A migration method for an unmanned, autonomous, unpowered, bottom-mounted platform.

Abstract

A method for relocating an unmanned, autonomously controlled, unpowered, hull-mounted platform includes a hull-mounted structure with a control unit located in the center and powered barges mounted on its four sides via connecting seats. Control points A0, B0, C0, and D0 are respectively located at the four corners, and a closed line connecting them forms the outer contour of the hull-mounted structure. Control point N0 is located at the midpoint of the port side outer plating line of the hull-mounted structure, and control point S0 is located at the midpoint of the starboard side outer plating line of the hull-mounted structure. Control point E0 is set at the midpoint of the outer bow plate of the bottom-mounted structure, and control point W0 is set at the midpoint of the outer stern plate of the bottom-mounted structure. The installation area of ​​the bottom-mounted structure is delineated into a rectangular area based on actual survey, and the four corners are named control points A1, B1, C1, and D1 respectively. The specific relocation process has five steps: S1: long-distance relocation, S2: short-distance relocation, S3: installation relocation, S4: positioning adjustment, and S5: bottom-mounting operation. This can reliably complete the positioning and installation work.

Description

Technical Field

[0001] This invention relates to the field of bottom-mounted platform relocation and installation technology, and in particular to a relocation method for an unmanned, autonomous, and unpowered bottom-mounted platform. Background Technology

[0002] With the increasing demand for marine development, more and more scientific research structures are being built and transported to remote islands and reefs for marine scientific research and observation. Due to the shallow waters and relatively small waves near islands and reefs, bottom-mounted structures are widely used as scientific research structures due to their unique characteristics.

[0003] The working principle of a bottom-mounted structure is to use its floating body (sinking pad or stabilizing column) to sink by filling it with water, and use several columns to support the upper structure at a fixed height for operations. When the operations are completed, the water in the floating body (submerged body) is drained and it floats up to move to another work site.

[0004] Traditional hull-mounted structures lack their own power, requiring the assistance of engineering vessels for relocation and installation. First, a semi-submersible barge tows the structure to the vicinity of the designated sea area, then a tugboat tows it to the installation site for installation. This method of relocation and installation, heavily reliant on external assistance, is often limited by weather conditions in the designated sea area. Personnel safety becomes the primary constraint on installation operations. Furthermore, the shallow waters near some islands and reefs prevent tugboats from passing, significantly impacting the installation process.

[0005] How to relocate the bottom-mounted structure through shallow waters and complete its positioning and installation under the limited meteorological conditions of the pre-designed sea area remains the focus and challenge of the entire project. Summary of the Invention

[0006] In response to the shortcomings of the existing production technologies, the applicant provides a relocation method for an unmanned, autonomous, unpowered, bottom-mounted platform. This method ensures that, even under conditions of limited weather in a pre-defined sea area, a reliable relocation bottom-mounted structure can be installed to navigate through shallow waters and complete positioning and installation.

[0007] The technical solution adopted in this invention is as follows:

[0008] A migration method for an unmanned, autonomous, unpowered, bottom-mounted platform includes a bottom-mounted structure, a control unit located in the middle of the interior of the bottom-mounted structure, and power barges installed on the four sides of the bottom-mounted structure via connecting seats.

[0009] Control points A0, B0, C0, and D0 are set at the four corners of the base-type structure, and the closed line connecting the four points A0, B0, C0, and D0 forms the outer outline of the base-type structure.

[0010] Set control point N0 at the midpoint of the port side outer plating line of the bottom-sitting structure, set control point S0 at the midpoint of the starboard side outer plating line of the bottom-sitting structure, set control point E0 at the midpoint of the bow outer plating line of the bottom-sitting structure, and set control point W0 at the midpoint of the stern outer plating line of the bottom-sitting structure.

[0011] The sea area for the installation of the bottom-mounted structure was delineated into a rectangular area based on actual surveys, and the four corners were named control points A1, B1, C1, and D1 respectively.

[0012] The specific migration process is as follows:

[0013] S1: Remote migration

[0014] The power assembly consisting of four powered barges and a bottom-mounted structure began to autonomously control the model and migrate it to the installation area.

