An intelligent positioning system for offshore platforms and method of implementation

Abstract

This invention relates to an intelligent positioning system and implementation method for offshore operation platforms, belonging to the field of bridge engineering technology. The system includes setting multiple cable transfer points at predetermined locations on the offshore operation platform and multiple anchorages at predetermined locations around the platform. A retrieval system is installed between the cable transfer points and anchorages. Data is collected via GPS and an inclinometer, and the real-time attitude information is calculated by a control module. The nonlinear retrieval problem of cable length is solved as a nonlinear convergence problem of straight-line distance. The length of each cable is adjusted multiple times to gradually converge the platform position to the design target position. This application enables rapid positioning and attitude adjustment of the operation platform under complex and changing marine environmental forces, avoiding overshoot and misadjustment during the adjustment process, ensuring safe and controllable construction, and improving bridge construction efficiency.

Description

Technical Field

[0001] This invention relates to the field of bridge engineering technology, and in particular to an intelligent positioning system and implementation method for offshore operation platforms. Background Technology

[0002] The main pier foundations of cross-sea bridges often need to be constructed in the sea. Due to the complex natural environment, the construction is difficult, especially the construction scenario where the underwater topography at the main tower pier location is undulating, there is no overburden, the current is strong and the waves are high, and the water depth of the foundation reaches 60m. There is currently no similar bridge foundation construction experience in China, and the construction risk is high.

[0003] Given the complex natural environmental conditions mentioned above, the best construction plan is to use an offshore platform for bridge construction. Specifically, the offshore platform is fabricated and assembled in the factory, floated to the main tower pier location and anchored, and then the main pier foundation construction is carried out on the offshore platform.

[0004] However, offshore operating platforms are subject to the influence of tides, waves, and ocean currents, making it difficult to measure their position and attitude. Repeated verification is necessary, as the platform's position and attitude can change during construction due to these factors. This necessitates repeated adjustments to cable tension to maintain the platform in a suitable state. Using traditional measuring tools such as total stations and levels to measure the platform's position and attitude is cumbersome and difficult.

[0005] Because the problem of determining the attitude of a single cable used to adjust the offshore platform is a nonlinear problem, and the cable forces are interdependent, platform positioning involves the coupling of multiple nonlinear problems, making the solution complex. Furthermore, the forces on the cable and platform exhibit irregularities due to the influence of tides, waves, and ocean currents. In particular, waves and currents cannot be accurately measured, complicating the boundary conditions and leading to significant discrepancies between theoretical and actual solutions. This means that the platform cannot be adjusted to the ideal target attitude in one go based on the calculation results; multiple cable adjustments are required for platform positioning. Traditional adjustment methods using measuring tools such as total stations and levels are inefficient and lack accurate adjustment methods. Often, adjustments are made empirically based on the platform's position, resulting in frequent instances of over-adjustment and under-adjustment.

[0006] In order to improve construction speed and reduce construction difficulty and cost, it is urgent to develop corresponding positioning systems and adjustment methods for offshore operation platforms to realize the automatic monitoring and automatic adjustment functions of offshore operation platforms, thereby enabling rapid positioning of offshore operation platforms. Summary of the Invention

[0007] To address the problems existing in the prior art, this application provides an intelligent positioning system and implementation method for offshore operation platforms. This system can quickly adjust the attitude and position of the offshore operation platform by repeatedly adjusting the cable length based on the deviation between the real-time attitude of the offshore operation platform and the target attitude, thereby improving bridge construction efficiency.

[0008] An intelligent positioning system for offshore operation platforms, wherein multiple preset locations of the offshore operation platform are equipped with transfer points, the system comprising:

[0009] The attitude detection module is installed on the offshore operating platform to collect the real-time attitude information of the offshore operating platform.

[0010] Multiple anchors are set at predetermined positions around the offshore operating platform, with each cable-switching point corresponding to one of the anchors;

[0011] The retrieval system includes multiple retrieval devices located at the transfer point and multiple cables connected between the transfer point and the anchor. The retrieval devices are used to adjust the cable length according to adjustment instructions.

