

[0014] If A_X 23out <A_X<A_X 23in , then the static heel leveling is completed;

[0015] S32, static trim leveling: read the trim value A_Y displayed by the hull inclinometer on the fully floating leveling ship;

[0016] If A_Y ≥ A_Y 14set , then start the first left ballast pump and / or the second left ballast pump to transfer water from the first left ballast tank to the fourth left ballast tank, and start the first right ballast pump and / or the second right ballast pump to transfer water from the first right ballast tank to the fourth right ballast tank, until A_Y=A_Y 14stop , stop water transfer;

[0017] If A_Y≤A_Y 41set , then start the first left ballast pump and / or the second left ballast pump to transfer water from the fourth left ballast tank to the first left ballast tank, and start the first right ballast pump and / or the second right ballast pump to transfer water from the fourth right ballast tank to the first right ballast tank, until A_Y=A_Y 41stop , stop water transfer;

[0018] If A_Y 41set <A_Y<A_Y 14set , then the static leveling trim leveling is completed;

[0019] S4, dynamic leveling, is automatically carried out under the control of the leveling measurement and control system, including the following steps:

[0020] S41, dynamic trim leveling: move the trolley longitudinally, read the trim value A_Y displayed by the hull inclinometer on the fully floating leveling ship in real time, and read the real-time vehicle speed B_V of the trolley; the dynamic trim leveling steps include the conventional dynamic trim leveling mode, which specifically includes:

[0021] If A_Y ≥ A_Y 14set And B_V <B_V set , then start the first left ballast pump or the second left ballast pump to transfer water from the first left ballast tank to the fourth left ballast tank, and start the first right ballast pump or the second right ballast pump to transfer water from the first right ballast tank to the fourth right ballast tank, until A_Y=A_Y 14stop , stop water transfer; if A_Y≥A_Y 14set And B_V ≥ B_V set ; then start the first left ballast pump and the second left ballast pump to transfer water from the first left ballast tank to the fourth left ballast tank, start the first right ballast pump and the second right ballast pump to transfer water from the first right ballast tank to the fourth right ballast tank, until A_Y = A_Y 14stop , stop water transfer;

[0022] If A_Y≤A_Y 41set And B_V <B_V set, then start the first left ballast pump or the second left ballast pump to transfer water from the fourth left ballast tank to the first left ballast tank, and start the first right ballast pump or the second right ballast pump to transfer water from the fourth right ballast tank to the first right ballast tank until A_Y = A_Y 41stop , stop water transfer; if A_Y ≤ A_Y 41set and B_V ≥ B_V set ; then start the first left ballast pump and the second left ballast pump together to transfer water from the fourth left ballast tank to the first left ballast tank, and start the first right ballast pump and the second right ballast pump together to transfer water from the fourth right ballast tank to the first right ballast tank until A_Y = A_Y 14stop , stop water transfer;

[0023] If A_Y 41set < A_Y < A_Y 14set and B_V < B_V stop , then close the connecting valve between the first left ballast tank and the fourth left ballast tank and the connecting valve between the first right ballast tank and the fourth right ballast tank; if A_Y 41set < A_Y < A_Y 14set and B_V ≥ B_V stop , then read the real-time liquid level height H of the first left ballast tank 1L , the real-time liquid level height H of the fourth left ballast tank 4L , the real-time liquid level height H of the first right ballast tank 1R , the real-time liquid level height H of the fourth right ballast tank 4R ; when A_Y 41set < A_Y ≤ 0 and B_V ≥ B_V stop , if H 4L > H 1L , H 4R > H 1R , then keep the connecting valve between the first left ballast tank and the fourth left ballast tank and the connecting valve between the first right ballast tank and the fourth right ballast tank open, and let the liquid levels in the first left ballast tank and the fourth left ballast tank, and the liquid levels in the first right ballast tank and the fourth right ballast tank be leveled by gravity respectively. Otherwise, close the connecting valve between the first left ballast tank and the fourth left ballast tank and the connecting valve between the first right ballast tank and the fourth right ballast tank; when 0 ≤ A_Y < A_Y 14set and B_V ≥ B_V stop , if H 1L > H 4L , H 1R > H 4R, keep the connecting valve between the first left ballast tank and the fourth left ballast tank, and the connecting valve between the first right ballast tank and the fourth right ballast tank open, so that the liquid levels in the first left ballast tank and the fourth left ballast tank, and the liquid levels in the first right ballast tank and the fourth right ballast tank are respectively leveled by gravity; if not, close the connecting valve between the first left ballast tank and the fourth left ballast tank, and the connecting valve between the first right ballast tank and the fourth right ballast tank;

[0024] S42, dynamic heel leveling: move the trolley laterally, read the heel value A_X displayed by the hull inclinometer on the fully floating leveling ship in real time, and read the real-time speed S_V of the trolley;

[0025] If A_X ≥ A_X 23in 、S_V <S_V set , then start the first right ballast pump or the second right ballast pump to fill the second right ballast tank and the third right ballast tank until A_X = A_X 23instop , stop water injection; if A_X ≥ A_X 23in , S_V ≥ S_V set , then start the first right ballast pump and the second right ballast pump to jointly fill the second right ballast tank and the third right ballast tank with water until A_X=A_X 23instop , stop water injection;

[0026] If A_X≤A_X 23out 、S_V <S_V set , then start the first right ballast pump or the second right ballast pump to drain the second right ballast tank and the third right ballast tank until A_X = A_X 23outstop , stop draining; if A_X≤A_X 23out , S_V ≥ S_V set , the first right ballast pump and the second right ballast pump are started to drain the second right ballast tank and the third right ballast tank together until A_X=A_X 23outstop , stop draining;

[0027] If A_X 23out <A_X<A_X 23in , the first right ballast pump and the second right ballast pump will not be started, and the second right ballast tank and the third right ballast tank will not be filled or drained.

[0028] The above technical scheme can automatically adjust the water volume of relevant ballast tanks according to the real-time inclination of the hull and the speed of the large and small carts through the control of the leveling measurement and control system, thereby realizing automatic static leveling of the hull when the large and small carts are stationary, and automatic dynamic leveling when the large and small carts are moving, ensuring that the hull remains level at all times during the leveling operation, solving the various disadvantages of manual load adjustment in the existing bed leveling operation, and improving construction efficiency and construction accuracy; and during dynamic longitudinal leveling, it can automatically use gravity leveling as needed according to the real-time inclination of the hull, the speed of the large cart and the liquid level in the ballast tank without starting the ballast pump, thereby reducing the operating time and activation frequency of the ballast pump and reducing energy consumption.