[0015] S1.1: At a location far from the installation sea area, the control unit obtains the position coordinates of four control points A0, B0, C0, and D0 on the structure in real time through the navigation system on the bottom-mounted structure, and calculates the position coordinates of control points N0 and S0 at the same time;

[0016] S1.2: The power assembly adjusts its direction by using a power barge to bring the bow of the hull-mounted structure C0D0 as close as possible to the reference point A2B2 of the approach area, i.e., the bow of the hull-mounted structure faces the approach area.

[0017] S1.3: In the control unit, based on the position coordinates of control points E0 and W, a virtual guide line E0W is drawn as the guide line for the initial migration of the power assembly.

[0018] S1.4: Guided by the guide lines, the power assembly control unit controls the four powered floating barges to proceed towards the nearshore waters.

[0019] S2: Short-distance migration,

[0020] S2.1: When the power assembly advances to the vicinity of the approach area under the guidance of the guide line, the control unit monitors the position coordinates of the bow control points C0 and D0 of the structure in real time and compares them with the coordinates of the reference points A2 and B2 of the approach area. When the control point C0 or D0 of the structure crosses the reference point A2 and contacts the approach area A2B2B1A1, the power assembly switches to short-distance migration.

[0021] S2.2: The power assembly controls four sets of power barges to operate at reduced power, so that the power assembly moves slowly under the traction of the guide line, while simultaneously acquiring the position information of control point E0 in real time;

[0022] S2.3: When control point E0 crosses reference point W and enters approach area A2B2B1A1, the structure enters the course adjustment process and stops the guidance of the virtual guide line;

[0023] S2.4: The power unit adjusts its course with reference point E0 as the reference point, controls the No. 2 and No. 4 power barges to generate counterforce, and controls the No. 1 and No. 3 power barges to increase power;

[0024] S2.5: Under the combined action of the four powered barges, the heading of the structure was gradually adjusted to be parallel to the approach area, that is, the line connecting control points C0D0 was parallel to the line connecting reference points A2B2.

[0025] S2.6: The original guide line loses its function. During this process, the control unit obtains the position coordinates of control points N0 and S0 on the structure in real time and compares them with reference points N2 and S2.

[0026] S2.7: Control the four sets of powered barges to act in the same direction on the power assembly and slowly sail towards the installation area. The control unit obtains the position information of control points A0, B0, C0, and D0 in real time and compares it with the reference points A2, B2, A1, and B1 in the approach area to ensure that all control points of the power assembly are within the approach area.

[0027] S2.8: Real-time acquisition of structure control points N0 and S0, and determination of the distance between N0 and N2 and the vertical distance between S0 and S2, controlling the individual power units to migrate along the approach sea area to the installation sea area; when the control points on the power assembly exceed the approach sea area, adjust the power direction of the four sets of power barges in real time according to the distance between N0 and N2 and S0 and S2, pull the power assembly back into the approach sea area, and try to keep the distance between N0 and N2 and the distance between S0 and S2 equal to ensure that the structure moves forward smoothly;

[0028] S3: Install migration

[0029] When the power unit is navigating in the approach area, the control unit monitors the position coordinates of the bow control points C0 and D0 of the structure in real time and compares them with the coordinates of the reference points A1 and B1 in the approach area. When the control points C0 and D0 of the structure come into contact with the installation area A1B1C1D1, the power unit is switched to installation relocation.

[0030] S4: Positioning adjustment

[0031] When the power unit is fully in the installation area, it automatically switches to positioning and adjustment mode.

[0032] S5: Bottom-sitting operation

[0033] Once the structure is confirmed to be able to settle on the bottom through positioning operations, the control unit controls the ballast water system inside the structure to inject ballast water into the ballast water tanks in a sequential manner. At the same time, the injection flow rate of the ballast water tanks is adjusted in real time through the attitude feedback of the structure to ensure that the structure sinks in a uniform upright buoyancy. The four sets of powered barges follow the structure to sink in an upright attitude.

[0034] Once the structure is firmly in place, the autonomous relocation and installation work will be completed.

[0035] The four sets of power barges automatically opened their locking mechanisms, detached from the structure, and floated up due to buoyancy.

[0036] After all four powered barges have fully surfaced, they leave the installation area and return to the semi-submersible barge in the deep sea area.

[0037] Its further technical solution lies in:

[0038] The base-type structure is a rectangular parallelepiped.