[0012] The control module is used to repeatedly collect the real-time attitude information and process it to obtain the real-time distance LL between each cable transfer point and the corresponding anchor. i It is also used to process and obtain the target distance LLS between each cable transfer point and the corresponding anchor based on the target attitude information. i The control module is also used to determine the target distance LLS. i and real-time distance LL i The absolute value of the difference is used to generate the adjustment command multiple times, and the adjustment command is sent to the collection system multiple times so that the length of each cable converges to the design target value until the length of all cables reaches the target value.

[0013] Preferably, the real-time attitude information includes real-time horizontal position information, real-time horizontal torsion information, and real-time vertical tilt angle information.

[0014] Preferably, the attitude detection module includes:

[0015] Multiple GPS devices are used to collect and output the real-time horizontal position information;

[0016] Multiple tilt sensors are used to collect and output the real-time vertical tilt information;

[0017] Multiple data transmission devices are connected to the tilt sensor respectively, for receiving and outputting the real-time vertical tilt information;

[0018] A power supply unit, which supplies power to all other devices in the system except itself.

[0019] Preferably, the intelligent positioning system for offshore operation platforms further includes:

[0020] Multiple anchor boats are used to install the cables between the multiple cable-switching points and the multiple anchors.

[0021] Preferably, the control module is further configured to combine the real-time attitude information and the setting position of each cable transfer point on the offshore operation platform to obtain the real-time coordinates of each cable transfer point;

[0022] The control module is also used to calculate the real-time horizontal torsion information based on GPS-collected data.

[0023] The control module is also used to combine the target attitude information and the setting position of each cable transfer point on the offshore operation platform to obtain the target coordinates of each cable transfer point.

[0024] Preferably, the real-time distance LL i The following formula is used to calculate:

[0025]

[0026] in,

[0027] LL i Indicates real-time distance;

[0028] m i This represents the real-time x-coordinate in the bridge location coordinate system of the i-th cable transfer point;

[0029] n i This represents the real-time y-coordinate in the bridge location coordinate system of the i-th cable transfer point;

[0030] p i This represents the real-time z-coordinate in the bridge coordinate system of the i-th cable transfer point;

[0031] a i This represents the x-coordinate of the i-th anchorage corresponding to the i-th cable transfer point;

[0032] b i This represents the y-coordinate of the i-th anchorage corresponding to the i-th cable transfer point;

[0033] c i This represents the z-coordinate of the i-th anchorage corresponding to the i-th cable transfer point.

[0034] Preferably, the target distance LLS i The following formula is used to calculate:

[0035]

[0036] in,

[0037] LLS i Indicates the distance to the target;

[0038] ms i This represents the x-design coordinate of the i-th cable transfer point in the bridge location coordinate system;

[0039] ns i This represents the y-design coordinate of the i-th cable transfer point in the bridge location coordinate system;

[0040] ps i This represents the z-design coordinate of the i-th cable transfer point in the bridge location coordinate system.

[0041] Preferably, the control module determines that after multiple length adjustments, the target distance LLS i and real-time distance LL i Once the absolute value of the difference is less than the allowable error, it is determined that the length of each cable has reached the target value.

[0042] A method for intelligent positioning of offshore operation platforms, based on the aforementioned intelligent positioning system for offshore operation platforms, the method comprising:

[0043] Multiple cable transfer points are set at predetermined locations on the offshore operating platform, and multiple anchorages are set at predetermined locations around the offshore operating platform, with each cable transfer point corresponding to one of the anchorages.

[0044] A cable-hauling system is installed between multiple cable transfer points and multiple anchorages;

[0045] The real-time attitude information was collected multiple times and processed to obtain the real-time distance LL between each cable transfer point and the corresponding anchor. i ;

[0046] Based on the target attitude information, the target distance LLS between each cable transfer point and the corresponding anchor is obtained. i ;

[0047] Based on target distance LLS i and real-time distance LL i The absolute value of the difference is used to generate the adjustment command multiple times, with the target distance LLS as the reference. i With real-time distance LL i The absolute value of the difference is used as the cable adjustment amount to adjust the length of each cable multiple times so that the length of each cable gradually converges to the design target value until the length of all cables reaches the target value.