[0029] In some of the embodiments, in the load adjustment parameter setting step, the trolley position control point is also preset in the leveling measurement and control system, and the trolley position control point includes the stern preparation point, the stern fine control point, the bow fine control point, and the bow preparation point, which are arranged in sequence from the stern to the bow. The stern fine control point is located between the middle of the ship and the stern, and the bow fine control point is located between the middle of the ship and the bow; the leveling measurement and control system also presets the trim fine control value from the first cabin to the fourth cabin Stop transferring trim control value from cabin 1 to cabin 4 Transfer the trim control value from four cabins to one cabin Stop transferring trim control value from cabin 4 to cabin 1 in,

[0030] The dynamic trim leveling step also includes a fine dynamic trim leveling mode and a heel leveling preparation mode;

[0031] When the trolley moves longitudinally from the stern to the bow fine control point, the conventional dynamic trim leveling mode is executed;

[0032] When the trolley moves longitudinally from the bow fine control point to the bow preparation point, the fine dynamic trim leveling mode is executed. The fine dynamic trim leveling mode specifically includes:

[0033] like And B_V <B_V set , the first left ballast pump or the second left ballast pump is started to transfer water from the first left ballast tank to the fourth left ballast tank, and the first right ballast pump or the second right ballast pump is started to transfer water from the first right ballast tank to the fourth right ballast tank, until Stop water transfer; if And B_V ≥ B_V set ; then start the first left ballast pump and the second left ballast pump to transfer water from the first left ballast tank to the fourth left ballast tank, start the first right ballast pump and the second right ballast pump to transfer water from the first right ballast tank to the fourth right ballast tank, until Stop water transfer;

[0034] like And B_V <B_V set , the first left ballast pump or the second left ballast pump is started to transfer water from the fourth left ballast tank to the first left ballast tank, and the first right ballast pump or the second right ballast pump is started to transfer water from the fourth right ballast tank to the first right ballast tank until Stop water transfer; if And B_V ≥ B_V set ; then start the first left ballast pump and the second left ballast pump to transfer water from the fourth left ballast tank to the first left ballast tank, start the first right ballast pump and the second right ballast pump to transfer water from the fourth right ballast tank to the first right ballast tank, until Stop water transfer;

[0035] like And B_V <B_V stop , then close the connecting valve between the first left ballast tank and the fourth left ballast tank and the connecting valve between the first right ballast tank and the fourth right ballast tank; if And B_V ≥ B_V stop , then read the real-time liquid level height H of the first left ballast tank 1L , the real-time liquid level height H of the fourth left ballast tank 4L , the real-time liquid level height H of the first right ballast tank 1R 、Real-time liquid level height H of the fourth right ballast tank 4R ;exist And B_V ≥ B_V stop When H 4L >H 1L , H 4R >H 1R , keep the connecting valve between the first left ballast tank and the fourth left ballast tank, and the connecting valve between the first right ballast tank and the fourth right ballast tank open, so that the liquid levels in the first left ballast tank and the fourth left ballast tank, and the liquid levels in the first right ballast tank and the fourth right ballast tank are respectively leveled by gravity; if not, close the connecting valve between the first left ballast tank and the fourth left ballast tank, and the connecting valve between the first right ballast tank and the fourth right ballast tank; And B_V ≥ B_V stop When H 1L >H 4L , H 1R >H 4R , keep the connecting valve between the first left ballast tank and the fourth left ballast tank, and the connecting valve between the first right ballast tank and the fourth right ballast tank open, so that the liquid levels in the first left ballast tank and the fourth left ballast tank, and the liquid levels in the first right ballast tank and the fourth right ballast tank are respectively leveled by gravity; if not, close the connecting valve between the first left ballast tank and the fourth left ballast tank, and the connecting valve between the first right ballast tank and the fourth right ballast tank;

[0036] When the trolley moves longitudinally from the bow preparation point to the bow, the heeling and leveling preparation mode is executed; the heeling and leveling preparation mode includes:

[0037] The conventional dynamic trimming mode or the fine dynamic trimming mode is no longer performed, and the inlet and outlet valves of the first left ballast tank, the fourth left ballast tank, the first right ballast tank and the fourth right ballast tank are closed;

[0038] Open the water inlet and outlet valves of the second right ballast tank and the third right ballast tank to prepare for the dynamic heel trimming procedure;

[0039] When the trolley moves longitudinally from the bow to the stern fine control point, the conventional dynamic trim leveling mode is executed;

[0040] When the trolley moves longitudinally from the stern fine control point to the stern preparation point, the fine dynamic trim leveling mode is executed;

[0041] During the process of the trolley moving longitudinally from the stern preparation point to the stern, the heel leveling preparation mode is executed.

[0042] The above technical scheme can automatically select the dynamic longitudinal tilt leveling mode according to the real-time longitudinal tilt value of the hull, the real-time speed of the large vehicle, the moving direction and position of the large vehicle; by adopting the fine dynamic longitudinal tilt leveling mode, it can avoid the situation where the longitudinal tilt is easily exceeded when the large vehicle moves to the bow or stern of the ship and then moves in the opposite direction; and, by adopting the heel leveling preparation mode, the dynamic heel leveling step can be immediately executed when the large vehicle reaches the bow or stern of the ship and the small vehicle just moves, avoiding the situation where the heel exceeds the limit due to untimely heel leveling when the small vehicle moves, thereby further improving the construction efficiency and construction accuracy.

[0043] In some of these embodiments, in the dynamic heel leveling step,

[0044] If A_X ≥ A_X 23in 、S_V <S_V set When the first right ballast pump or the second right ballast pump is started to fill the second right ballast tank and the third right ballast tank, the first left ballast pump or the second left ballast pump is also started to drain the second left ballast tank and the third left ballast tank until A_X=A_X 23instop , stop filling the second right ballast tank and the third right ballast tank and draining the second left ballast tank and the third left ballast tank; if A_X ≥ A_X 23in , S_V ≥ S_V set When the first right ballast pump and the second right ballast pump are started to fill the second right ballast tank and the third right ballast tank, the first left ballast pump and the second left ballast pump are also started to drain the second left ballast tank and the third left ballast tank until A_X=A_X 23instop, stop filling the second right ballast tank and the third right ballast tank and stop draining the second left ballast tank and the third left ballast tank;

[0045] If A_X≤A_X 23out 、S_V <S_V set When the first right ballast pump or the second right ballast pump is started to drain the second right ballast tank and the third right ballast tank, the first left ballast pump or the second left ballast pump is also started to fill the second left ballast tank and the third left ballast tank until A_X=A_X 23outstop , stop draining the second right ballast tank and the third right ballast tank and filling the second left ballast tank and the third left ballast tank; if A_X≤A_X 23out , S_V ≥ S_V set , when the first right ballast pump and the second right ballast pump are started to drain the second right ballast tank and the third right ballast tank, the first left ballast pump and the second left ballast pump are also started to fill the second left ballast tank and the third left ballast tank until A_X=A_X 23outstop , stop draining the second right ballast tank and the third right ballast tank and stop filling the second left ballast tank and the third left ballast tank.

[0046] The above technical solution can fill the ballast tanks on one side with water and drain the ballast tanks on the other side by activating the ballast pumps on the port and starboard sides at the same time, thereby accelerating the speed of dynamic heel leveling.

[0047] In some embodiments, the load adjustment parameter setting step also includes presetting the pitch alarm value ±A_Y in the leveling measurement and control system. alarm , heel alarm value ±A_X alarm ; In the static leveling step or the dynamic leveling step, when the real-time trim value A_Y of the fully floating leveling vessel exceeds the trim alarm value ±A_Y alarm When the real-time heel value A_X of the fully floating leveling vessel exceeds the heel alarm value

[0048] ±A_X alarm When the tilt exceeds the limit, the leveling measurement and control system will issue an alarm and prompt manual intervention. This technical solution can detect the tilt exceeding the limit in time, improving the safety and reliability of leveling construction.