[0039] Each powered barge contains a battery pack and a signal receiver. One end of the powered barge is equipped with a thruster, and the other end is equipped with a connection lock that connects to the connection base.

[0040] When the four powered barges are connected to the bottom-mounted structure to form a rigid whole, their respective control units are combined into a complete control unit, which is arranged on the upper deck of the bottom-mounted structure.

[0041] The installation area in the sea is larger than the external dimensions of the base-mounted structure.

[0042] In S1.4, the power output of the powered buoy is continuously adjusted according to the position coordinates of control points A0, B0, C0, and D0 given by the navigation system, and the course is adjusted to always move around the guide line.

[0043] S3 includes the following operation steps:

[0044] S3.1: The power assembly acquires the position coordinates of control points N0 and S0 in real time, and uses the distance between N0 and N1 and the distance between S0 and S1 as guidance to guide the power assembly to move forward;

[0045] S3.2: During the installation and relocation of the power unit, the distances N0N1 and S0S1 must always be kept close, and the control points A0, B0, C0, and D0 of the structure must be kept within the installation sea area and the approach sea area.

[0046] S3.3: When the stern A0 and B0 of the structure cross the reference points A1 and B1 of the installation sea area, the power assembly is fully entered into the installation sea area.

[0047] S4 includes the following operation steps:

[0048] S4.1: The control unit acquires the position coordinates of the structure control points A0, B0, C0, and D0, and adjusts the structure control points to be located within the installation sea area through the power distribution of the power assembly.

[0049] S4.2: The control unit calculates the distances NON1 and SOS1, and adjusts the translation of the structure through the power combination of the power assembly to make the distance NON1 equal to the distance SOS1.

[0050] S4.3: The control unit calculates the distance between A0 and A1B1, calculates the distance between B0 and A1B1, and adjusts the translation of the structure through the power assembly to make the distance between A0 and A1B1 equal to the distance between B0 and A1B1.

[0051] After the above three steps, the structure is in the correct installation position, that is, the structure enters the preset installation position, and the orientation and angle are consistent with the preset orientation.

[0052] In S5, if the structure is affected by wind and waves and deviates from its original position, the control unit controls the powered barge to provide power and maintain the following three actions:

[0053] (a) The control unit obtains the position coordinates of the structure control points A0, B0, C0, and D0, and adjusts the structure control points to be located within the installation sea area by means of the power distribution of the power assembly.

[0054] (b) The control unit calculates the NON1 distance and the SOS1 distance, and adjusts the translation of the structure through the power combination of the power assembly, so that the NON1 distance is equal to the SOS1 distance;

[0055] (c) The control unit calculates the distance between A0 and A1B1, calculates the distance between B0 and A1B1, and adjusts the translation of the structure through the power assembly so that the distance between A0 and A1B1 is equal to the distance between B0 and A1B1.

[0056] The beneficial effects of this invention are as follows:

[0057] This invention features a compact and reasonable structure and is easy to operate. By setting four sets of powered barges on the bottom-mounted structure, the relocation work can be easily completed. It can also ensure that even under the limited weather conditions in the preset sea area, the relocated bottom-mounted structure can be reliably installed to pass through shallow waters and complete the positioning and installation.

[0058] In addition, the present invention also has the following advantages:

[0059] (1) Autonomous operation, capable of completing the relocation and installation of structures under restricted weather conditions;

[0060] (2) Unaffected by water conditions, the structure can pass smoothly through shallow water areas and reach the installation sea area;

[0061] (3) Fully autonomous control, real-time dynamic adjustment, avoiding manual intervention, and high reliability.

[0062] (4) It effectively solves the problem of relocation and installation of non-powered bottom-mounted marine structures in areas with severe sea conditions or where personnel are not suitable for staying. Attached Figure Description

[0063] Figure 1 This is a schematic diagram of the bottom-mounted structure of the present invention.

[0064] Figure 2 for Figure 1 Top view.

[0065] Figure 3 This is a front view of a single powered barge according to the present invention.

[0066] Figure 4 for Figure 3 Top view (showing the internal structure).

[0067] Figure 5 This is a schematic diagram of the structure when the sea area is preset in this invention.

[0068] Figure 6 This is a schematic diagram of the structure during remote migration according to the present invention.

[0069] Figure 7 This is a schematic diagram (I) of the structure during close-range migration of the present invention.