[0048] Preferably, the specific steps for determining whether the length of each cable has reached the target value are as follows:

[0049] After multiple length adjustments, the target distance LLS is determined. i and real-time distance LLi The absolute value of the difference is less than the allowable error, and if the result is yes, the length of each cable is determined to have reached the target value.

[0050] The beneficial effects of the technical solution provided in this application include:

[0051] By collecting information through intelligent sensors such as GPS and inclinometers, and calculating through the control module, the platform's attitude and position can be quickly measured. This solves the problems of slow efficiency, cumbersome work, and difficult operation at sea caused by traditional measurement methods using levels and total stations, thus improving the efficiency of bridge surveying and construction.

[0052] The attitude detection module is used to detect the attitude of the offshore operation platform in real time. Based on the deviation between the real-time attitude of the offshore operation platform and the target attitude, the nonlinear cable length retrieval problem is solved as a convergence problem of straight-line distance in space. This enables automatic monitoring and automatic adjustment of the offshore operation platform under complex and variable ocean forces.

[0053] Compared to the traditional method of adjusting cable length based on experience, this implementation method targets the LLS distance. i and real-time distance LL i The absolute value of the difference is used as the adjustment amount of the cable each time. Each adjustment amount is less than the previous adjustment amount, which can make the platform position and attitude and the cable length gradually converge to the design target, avoiding problems such as overshoot and misadjustment in the adjustment process, and realizing the safety and controllability of the construction process. Attached Figure Description

[0054] To more clearly illustrate the technical solution of the present invention, the drawings used in the description of the invention will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0055] Figure 1 This is a schematic diagram of the functional modules of the intelligent positioning system for offshore operation platforms in an embodiment of the present invention.

[0056] Figure 2 This is a schematic diagram illustrating the application of the intelligent positioning system for offshore operation platforms in this embodiment of the invention.

[0057] Figure 3 This is a flowchart illustrating the implementation method of intelligent positioning for offshore operation platforms in this embodiment of the invention. Detailed Implementation

[0058] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the drawings describe only a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0059] To address the problems existing in the prior art, this invention proposes an intelligent positioning system for offshore operation platforms, such as... Figure 1 and Figure 2 As shown, the system includes multiple cable transfer points 2 located at preset positions on the offshore working platform 6 and multiple anchorages 4 located at preset positions around the offshore working platform 6, with each cable transfer point 2 corresponding to one anchorage 4. It also includes an attitude detection module 1, a retrieval system 3, and a control module 5. The control module 5 connects the attitude detection module 1 and the retrieval system 3. The retrieval system 3 includes multiple retrieval devices located at the cable transfer points 2 and multiple cables connected between the cable transfer points 2 and the anchorages 4. The retrieval devices are used to adjust the cable length according to adjustment commands.

[0060] The control module 5 is used to collect the above real-time attitude information multiple times and process it to obtain the real-time distance LL between each cable transfer point 2 and the corresponding anchor 4. i Based on the target attitude information, the target distance LLS between each cable transfer point 2 and the corresponding anchor 4 is obtained. i According to the target distance LLS i and real-time distance LL i The absolute value of the difference is used to generate the aforementioned adjustment command multiple times, and this adjustment command is sent to the aforementioned retrieval system 3 multiple times until the length of each cable reaches the target value. When the deviation between the real-time attitude of the offshore work platform 6 and the target attitude converges to the allowable error range for construction, it indicates that the length of each cable has reached the target value.

[0061] In this embodiment, the attitude detection module 1 is used to detect the attitude of the offshore work platform 6 in real time. Based on the deviation between the real-time attitude of the offshore work platform 6 and the target attitude, the cable adjustment amount and whether the above deviation has converged to the construction allowable error range are calculated. Then, the cable length is adjusted according to the results. After each adjustment, the real-time attitude information of the offshore work platform 6 is collected again until the above deviation has converged to the construction allowable error range, thereby completing the automatic monitoring and automatic adjustment of the offshore work platform 6. Under the premise that the offshore work platform 6 has instability and the cable has a nonlinear state, the attitude adjustment and positioning of the offshore work platform 6 is realized.

[0062] By calculating and controlling the attitude adjustment and positioning of the offshore operation platform 6 through the control module 5, the efficiency of bridge construction can be improved.