[0049] In some embodiments, the pitch alarm value ±A_Y alarm and heel alarm value ±A_X alarm Same, both ±0.08°.

[0050] In some embodiments, A_Y 14set =ABS(A_Y 41set ), A_Y 41stop=ABS(A_Y 14stop ), A_X 23in =ABS(A_X 23out ), A_X 23outstop =ABS(A_X 23instop ).

[0051] In some of these embodiments,

[0052] Based on the above technical scheme, the automatic loading adjustment method for fully floating leveling operations in the embodiment of the present invention can automatically adjust the water volume of relevant ballast tanks according to the real-time inclination of the hull, the speed of the large and small carts, the moving direction and position of the large cart through the control of the leveling measurement and control system, thereby realizing automatic static leveling and automatic dynamic leveling of the hull, ensuring that the hull remains level at all times during the leveling operation, solving the various drawbacks of manual loading adjustment in existing bed leveling operations, and significantly improving construction efficiency, construction accuracy and construction safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of this application. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0054] Figure 1 The ballast water system arrangement diagram of a fully floating trim vessel (large and small vehicles are not shown);

[0055] Figure 2 It is a basic flow chart of the automatic load adjustment method for full-floating leveling operation of the present invention;

[0056] Figure 3 It is a flow chart of the static leveling step in the automatic load adjustment method for full-floating leveling operation of the present invention;

[0057] Figure 4 It is a flow chart of a conventional dynamic trim leveling mode in the dynamic trim leveling step in the automatic load adjustment method for full-floating leveling operation of the present invention;

[0058] Figure 5 It is a flow chart of a fine dynamic trim leveling mode in a dynamic trim leveling step in the automatic load adjustment method for full-floating leveling operation of the present invention;

[0059] Figure 6 The present invention is a flow chart of the dynamic heeling and leveling step in the automatic loading adjustment method for full-floating leveling operations.

[0060] In the figure: 11, first left ballast tank; 12, second left ballast tank; 13, third left ballast tank; 14, fourth left ballast tank; 15, first left ballast pump; 16, second left ballast pump; 21, first right ballast tank; 22, second right ballast tank; 23, third right ballast tank; 24, fourth right ballast tank; 25, first right ballast pump; 26, second right ballast pump. DETAILED DESCRIPTION

[0061] 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. 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 making creative work are within the scope of protection of the present invention.

[0062] In the description of the present invention, it should be understood that the terms "center", "lateral", "longitudinal", "upper", "lower", "inner", "outer", "left", "right", "front", "rear", "vertical", "horizontal" and the like indicate directions or positional relationships based on the attached Figure 1 The orientation or positional relationship shown is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0063] The terms "first", "second", etc. are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first", "second", etc. may explicitly or implicitly include one or more of the features.

[0064] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0065] like Figure 1-Figure 4 , Figure 6 As shown, the automatic load adjustment method for full-floating leveling operation of the present invention is applied to the leveling operation of a full-floating leveling ship, and comprises the following steps:

[0066] S1. Hull in position: the fully floating leveling ship enters the construction site and is positioned at the area to be constructed; the supply ship enters the construction site and is stationed at a preset distance from the leveling ship; the large and small carts on the fully floating leveling ship are moved to the starting position of the leveling operation, that is, the riprap pipe of the fully floating leveling ship is moved to the starting position of the leveling operation; the starting position of the leveling operation usually corresponds to one of the four corners of the moon pool. In this embodiment, the corner position near the intersection of the stern and the port side is used as the starting position of the leveling operation, but it can be understood that the present invention is not limited to this.

[0067] It can be understood that the leveling measurement and control system of the fully floating leveling ship can monitor the liquid level height of each ballast tank, monitor the flow direction of ballast water, control the opening and closing of the ballast tank inlet and outlet valves, control the start and shutdown of the ballast pump, read the longitudinal and transverse values ​​of the hull, collect the speed, moving direction and position information of the large and small vehicles, and present this information in real time and visually on the display screen of the leveling measurement and control system; the leveling measurement and control system also has functions such as data recording, data export, and data query, and any faults and problems can be traced back.

[0068] S2. Loading parameter setting: preset the trim value A_Y from one cabin to four cabins in the trim measurement and control system of the fully floating trim ship 14set , Stop adjusting the trim value A_Y from cabin 1 to cabin 4 14stop 、Transfer the trim value A_Y from the fourth cabin to the first cabin 41set 、The fourth cabin stops transferring the trim value A_Y to the first cabin 41stop 、The second and third cabins drainage heel value A_X 23out 、The heel value of the second and third cabins when drainage is stopped A_X 23outstop 、The heel value of the second and third compartments after water filling is A_X 23in 、The heel value of the second and third compartments when water filling stops A_X 23instop , Truck speed limit B_V set , Truck speed cutoff value B_V stop , Car speed limit S_V set Among them, A_Y 41set <0 <A_Y 14set , A_Y 14stop <0 <A_Y 41stop , A_X 23out <0 <A_X 23in , A_X 23instop <0 <A_X 23outstop .

[0069] S3, static leveling, the static leveling of the hull is automatically performed under the control of the leveling measurement and control system. At this time, both the large and small vehicles are stationary. Static leveling includes the following steps:

[0070] S31, static heeling leveling: read the heel value A_X displayed by the hull inclinometer on the fully floating leveling ship in real time;

[0071] If A_X ≥ A_X 23in , the first right ballast pump 25 and / or the second right ballast pump 26 are started to fill the second right ballast tank 22 and the third right ballast tank 23 with water until A_X=A_X 23instop , stop water injection;

[0072] If A_X≤A_X 23out , the first right ballast pump 25 and / or the second right ballast pump 26 are started to drain the second right ballast tank 22 and the third right ballast tank 23 until A_X=A_X 23outstop , stop draining;

[0073] If A_X 23out <A_X<A_X 23in , the static leveling heel leveling is completed.

[0074] S32, static trim leveling: read the trim value A_Y displayed by the hull inclinometer on the fully floating leveling ship in real time;

[0075] If A_Y ≥ A_Y 14set , the first left ballast pump 15 and / or the second left ballast pump 16 are started to transfer water from the first left ballast tank 11 to the fourth left ballast tank 14, and the first right ballast pump 25 and / or the second right ballast pump 26 are started to transfer water from the first right ballast tank 21 to the fourth right ballast tank 24, until A_Y=A_Y 14stop , stop water transfer;

[0076] If A_Y≤A_Y 41set , the first left ballast pump 15 and / or the second left ballast pump 16 are started to transfer water from the fourth left ballast tank 14 to the first left ballast tank 11, and the first right ballast pump 25 and / or the second right ballast pump 26 are started to transfer water from the fourth right ballast tank 24 to the first right ballast tank 21, until A_Y=A_Y 41stop , stop water transfer;

[0077] If A_Y 41set <A_Y<A_Y 14set , the static leveling of longitudinal leveling is completed.