[0070] Figure 8 This is a schematic diagram (II) of the structure during close-range migration of the present invention.

[0071] Figure 9 This is a schematic diagram (III) of the structure during close-range migration of the present invention.

[0072] Figure 10 This is a schematic diagram of the structure for adjusting the attitude within a predetermined sea area according to the present invention.

[0073] Figure 11 This is a schematic diagram of the structure during installation and migration of the present invention.

[0074] Figure 12 This is a schematic diagram of the structure during positioning and adjustment according to the present invention.

[0075] Figure 13 This is a schematic diagram of the structure during the bottom-sitting operation of the present invention.

[0076] Figure 14 This is a schematic diagram of the structure when the present invention is completed.

[0077] The components include: 1. a base structure; 2. a connecting base; 3. a power barge; 4. a control unit; 5. a battery pack; 6. a connecting lock; 7. a thruster; 8. a signal receiver; and 9. a guide line. Detailed Implementation

[0078] The specific embodiments of the present invention will now be described with reference to the accompanying drawings.

[0079] like Figures 1-14 As shown, the migration method of the unmanned autonomous control unpowered bottom-mounted platform in this embodiment includes a bottom-mounted structure 1, a control unit 4 is set in the middle of the interior of the bottom-mounted structure 1, and a power barge 3 is installed on each of the four sides of the bottom-mounted structure 1 through a connecting seat 2.

[0080] Control points A0, B0, C0, and D0 are set at the four corners of the base-type structure 1, respectively. The closed line connecting the four points A0, B0, C0, and D0 forms the outer contour line of the base-type structure 1.

[0081] Control point N0 is set at the midpoint of the port side outer plate line of the bottom-supported structure 1, control point S0 is set at the midpoint of the starboard side outer plate line of the bottom-supported structure 1, control point E0 is set at the midpoint of the bow outer plate line of the bottom-supported structure 1, and control point W0 is set at the midpoint of the stern outer plate line of the bottom-supported structure 1.

[0082] The installation area of ​​the bottom-mounted structure 1 was determined to be a rectangular area based on actual surveys, and the four corners were named control points A1, B1, C1, and D1 respectively.

[0083] The specific migration process is as follows:

[0084] S1: Remote migration

[0085] The power assembly consisting of four sets of powered barges 3 and the bottom-mounted structure 1 began to autonomously control the model and migrate to the installation area.

[0086] S1.1: At a location far from the installation sea area, the control unit 4 obtains the position coordinates of four control points A0, B0, C0, and D0 on the structure in real time through the navigation system on the bottom-mounted structure 1, and calculates the position coordinates of control points N0 and S0 at the same time.

[0087] S1.2: The power assembly adjusts its direction via the power barge 3 to bring the bow of the hull-mounted structure 1, C0D0, closest to the reference point A2B2 of the approach area, i.e., the bow of the hull-mounted structure 1 faces the approach area.

[0088] S1.3: In the control unit 4, based on the position coordinates of control points E0 and W, a virtual guide line E0W is drawn as the guide line 9 for the initial migration of the power assembly;

[0089] S1.4: Guided by guide line 9, the power assembly control unit controls the four sets of powered buoys 3 to proceed towards the approaching sea area.

[0090] S2: Short-distance migration,

[0091] S2.1: When the power assembly advances to the vicinity of the approach area under the guidance of the guide line, the control unit 4 monitors the position coordinate information of the bow control points C0 and D0 of the structure in real time and compares and analyzes them with the coordinates of the reference points A2 and B2 of the approach area. When the control point C0 or D0 of the structure crosses the reference point A2 and contacts the approach area A2B2B1A1, the power assembly changes to short-distance migration.

[0092] S2.2: The power assembly controls four sets of power barges 3 to operate at reduced power, so that the power assembly moves slowly under the traction of the guide line, while simultaneously acquiring the position information of control point E0 in real time;

[0093] S2.3: When control point E0 crosses reference point W and enters approach area A2B2B1A1, the structure enters the course adjustment process and stops the guidance of the virtual guide line;

[0094] S2.4: The power combination adjusts its course with reference point E0 as the reference point, controls the No. 2 power barge 302 and the No. 4 power barge 304 to give the reverse force, and controls the No. 1 power barge 301 and the No. 3 power barge 303 to increase the power.