[0063] In a preferred embodiment, the real-time attitude information includes real-time position information and real-time tilt angle information. The target attitude information includes target position information and target tilt angle information.

[0064] The attitude detection module 1 includes multiple GPS devices for acquiring and outputting the real-time position information, multiple tilt sensors for acquiring and outputting the real-time tilt information, a data transmission device for receiving and outputting the real-time tilt information, and a power supply device for supplying power to all other devices in the system except itself.

[0065] In this embodiment, GPS and tilt sensors are installed on the offshore work platform 6 to accurately position and guide the platform to the target attitude. The instruments and equipment are mainly used to acquire real-time data on the platform's tilt attitude and position during the positioning process. The data transmission device can be a wireless terminal device. The power supply device can provide power to the tilt sensor and data transmission device, etc.

[0066] In a preferred embodiment, the above-mentioned intelligent positioning system for offshore operation platforms also includes multiple anchoring boats for installing the cables between the multiple cable transfer points 2 and the multiple anchorages 4.

[0067] In this embodiment, after the offshore operation platform 6 is floated into place, the anchor boat is used to connect the cables between the platform side and the anchor 4. After the cables are connected, the traction jack in the hauling device can be activated to pull and haul the cables.

[0068] In a preferred embodiment, the control module 5 is further configured to combine the real-time attitude information and the setting position of each cable transfer point 2 on the offshore operation platform 6 to obtain the real-time coordinates of each cable transfer point 2.

[0069] The aforementioned control module 5 is also used to combine the aforementioned target attitude information and the setting position of each cable transfer point 2 on the offshore operation platform 6 to process and obtain the target coordinates of each cable transfer point 2.

[0070] The above real-time distance LL i The following formula is used to calculate:

[0071]

[0072] Among them, LL i This represents the real-time distance from the transfer point to the anchorage via a straight line connection. (m) i This represents the real-time x-coordinate in the bridge location coordinates of the i-th cable transfer point 2. i p represents the real-time y-coordinate in the bridge location coordinates of the i-th cable transfer point 2. i This represents the real-time z-coordinate in the bridge location coordinates of the i-th cable transfer point 2. iThis represents the x-coordinate of the i-th anchorage corresponding to the i-th cable transfer point 2. i c represents the y-coordinate of the i-th anchorage corresponding to the i-th cable transfer point 2. i This represents the z-design coordinate of the i-th anchorage corresponding to the i-th cable transfer point 2.

[0073] The above target is far from LLS i The following formula is used to calculate:

[0074]

[0075] Among them, LLS i This indicates the straight-line distance from the transfer point to the target connected to the anchorage. (ms) i This represents the x-design coordinate of the i-th cable transfer point 2 in the bridge location coordinate system. ns i This represents the y-design coordinate of the i-th cable transfer point 2 in the bridge location coordinate system. i This represents the z-design coordinate of the i-th cable transfer point 2 in the bridge location coordinate system. Furthermore, the control module 5, after determining the target distance LLS after multiple length adjustments... i and real-time distance LL i Once the absolute value of the difference is less than the allowable error, it is determined that the length of each cable has reached the target value.

[0076] In this embodiment, the bridge location coordinate system takes the longitudinal direction of the bridge as the x-axis, the transverse direction as the y-axis, and the vertical direction as the z-axis, with the design center point of the offshore operation platform 6 as the origin.

[0077] Let the points on the 6th line of the offshore operation platform be O(a0, b0, c0), S1(a1, b1, c1), S2(a2, b2, c2), ..., S 12 (a 12 b 12 c 12 ), S i (a i b i c i The coordinates of the 12 anchorages 4 in the bridge location coordinate system are given. The corresponding cable lengths are L1, L2, ..., L. 12 The real-time coordinates of the 12 corresponding transfer points are Z1(m1, n1, p1), Z2(m2, n2, p2), ..., Z... 12 (m 12 n 12 p 12 The target coordinates of the 12 transfer points are Z1(ms1,ns1,ps1), Z1(ms2,ns2,ps2), ..., Z1(ms1,ns1,ps1), ..., Z1(ms1,ns1,ps1), ... 12 ,ns 12 ps 12 ).