[0078] S4, dynamic leveling, automatically performing dynamic leveling of the hull under the control of the leveling measurement and control system, including the following steps:

[0079] S41, dynamic trim leveling: move the trolley longitudinally, read the trim value A_Y displayed by the hull inclinometer on the fully floating leveling ship in real time, and read the real-time vehicle speed B_V of the trolley; the dynamic trim leveling steps include the conventional dynamic trim leveling mode, which specifically includes:

[0080] If A_Y ≥ A_Y 14set And B_V <B_V set , the first left ballast pump 15 or the second left ballast pump 16 is started to transfer water from the first left ballast tank 11 to the fourth left ballast tank 14, and the first right ballast pump 25 or the second right ballast pump 26 is started to transfer water from the first right ballast tank 21 to the fourth right ballast tank 24, until A_Y=A_Y 14stop , stop water transfer;

[0081] If A_Y ≥ A_Y 14set And B_V ≥ B_V set ; then start the first left ballast pump 15 and the second left ballast pump 16 to transfer water from the first left ballast tank 11 to the fourth left ballast tank 14, start the first right ballast pump 25 and the second right ballast pump 26 to transfer water from the first right ballast tank 21 to the fourth right ballast tank 24, until A_Y = A_Y 14stop , stop water transfer; it should be noted that when the vehicle speed is high, the rate of change of the disturbance torque generated by it increases, so more ballast pumps need to be activated to transfer water to achieve dynamic leveling;

[0082] If A_Y≤A_Y 41set And B_V <B_V set , the first left ballast pump 15 or the second left ballast pump 16 is started to transfer water from the fourth left ballast tank 14 to the first left ballast tank 11, and the first right ballast pump 25 or the second right ballast pump 26 is started to transfer water from the fourth right ballast tank 24 to the first right ballast tank 21, until A_Y=A_Y 41stop , stop water transfer;

[0083] If A_Y≤A_Y 41set And B_V ≥ B_V set ; then start the first left ballast pump 15 and the second left ballast pump 16 to transfer water from the fourth left ballast tank 14 to the first left ballast tank 11, start the first right ballast pump 25 and the second right ballast pump 26 to transfer water from the fourth right ballast tank 24 to the first right ballast tank 21, until A_Y = A_Y 14stop , stop water transfer; it should be noted that when the vehicle speed is high, the rate of change of the disturbance torque generated by it increases, so more ballast pumps need to be activated to transfer water to achieve dynamic leveling;

[0084] If A_Y 41set <A_Y<A_Y 14set, the longitudinal inclination value of the hull is within the set range, so there is no need to start the ballast pump to adjust the water; however, when the connecting valves between the first left ballast tank 11 and the fourth left ballast tank 14 and between the first right ballast tank 21 and the fourth right ballast tank 24 are opened, the ballast water in the first left ballast tank 11 and the fourth left ballast tank 14 will communicate with each other and level the liquid levels of these two tanks under the action of gravity, and the ballast water in the first right ballast tank 21 and the fourth right ballast tank 24 will communicate with each other and level the liquid levels of these two tanks under the action of gravity; in view of this, when 41set <A_Y < A_Y 14set Under the premise of, if B_V < B_V stop , then close the connecting valves between the first left ballast tank 11 and the fourth left ballast tank 14 and between the first right ballast tank 21 and the fourth right ballast tank 24 to avoid the overshoot effect of gravity leveling caused by too slow vehicle speed; and if B_V ≥ B_V stop , then read the real-time liquid level height H of the first left ballast tank 11 1L , the real-time liquid level height H of the fourth left ballast tank 14 4L , the real-time liquid level height H of the first right ballast tank 21 1R , the real-time liquid level height H of the fourth right ballast tank 24 4R ; further,

[0085] When A_Y 41set < A_Y ≤ 0 and B_V ≥ B_V stop When, if H 4L > H 1L , H 4R > H 1R , then keep the connecting valves between the first left ballast tank 11 and the fourth left ballast tank 14 and between the first right ballast tank 21 and the fourth right ballast tank 24 open, so that the liquid levels in the first left ballast tank 11 and the fourth left ballast tank 14 and the liquid levels in the first right ballast tank 21 and the fourth right ballast tank 24 are respectively leveled by gravity to assist in the longitudinal inclination leveling of the hull and reduce the activation of the ballast pump; if not, then close the connecting valves between the first left ballast tank 11 and the fourth left ballast tank 14 and between the first right ballast tank 21 and the fourth right ballast tank 24 to avoid the adverse effect on the longitudinal inclination leveling of the hull due to the flow direction of the ballast water being opposite to the potential water adjustment direction indicated by the longitudinal inclination value during gravity leveling;

[0086] When 0 ≤ A_Y < A_Y 14set And B_V ≥ B_V stop When, if H 1L > H 4L , H 1R > H 4R, then keep the connecting valve between the first left ballast tank 11 and the fourth left ballast tank 14, and the connecting valve between the first right ballast tank 21 and the fourth right ballast tank 24 open, so that the liquid levels in the first left ballast tank 11 and the fourth left ballast tank 14, and the liquid levels in the first right ballast tank 21 and the fourth right ballast tank 24 are respectively gravity-leveled to assist the trim leveling of the hull and reduce the activation of the ballast pump; if not, close the connecting valve between the first left ballast tank 11 and the fourth left ballast tank 14, and the connecting valve between the first right ballast tank 21 and the fourth right ballast tank 24 to avoid that the flow direction of the ballast water during gravity leveling is opposite to the potential water diversion direction shown by the trim value, which will have an adverse effect on the trim leveling of the hull.

[0087] S42, dynamic heel leveling: move the trolley laterally, read the heel value A_X displayed by the hull inclinometer on the fully floating leveling ship in real time, and read the real-time speed S_V of the trolley;

[0088] If A_X ≥ A_X 23in 、S_V <S_V set , the first right ballast pump 25 or the second right ballast pump 26 is started to fill the second right ballast tank 22 and the third right ballast tank 23 with water until A_X=A_X 23instop , stop water injection; if A_X ≥ A_X 23in , S_V ≥ S_V set , the first right ballast pump 25 and the second right ballast pump 26 are started to jointly fill the second right ballast tank 22 and the third right ballast tank 23 with water until A_X=A_X 23instop , stop water injection; it should be noted that when the vehicle speed is high, the rate of change of the disturbance torque generated by it increases, so more ballast pumps need to be activated for water injection to achieve dynamic leveling;

[0089] If A_X≤A_X 23out 、S_V <S_V set , the first right ballast pump 25 or the second right ballast pump 26 is started to drain the second right ballast tank 22 and the third right ballast tank 23 until A_X=A_X 23outstop , stop draining; if A_X≤A_X 23out , S_V ≥ S_V set , the first right ballast pump 25 and the second right ballast pump 26 are started to drain the second right ballast tank 22 and the third right ballast tank 23 together until A_X=A_X 23outstop , stop draining; it should be noted that when the vehicle speed is high, the rate of change of the disturbance torque generated by it increases, so more ballast pumps need to be activated for drainage to achieve dynamic leveling;

[0090] If A_X 23out <A_X<A_X 23in, the hull heel value is within the set range, so there is no need to start the first right ballast pump 25 and the second right ballast pump 26, that is, the second right ballast tank 22 and the third right ballast tank 23 are not filled with water or drained.

[0091] The above-mentioned illustrative embodiment, through the control of the leveling measurement and control system, can automatically adjust the water volume of the relevant ballast tanks according to the real-time inclination of the hull and the speed of the large and small carts, thereby realizing automatic static leveling of the hull when the large and small carts are stationary, and automatic dynamic leveling when the large and small carts are moving, ensuring that the hull is always level during the leveling operation, solving the various disadvantages of manual load adjustment in the existing bed leveling operation, and improving the construction efficiency and construction accuracy; and during dynamic longitudinal leveling, it can automatically use gravity leveling means as needed according to the real-time inclination of the hull, the speed of the large cart and the liquid level in the ballast tank without starting the ballast pump, thereby reducing the operating time and activation frequency of the ballast pump and reducing energy consumption.

[0092] like Figure 1 , Figure 2 , Figure 4 , Figure 5 As shown, in some embodiments, in the load adjustment parameter setting step, the leveling measurement and control system also presets the trolley position control point, which includes the stern preparation point, stern fine control point, bow fine control point, and bow preparation point, which are sequentially set from the stern to the bow. The stern fine control point is located between the middle of the ship and the stern, and the bow fine control point is located between the middle of the ship and the bow. The stern preparation point is very close to the stern, and the bow preparation point is very close to the bow. The leveling measurement and control system also presets the trim fine control value for adjusting the trim from the first cabin to the fourth cabin. Stop transferring trim control value from cabin 1 to cabin 4 Transfer the trim control value from four cabins to one cabin Stop transferring trim control value from cabin 4 to cabin 1 in,

[0093] The dynamic pitch leveling step also includes a fine dynamic pitch leveling mode and a heel leveling preparation mode; further,

[0094] When the trolley moves longitudinally from the stern to the bow fine control point, the conventional dynamic trim leveling mode is executed;

[0095] When the trolley moves longitudinally from the bow fine control point to the bow preparation point, the fine dynamic trim leveling mode is executed. The fine dynamic trim leveling mode specifically includes:

[0096] like And B_V <B_V set, the first left ballast pump 15 or the second left ballast pump 16 is started to transfer water from the first left ballast tank 11 to the fourth left ballast tank 14, and the first right ballast pump 25 or the second right ballast pump 26 is started to transfer water from the first right ballast tank 21 to the fourth right ballast tank 24, until Stop water transfer;

[0097] like And B_V ≥ B_V set The first left ballast pump 15 and the second left ballast pump 16 are started to transfer water from the first left ballast tank 11 to the fourth left ballast tank 14, and the first right ballast pump 25 and the second right ballast pump 26 are started to transfer water from the first right ballast tank 21 to the fourth right ballast tank 24 until Stop water transfer;

[0098] like And B_V <B_V set , the first left ballast pump 15 or the second left ballast pump 16 is started to transfer water from the fourth left ballast tank 14 to the first left ballast tank 11, and the first right ballast pump 25 or the second right ballast pump 26 is started to transfer water from the fourth right ballast tank 24 to the first right ballast tank 21, until Stop water transfer;

[0099] like And B_V ≥ B_V set The first left ballast pump 15 and the second left ballast pump 16 are started to transfer water from the fourth left ballast tank 14 to the first left ballast tank 11, and the first right ballast pump 25 and the second right ballast pump 26 are started to transfer water from the fourth right ballast tank 24 to the first right ballast tank 21 until Stop water transfer;

[0100] like And B_V <B_V stop , then close the connecting valve between the first left ballast tank 11 and the fourth left ballast tank 14 and the connecting valve between the first right ballast tank 21 and the fourth right ballast tank 24;

[0101] like And B_V ≥ B_V stop , then read the real-time liquid level height H of the first left ballast tank 11 1L , the real-time liquid level height H of the fourth left ballast tank 14 4L , the real-time liquid level height H of the first right ballast tank 21 1R , the real-time liquid level height H of the fourth right ballast tank 24 4R ; Further, in And B_V ≥ B_V stop When H 4L >H 1L , H 4R >H 1R, keep the connecting valve between the first left ballast tank 11 and the fourth left ballast tank 14, and the connecting valve between the first right ballast tank 21 and the fourth right ballast tank 24 open, so that the liquid levels in the first left ballast tank 11 and the fourth left ballast tank 14, and the liquid levels in the first right ballast tank 21 and the fourth right ballast tank 24 are respectively leveled by gravity; if not, close the connecting valve between the first left ballast tank 11 and the fourth left ballast tank 14, and the connecting valve between the first right ballast tank 21 and the fourth right ballast tank 24; And B_V ≥ B_V stop When H 1L >H 4L , H 1R >H 4R , keep the connecting valve between the first left ballast tank 11 and the fourth left ballast tank 14, and the connecting valve between the first right ballast tank 21 and the fourth right ballast tank 24 open, so that the liquid levels in the first left ballast tank 11 and the fourth left ballast tank 14, and the liquid levels in the first right ballast tank 21 and the fourth right ballast tank 24 are respectively leveled by gravity; if not, close the connecting valve between the first left ballast tank 11 and the fourth left ballast tank 14, and the connecting valve between the first right ballast tank 21 and the fourth right ballast tank 24;

[0102] When the trolley moves longitudinally from the bow preparation point to the bow, the heeling and leveling preparation mode is executed; the heeling and leveling preparation mode includes:

[0103] The conventional dynamic trim leveling mode or the fine dynamic trim leveling mode is no longer performed, and the inlet and outlet valves of the first left ballast tank 11, the fourth left ballast tank 14, the first right ballast tank 21 and the fourth right ballast tank 24 are closed;

[0104] Open the water inlet and outlet valves of the second right ballast tank 22 and the third right ballast tank 23 to prepare for the dynamic heel leveling step;

[0105] Further explanation: in the heel trimming preparation mode, the trolley will no longer adjust the water level of the first and fourth cabins, because the trolley has just executed the fine dynamic trimming mode with stricter load adjustment requirements. Therefore, during the short distance movement of the trolley from the bow preparation point to the bow, even if the trimming is not performed, the trim value of the hull will not exceed the limit, so this time can be used to prepare for the next step of dynamic heel trimming.

[0106] When the trolley moves longitudinally from the bow to the stern fine control point, the conventional dynamic trim leveling mode is executed;

[0107] When the trolley moves longitudinally from the stern fine control point to the stern preparation point, the fine dynamic trim leveling mode is executed;

[0108] During the process of the trolley moving longitudinally from the stern preparation point to the stern, the heel leveling preparation mode is executed.

[0109] It should be noted that when the large vehicle moves longitudinally to drive the small vehicle to level the last gravel ridge, at this time, no matter whether the large vehicle moves longitudinally from the bow to the stern or from the stern to the bow, only the conventional dynamic trim leveling mode is executed.