[0078] The straight-line distances from the corresponding pair of turning points to anchorage 4 are denoted as LL1, LL2, ..., LL1. 12 Because of the function LL i =f(L i There exists only one solution, and it is a monotonically increasing function.

[0079] For the specific cable lengths L1, L2, ..., L that meet the platform positioning requirements under the design specifications... 12 The solution vector L = (L1, L2, ..., L...) 12 There exists only one solution vector LL = (LL1, LL2, ..., LL3). 12 Therefore, theoretically, LL1, LL2, ..., LL 12 When the value equals the design value, the position and orientation of the work platform are uniquely the design calculation value. This means the nonlinear cable length collection problem can be solved by nonlinearly converging along a straight-line distance in space.

[0080] Therefore, based on the coordinates of the transfer point and anchorage 4, the straight-line distance from the transfer point to anchorage 4 can be calculated. The design distance for a straight-line connection from each transfer point to anchorage 4 is: The actual distance from each transfer point to anchorage 4 via a straight line is:

[0081] |LLS i -LL i |This serves as the amount of adjustment for each jack cable.

[0082] because This means that after a sufficient number of adjustments, the platform's position and orientation will converge to the designed position. In practice, an error less than a certain allowable margin is sufficient to meet construction requirements. That is, adjusting the cable n0 times is sufficient to meet the construction tolerance error δ. i .

[0083] This invention also provides a method for implementing intelligent positioning of offshore operation platforms, such as... Figure 3 As shown, it includes:

[0084] Step S1: Set multiple cable transfer points 2 at preset positions on the offshore operation platform 6, and set multiple anchorages 4 at preset positions around the offshore operation platform 6, with each cable transfer point 2 corresponding to one of the anchorages 4.

[0085] Step S2: Install a cable-retrieving system 3 between multiple cable transfer points 2 and multiple anchorages 4;

[0086] Step S3: Collect the above real-time attitude information multiple times, and process it to obtain the real-time distance LL between each cable transfer point 2 and the corresponding anchor 4. i ;

[0087] Step S4: Based on the target attitude information, process and obtain the target distance LLS between each cable transfer point 2 and the corresponding anchor 4. i ;

[0088] Step S5: Based on the target distance LLS i and real-time distance LL i The absolute value of the difference is used to generate the above adjustment instructions multiple times, so as to adjust the length of each cable multiple times until the length of each cable reaches the target value.

[0089] In this embodiment, the leveling process of the offshore operating platform 6 involves calculating the platform's position and attitude based on GPS and inclinometer data, and calculating the real-time distance LL from each transfer point to the anchorage 4. i Calculate the amount of cable adjustment for each jack movement | LLS i -LL i The system determines whether the adjustment amount of the jack cable is less than the construction tolerance. If it is less than the construction tolerance, the working platform is considered to meet the design requirements. If it is greater than or equal to the construction tolerance, the cable length is adjusted through the cable retraction system 3. The above steps are repeated until the calculated adjustment amounts of all 12 cables are less than the construction tolerance.

[0090] The above description is merely a specific embodiment of the present invention, enabling those skilled in the art to understand or implement the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the present invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features claimed herein.

Claims

1. An intelligent positioning system for offshore operation platforms, characterized in that, The offshore operating platform has multiple pre-set cable transfer points, and the system includes: The attitude detection module is installed on the offshore operating platform to collect the real-time attitude information of the offshore operating platform. Multiple anchors are set at predetermined positions around the offshore operating platform, with each cable-switching point corresponding to one of the anchors; The cable retrieval system includes multiple cable retrieval devices located at the cable transfer points and multiple cables connected between the cable transfer points and the anchorage. The cable retrieval devices are used to adjust the cable length according to adjustment instructions. The control module is used to repeatedly collect the real-time attitude information and process it to obtain the real-time distance between each cable transfer point and the corresponding anchor. It is also used to process and obtain the target distance between each cable transfer point and the corresponding anchor based on the target attitude information. The control module is also used to determine the target distance. and real-time distance The absolute value of the difference is used to generate the adjustment command multiple times, and the adjustment command is sent to the cable winding system multiple times so that the length of each cable converges to the design target value until the length of all cables reaches the target value. The control module solves the nonlinear cable length winding and unwinding problem as a linear distance convergence problem in space.