[0110] The above-mentioned illustrative embodiment can automatically select the dynamic longitudinal tilt leveling mode according to the real-time longitudinal tilt value of the hull, the real-time speed of the large vehicle, the moving direction and position of the large vehicle; by adopting the fine dynamic longitudinal tilt leveling mode, it can avoid the situation where the longitudinal tilt is easily exceeded when the large vehicle moves to the bow or stern of the ship and then moves in the opposite direction; and, by adopting the roll leveling preparation mode, the dynamic roll leveling step can be immediately executed when the large vehicle reaches the bow or stern of the ship and the small vehicle just moves, thereby avoiding the situation where the roll exceeds the limit due to untimely roll leveling when the small vehicle moves, thereby further improving the construction efficiency and construction accuracy.

[0111] refer to Figure 1 , Figure 2 , Figure 6 As shown, in some embodiments, in the dynamic heel leveling step,

[0112] If A_X ≥ A_X 23in 、S_V <S_V set When the first right ballast pump 25 or the second right ballast pump 26 is started to fill the second right ballast tank 22 and the third right ballast tank 23, the first left ballast pump 15 or the second left ballast pump 16 is also started to drain the second left ballast tank 12 and the third left ballast tank 13 until A_X=A_X 23instop , stop filling the second right ballast tank 22 and the third right ballast tank 23 and draining the second left ballast tank 12 and the third left ballast tank 13; if A_X ≥ A_X 23in , S_V ≥ S_V set When the first right ballast pump 25 and the second right ballast pump 26 are started to fill the second right ballast tank 22 and the third right ballast tank 23, the first left ballast pump 15 and the second left ballast pump 16 are also started to drain the second left ballast tank 12 and the third left ballast tank 13 until A_X=A_X 23instop , stop filling the second right ballast tank 22 and the third right ballast tank 23 and stop draining the second left ballast tank 12 and the third left ballast tank 13;

[0113] If A_X≤A_X 23out 、S_V <S_V set When the first right ballast pump 25 or the second right ballast pump 26 is started to drain the second right ballast tank 22 and the third right ballast tank 23, the first left ballast pump 15 or the second left ballast pump 16 is also started to fill the second left ballast tank 12 and the third left ballast tank 13 with water until A_X=A_X 23outstop, stop draining the second right ballast tank 22 and the third right ballast tank 23 and filling the second left ballast tank 12 and the third left ballast tank 13; if A_X≤A_X 23out , S_V ≥ S_V set When the first right ballast pump 25 and the second right ballast pump 26 are started to drain the second right ballast tank 22 and the third right ballast tank 23, the first left ballast pump 15 and the second left ballast pump 16 are also started to fill the second left ballast tank 12 and the third left ballast tank 13 until A_X=A_X 23outstop , stop draining the second right ballast tank 22 and the third right ballast tank 23 and filling the second left ballast tank 12 and the third left ballast tank 13.

[0114] In the above exemplary embodiment, by activating the ballast pumps on the port and starboard sides simultaneously, the ballast tanks on one side can be filled with water and the ballast tanks on the other side can be drained, thereby accelerating the speed of dynamic heel leveling.

[0115] In some embodiments, the load adjustment parameter setting step also includes presetting the pitch alarm value ±A_Y in the leveling measurement and control system. alarm , heel alarm value ±A_X alarm ; In the static leveling step or the dynamic leveling step, when the real-time trim value A_Y of the fully floating leveling vessel exceeds the trim alarm value ±A_Y alarm When the real-time heel value A_X of the fully floating leveling vessel exceeds the heel alarm value ±A_X alarm When the leveling measurement and control system exceeds the limit, it will issue an over-limit tilt alarm and prompt manual intervention. At this time, the automatic load adjustment of the leveling operation will be suspended; the alarm equipment includes but is not limited to the sound and light alarm. It can be understood that the preset A_Y 14set , A_Y 41set , A_Y 14stop , A_Y 41stop All within ±A_Y alarm Within the range, the preset A_X 23out 、A_X 23in 、A_X 23outstop 、A_X 23instop All within ±A_X alarm This exemplary embodiment can timely detect the situation where the hull inclination exceeds the limit, thereby improving the safety and reliability of the leveling construction.

[0116] In some embodiments, the pitch alarm value ±A_Y alarm and heel alarm value ±A_X alarm The exemplary embodiment controls the transverse and longitudinal inclination of the hull during the full-floating leveling construction within ±0.08°.

[0117] refer to Figure 1 As shown, in some embodiments, A_Y 14set =ABS(A_Y 41set ), that is, the absolute value of the trim value of one cabin to four cabins is equal to the trim value of four cabins to one cabin, but in opposite directions; A_Y 41stop =ABS(A_Y 14stop ), that is, the absolute value of the trim value when the first cabin is shifted to the fourth cabin is equal to the absolute value of the trim value when the fourth cabin is shifted to the first cabin, but the direction is opposite; A_X 23in =ABS(A_X 23out ), that is, the absolute value of the heel value of the second and third compartments when water is added is equal to the absolute value of the heel value of the second and third compartments when water is discharged, but in the opposite direction; A_X 23outstop =ABS(A_X 23instop ), that is, the absolute value of the heel value when the drainage of the second and third compartments stops is equal to the absolute value of the heel value when the water filling of the second and third compartments stops, but the direction is opposite.

[0118] refer to Figure 1 As shown, in some embodiments, That is, the absolute value of the trim fine control value from one cabin to four cabins is equal to the trim fine control value from four cabins to one cabin, but in opposite directions; That is, the absolute value of the trim fine control value for stopping the adjustment from one cabin to four cabins is equal to the absolute value of the trim fine control value for stopping the adjustment from four cabins to one cabin, but the directions are opposite.

[0119] To sum up, the fully floating leveling operation automatic loading adjustment method of the present invention can automatically adjust the water volume of the relevant ballast tanks according to the real-time inclination of the hull, the speed of the large and small carts, the moving direction and position of the large carts through the control of the leveling measurement and control system, and realizes automatic static leveling of the hull when the large and small carts are stationary, automatic dynamic longitudinal leveling when the large cart is moving, and automatic dynamic transverse leveling when the small cart is moving, ensuring that the hull remains level at all times during the leveling operation, solving the drawbacks of manual loading adjustment in existing bed leveling operations, and significantly improving construction efficiency, construction accuracy and construction safety.

[0120] Finally, it should be noted that: the various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0121] The above embodiments are only used to illustrate the technical solution of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, ordinary technicians in the field should understand that the specific implementation methods of the present invention can still be modified or some technical features can be replaced by equivalents without departing from the spirit of the technical solution of the present invention, which should be included in the scope of the technical solution for protection of the present invention.

Claims

1. A fully floating leveling operation automatic load adjustment method, characterized in that: The steps include: S1. Hull in place: The fully floating leveling vessel enters the construction site and is positioned at the area to be constructed; the large and small vehicles on the fully floating leveling vessel are moved to the starting position of the leveling operation; S2. Loading parameter setting: preset the trim value A_Y from one compartment to four compartments in the trim measurement and control system of the fully floating trim ship. 14set , Stop adjusting the trim value A_Y from cabin 1 to cabin 4 14stop 、Transfer the trim value A_Y from the fourth cabin to the first cabin 41set 、The fourth cabin stops transferring the trim value A_Y to the first cabin 41stop 、The second and third cabins drainage heel value A_X 23out 、The heel value of the second and third cabins when drainage is stopped A_X 23outstop 、The heel value of the second and third compartments after water filling A_X 23in 、The heel value of the second and third compartments when water filling stops A_X 23instop , Truck speed limit B_V set , Truck speed cutoff value B_V stop , Car speed limit S_V set ; Among them, A_Y 41set 0 < A_Y 14set , A_Y 14stop A_Y < 0 41stop , A_X 23out 0 < A_X 23in , A_X 23instop A_X < 0 23outstop ; S3, static leveling, is automatically performed under the control of the leveling measurement and control system, and includes the following steps: S31, static heeling and leveling: reading the heel value A_X displayed by the hull inclinometer on the fully floating leveling ship; If A_X ≥ A_X 23in , then start the first right ballast pump and / or the second right ballast pump to fill the second right ballast tank and the third right ballast tank with water until A_X = A_X 23instop , stop water injection; If A_X≤A_X 23out , then start the first right ballast pump and / or the second right ballast pump to drain the second right ballast tank and the third right ballast tank until A_X = A_X 23outstop , stop draining; If A_X 23out <A_X<A_X 23in , then the static heel leveling is completed; S32, static trim leveling: reading the trim value A_Y displayed by the hull inclinometer on the fully floating leveling ship; If A_Y≥AY 14set , then start the first left ballast pump and / or the second left ballast pump to transfer water from the first left ballast tank to the fourth left ballast tank, and start the first right ballast pump and / or the second right ballast pump to transfer water from the first right ballast tank to the fourth right ballast tank, until A_Y=A_Y 14stop , stop water transfer; If A_Y≤A_Y 41set , then start the first left ballast pump and / or the second left ballast pump to transfer water from the fourth left ballast tank to the first left ballast tank, and start the first right ballast pump and / or the second right ballast pump to transfer water from the fourth right ballast tank to the first right ballast tank, until A_Y=A_Y 41stop , stop water transfer; If A_Y 41set <A_Y<A_Y 14set , then the static trim leveling is completed; S4, dynamic leveling, is automatically performed under the control of the leveling measurement and control system, and includes the following steps: S41, dynamic trim leveling: longitudinally move the trolley, read the trim value A_Y displayed by the hull inclinometer on the fully floating leveling ship in real time, and read the real-time vehicle speed B_V of the trolley; the dynamic trim leveling step includes a conventional dynamic trim leveling mode, and the conventional dynamic trim leveling mode specifically includes: If A_Y ≥ A_Y 14set And B_V<B_V set , then start the first left ballast pump or the second left ballast pump to transfer water from the first left ballast tank to the fourth left ballast tank, and start the first right ballast pump or the second right ballast pump to transfer water from the first right ballast tank to the fourth right ballast tank, until A_Y=A_Y 14stop , stop water transfer; if A_Y≥A_Y 14set And B_V ≥ B_V set ; then start the first left ballast pump and the second left ballast pump to transfer water from the first left ballast tank to the fourth left ballast tank, start the first right ballast pump and the second right ballast pump to transfer water from the first right ballast tank to the fourth right ballast tank, until A_Y = A_Y 14stop , stop water transfer; If A_Y≤A_Y 41set And B_V<B_V set , then start the first left ballast pump or the second left ballast pump to transfer water from the fourth left ballast tank to the first left ballast tank, and start the first right ballast pump or the second right ballast pump to transfer water from the fourth right ballast tank to the first right ballast tank, until A_Y=A_Y 41stop , stop water transfer; if A_Y≤A_Y 41set And B_V ≥ B_V set ; then start the first left ballast pump and the second left ballast pump to transfer water from the fourth left ballast tank to the first left ballast tank, start the first right ballast pump and the second right ballast pump to transfer water from the fourth right ballast tank to the first right ballast tank, until A_Y = A_Y 14stop , stop water transfer; If A_Y 41set <A_Y<A_Y 14set And B_V<B_V stop , then close the connecting valve between the first left ballast tank and the fourth left ballast tank and the connecting valve between the first right ballast tank and the fourth right ballast tank; if A_Y 41set <A_Y<A_Y 14set And B_V ≥ B_V stop , then read the real-time liquid level height H of the first left ballast tank 1L , the real-time liquid level height H of the fourth left ballast tank 4L , the real-time liquid level height H of the first right ballast tank 1R 、Real-time liquid level height H of the fourth right ballast tank 4R ; in A_Y 41set <A_Y≤0 and B_V≥B_V stop When H 4L >H 1L , H 4R >H 1R , then keep the connecting valve between the first left ballast tank and the fourth left ballast tank, and the connecting valve between the first right ballast tank and the fourth right ballast tank open, so that the liquid levels in the first left ballast tank and the fourth left ballast tank, and the liquid levels in the first right ballast tank and the fourth right ballast tank are respectively leveled by gravity; if not, close the connecting valve between the first left ballast tank and the fourth left ballast tank, and the connecting valve between the first right ballast tank and the fourth right ballast tank; when 0≤A_Y<A_Y 14set And B_V ≥ B_V stop When H 1L >H 4L , H 1R >H 4R , keep the connecting valve between the first left ballast tank and the fourth left ballast tank, and the connecting valve between the first right ballast tank and the fourth right ballast tank open, so that the liquid levels in the first left ballast tank and the fourth left ballast tank, and the liquid levels in the first right ballast tank and the fourth right ballast tank are respectively leveled by gravity; if not, close the connecting valve between the first left ballast tank and the fourth left ballast tank, and the connecting valve between the first right ballast tank and the fourth right ballast tank; S42, dynamic heel leveling: moving the trolley laterally, reading the heel value A_X displayed by the hull inclinometer on the fully floating leveling ship in real time, and reading the real-time speed S_V of the trolley; If A_X ≥ A_X 23in 、S_V<SV set , then start the first right ballast pump or the second right ballast pump to fill the second right ballast tank and the third right ballast tank until A_X = A_X 23instop , stop water injection; if A_X ≥ A_X 23in , S_V ≥ S_V set , then start the first right ballast pump and the second right ballast pump to jointly fill the second right ballast tank and the third right ballast tank with water until A_X=A_X 23instop , stop water injection; If A_X≤A_X 23out 、S_V<S_V set , then start the first right ballast pump or the second right ballast pump to drain the second right ballast tank and the third right ballast tank until A_X = A_X 23outstop , stop draining; if A_X≤A_X 23out , S_V ≥ S_V set , the first right ballast pump and the second right ballast pump are started to drain the second right ballast tank and the third right ballast tank together until A_X=A_X 23outstop , stop draining; If A_X 23out <A_X<A_X 23in , the first right ballast pump and the second right ballast pump will not be started, and the second right ballast tank and the third right ballast tank will not be filled or drained.