2. The intelligent positioning system for offshore operation platforms as described in claim 1, characterized in that, The real-time attitude information includes real-time horizontal position information, real-time horizontal torsion information, and real-time vertical tilt angle information.

3. The intelligent positioning system for offshore operation platforms as described in claim 2, characterized in that, The attitude detection module includes: Multiple GPS devices are used to collect and output the real-time horizontal position information; Multiple tilt sensors are used to collect and output the real-time vertical tilt information; Multiple data transmission devices are connected to the tilt sensor respectively, for receiving and outputting the real-time vertical tilt information; A power supply unit, which supplies power to all other devices in the system except itself.

4. The intelligent positioning system for offshore operation platforms as described in claim 1, characterized in that, The intelligent positioning system for offshore operation platforms also includes: Multiple anchor boats are used to install the cables between the multiple cable-switching points and the multiple anchors.

5. The intelligent positioning system for offshore operation platforms as described in claim 3, characterized in that, The control module is also used to combine the real-time attitude information and the setting position of each cable transfer point on the offshore operation platform to obtain the real-time coordinates of each cable transfer point. The control module is also used to calculate the real-time horizontal torsion information based on GPS-collected data. The control module is also used to combine the target attitude information and the setting position of each cable transfer point on the offshore operation platform to obtain the target coordinates of each cable transfer point.

6. The intelligent positioning system for offshore operation platforms as described in claim 5, characterized in that, The real-time distance The following formula is used to calculate: in, Indicates real-time distance; This represents the real-time x-coordinate in the bridge location coordinate system of the i-th cable transfer point; This represents the real-time y-coordinate in the bridge location coordinate system of the i-th cable transfer point; This represents the real-time z-coordinate in the bridge coordinate system of the i-th cable transfer point; This represents the x-coordinate of the i-th anchorage corresponding to the i-th cable transfer point; This represents the y-coordinate of the i-th anchorage corresponding to the i-th cable transfer point; This represents the z-coordinate of the i-th anchorage corresponding to the i-th cable transfer point.

7. The intelligent positioning system for offshore operation platforms as described in claim 6, characterized in that, The target distance The following formula is used to calculate: in, Indicates the distance to the target; This represents the x-design coordinate of the i-th cable transfer point in the bridge location coordinate system; This represents the y-design coordinate of the i-th cable transfer point in the bridge location coordinate system; This represents the z-design coordinate of the i-th cable transfer point in the bridge location coordinate system.

8. The intelligent positioning system for offshore operation platforms as described in claim 1, characterized in that, The control module determines the target distance after multiple length adjustments. and real-time distance Once the absolute value of the difference is less than the allowable error, it is determined that the length of each cable has reached the target value.

9. A method for intelligent positioning of an offshore operation platform, characterized in that, Based on the intelligent positioning system for offshore operation platforms according to any one of claims 1-8, the method includes: Multiple cable transfer points are set at predetermined locations on the offshore operating platform, and multiple anchorages are set at predetermined locations around the offshore operating platform, with each cable transfer point corresponding to one of the anchorages. A cable retrieval system is installed between multiple cable transfer points and multiple anchorages; The real-time attitude information was collected multiple times and processed to obtain the real-time distance between each cable transfer point and the corresponding anchor. ; Based on the target attitude information, the target distance between each cable transfer point and the corresponding anchor is obtained. ; Based on target distance and real-time distance The absolute value of the difference is used to generate the adjustment command multiple times, with the target distance. Real-time distance The absolute value of the difference is used as the cable adjustment amount to adjust the length of each cable multiple times so that the length of each cable gradually converges to the design target value until the length of all cables reaches the target value.

10. The intelligent positioning implementation method for offshore operation platforms as described in claim 9, characterized in that, The specific steps for determining whether the length of each cable has reached the target value are as follows: Determine the target distance after multiple length adjustments. and real-time distance The absolute value of the difference is less than the allowable error, and if the result is yes, the length of each cable is determined to have reached the target value.

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