2. The fully floating leveling operation automatic load adjustment method according to claim 1 is characterized in that: In the loading parameter setting step, the leveling measurement and control system also presets a trolley position control point, which includes a stern preparation point, a stern fine control point, a bow fine control point, and a bow preparation point, which are sequentially arranged from the stern to the bow. The stern fine control point is located between the middle of the ship and the stern, and the bow fine control point is located between the middle of the ship and the bow. The leveling measurement and control system also presets a trim fine control value for adjusting the trim from one cabin to four cabins. Stop transferring trim control value from cabin 1 to cabin 4 Transfer the trim control value from four cabins to one cabin Stop transferring trim control value from cabin 4 to cabin 1 in, The dynamic pitch leveling step also includes a fine dynamic pitch leveling mode and a heel leveling preparation mode; During the process of the large vehicle moving longitudinally from the stern to the bow fine control point, the conventional dynamic trim leveling mode is executed; During the longitudinal movement of the vehicle from the bow fine control point to the bow preparation point, the fine dynamic trim leveling mode is executed, and the fine dynamic trim leveling mode specifically includes: like And B_V<B_V set , the first left ballast pump or the second left ballast pump is started to transfer water from the first left ballast tank to the fourth left ballast tank, and the first right ballast pump or the second right ballast pump is started to transfer water from the first right ballast tank to the fourth right ballast tank, until Stop water transfer; if And B_V ≥ B_V set ; then start the first left ballast pump and the second left ballast pump to transfer water from the first left ballast tank to the fourth left ballast tank, start the first right ballast pump and the second right ballast pump to transfer water from the first right ballast tank to the fourth right ballast tank, until Stop water transfer; like And B_V<B_V set , the first left ballast pump or the second left ballast pump is started to transfer water from the fourth left ballast tank to the first left ballast tank, and the first right ballast pump or the second right ballast pump is started to transfer water from the fourth right ballast tank to the first right ballast tank until Stop water transfer; if And B_V ≥ BV set ; then start the first left ballast pump and the second left ballast pump to transfer water from the fourth left ballast tank to the first left ballast tank, start the first right ballast pump and the second right ballast pump to transfer water from the fourth right ballast tank to the first right ballast tank, until Stop water transfer; like And B_V<B_V stop , then close the connecting valve between the first left ballast tank and the fourth left ballast tank and the connecting valve between the first right ballast tank and the fourth right ballast tank; if And B_V ≥ B_V stop , then read the real-time liquid level height H of the first left ballast tank 1L , the real-time liquid level height H of the fourth left ballast tank 4L , the real-time liquid level height H of the first right ballast tank 1R 、Real-time liquid level height H of the fourth right ballast tank 4R ;exist And B_V ≥ B_Vs top When H 4L >H 1L , H 4R >H 1R , keep the connecting valve between the first left ballast tank and the fourth left ballast tank, and the connecting valve between the first right ballast tank and the fourth right ballast tank open, so that the liquid levels in the first left ballast tank and the fourth left ballast tank, and the liquid levels in the first right ballast tank and the fourth right ballast tank are respectively leveled by gravity; if not, close the connecting valve between the first left ballast tank and the fourth left ballast tank, and the connecting valve between the first right ballast tank and the fourth right ballast tank; And B_V ≥ B_V stop When H 1L >H 4L , H 1R >H 4R , keep the connecting valve between the first left ballast tank and the fourth left ballast tank, and the connecting valve between the first right ballast tank and the fourth right ballast tank open, so that the liquid levels in the first left ballast tank and the fourth left ballast tank, and the liquid levels in the first right ballast tank and the fourth right ballast tank are respectively leveled by gravity; if not, close the connecting valve between the first left ballast tank and the fourth left ballast tank, and the connecting valve between the first right ballast tank and the fourth right ballast tank; In the process of the trolley moving longitudinally from the bow preparation point to the bow, the heeling and leveling preparation mode is executed; the heeling and leveling preparation mode specifically includes: The conventional dynamic trim leveling mode or the fine dynamic trim leveling mode is no longer performed, and the inlet and outlet valves of the first left ballast tank, the fourth left ballast tank, the first right ballast tank and the fourth right ballast tank are closed; Open the water inlet and outlet valves of the second right ballast tank and the third right ballast tank to prepare for performing the dynamic heel leveling step; During the process of the large vehicle moving longitudinally from the bow to the stern fine control point, the conventional dynamic trim leveling mode is executed; During the longitudinal movement of the vehicle from the stern fine control point to the stern preparation point, the fine dynamic trim leveling mode is executed; The heel leveling preparation mode is executed during the process of the large vehicle moving longitudinally from the stern preparation point to the stern.

3. The fully floating leveling operation automatic load adjustment method according to claim 1 is characterized in that: In the dynamic heel leveling step, If A_X ≥ A_X 23in 、S_V<S_V set When the first right ballast pump or the second right ballast pump is started to fill the second right ballast tank and the third right ballast tank, the first left ballast pump or the second left ballast pump is also started to drain the second left ballast tank and the third left ballast tank until A_X=A_X 23instop , stop filling the second right ballast tank and the third right ballast tank and draining the second left ballast tank and the third left ballast tank; if A_X ≥ A_X 23in , S_V ≥ S_V set When the first right ballast pump and the second right ballast pump are started to fill the second right ballast tank and the third right ballast tank, the first left ballast pump and the second left ballast pump are also started to drain the second left ballast tank and the third left ballast tank until A_X=A_X 23instop , stop filling the second right ballast tank and the third right ballast tank and stop draining the second left ballast tank and the third left ballast tank; If A_X≤A_X 23out 、S_V<S_V set When the first right ballast pump or the second right ballast pump is started to drain the second right ballast tank and the third right ballast tank, the first left ballast pump or the second left ballast pump is also started to fill the second left ballast tank and the third left ballast tank until A_X=A_X 23outstop , stop draining the second right ballast tank and the third right ballast tank and filling the second left ballast tank and the third left ballast tank; if A_X≤A_X 23out , S_V ≥ S_V set , when the first right ballast pump and the second right ballast pump are started to drain the second right ballast tank and the third right ballast tank, the first left ballast pump and the second left ballast pump are also started to fill the second left ballast tank and the third left ballast tank until A_X=A_X 23outstop , stop draining the second right ballast tank and the third right ballast tank and stop filling the second left ballast tank and the third left ballast tank.

4. The fully floating leveling operation automatic load adjustment method according to claim 1 is characterized in that: In the load adjustment parameter setting step, it also includes presetting the pitch alarm value ±A_Y in the leveling measurement and control system. alarm , heel alarm value ±A_X alarm In the static leveling step or the dynamic leveling step, when the real-time trim value A_Y of the fully floating leveling vessel exceeds the trim alarm value ±A_Y alarm When the real-time heel value A_X of the fully floating leveling vessel exceeds the heel alarm value ±A_X alarm When the leveling measurement and control system exceeds the limit, it will issue an alarm indicating that the tilt exceeds the limit and prompt manual intervention.

5. The fully floating leveling operation automatic load adjustment method according to claim 4 is characterized in that: The pitch alarm value ±A_Y alarm and heel alarm value ±A_X alarm Same, both ±0.08°.

6. The fully floating leveling operation automatic load adjustment method according to claim 1 is characterized in that: A_Y 14set =ABS(A_Y 41set ),A_Y 41stop =ABS(A_Y 14stop ),A_X 23in =ABS(A_X 23out ),A_X 23outstop =ABS(A_X 23instop )。 7. The fully floating leveling operation automatic load adjustment method according to claim 2 is characterized in that

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