[0095] S2.5: Under the combined action of the four sets of powered barges 3, the heading of the structure is gradually adjusted to be parallel to the approach sea area, that is, the line connecting control points C0D0 is parallel to the line connecting reference points A2B2.

[0096] S2.6: The original guide line loses its function. During this process, the control unit 4 obtains the position coordinates of control points N0 and S0 on the structure in real time and compares them with reference points N2 and S2.

[0097] S2.7: Control the four sets of powered barges 3 to act in the same direction on the power assembly and slowly sail towards the installation area. The control unit 4 obtains the position information of control points A0, B0, C0, and D0 in real time and compares it with the reference points A2, B2, A1, and B1 in the approach area to ensure that all control points of the power assembly are within the approach area.

[0098] S2.8: Real-time acquisition of structure control points N0 and S0, and determination of the distance between N0 and N2 and the vertical distance between S0 and S2, controlling the individual power units to migrate along the approach sea area to the installation sea area; when the control points on the power assembly exceed the approach sea area, adjust the power direction of the four sets of power barges 3 in real time according to the distance between N0 and N2 and S0 and S2, pull the power assembly back into the approach sea area, and try to keep the distance between N0 and N2 and the distance between S0 and S2 equal to ensure that the structure moves forward smoothly;

[0099] S3: Install migration

[0100] When the power unit is navigating in the approach area, the control unit monitors the position coordinates of the bow control points C0 and D0 of the structure in real time and compares them with the coordinates of the reference points A1 and B1 in the approach area. When the control points C0 and D0 of the structure come into contact with the installation area A1B1C1D1, the power unit is switched to installation relocation.

[0101] S4: Positioning adjustment

[0102] When the power unit is fully in the installation area, it automatically switches to positioning and adjustment mode.

[0103] S5: Bottom-sitting operation

[0104] Once the structure is confirmed to be able to sit on the bottom through the positioning operation, the control unit 4 controls the ballast water system inside the structure to inject ballast water into the ballast water tank in a sequential manner. At the same time, through the attitude feedback of the structure, the injection flow rate of the ballast water tank is adjusted in real time to ensure that the structure sinks in a uniform upright buoyancy. The four sets of powered barges 3 follow the structure to sink in an upright attitude.

[0105] Once the structure is firmly in place, the autonomous relocation and installation work will be completed.

[0106] The four sets of power barges automatically opened their three-connection locks, detached from the structure, and floated up due to buoyancy.

[0107] After all four powered barges have fully surfaced, they leave the installation area and return to the semi-submersible barge in the deep sea area.

[0108] The base-type structure 1 is a rectangular parallelepiped structure.

[0109] Each powered barge 3 is equipped with a battery pack 5 and a signal receiver 8. One end of the powered barge 3 is equipped with a thruster 7, and the other end of the powered barge 3 is equipped with a connection lock 6 that connects to the connection seat 2.

[0110] When the four sets of powered barges 3 are connected to the bottom-mounted structure 1 to form a rigid whole, each control unit is combined into a complete control unit, which is arranged on the upper deck of the bottom-mounted structure 1.

[0111] The installation area in the sea is larger than the external dimensions of the bottom-mounted structure 1.

[0112] Since the length-to-width ratio of the bottom-mounted structure 1 is not large and it is relatively square, based on the actual layout of the bottom-mounted structure 1, the south-facing side of the bottom-mounted structure 1 is defined as the port side, the north-facing side of the bottom-mounted structure 1 is defined as the starboard side, the east-facing side of the bottom-mounted structure 1 is defined as the bow, and the west-facing side of the bottom-mounted structure 1 is defined as the stern.

[0113] Control point A0 is set at the far corner of the port stern outline of the bottom-supported structure 1; control point B0 is set at the far corner of the starboard stern outline of the bottom-supported structure 1; control point C0 is set at the far corner of the starboard bow outline of the bottom-supported structure 1; and control point D0 is set at the far corner of the port bow outline of the bottom-supported structure 1. The line connecting the four points A0, B0, C0, and D0 forms the outer outline of the structure.

[0114] Control point N0 is set at the midpoint of the port outer plating line of the bottom-supported structure 1, and control point S0 is set at the midpoint of the starboard outer plating line of the bottom-supported structure 1.

[0115] A control point E0 is set at the midpoint of the outer plate line of the bow section of the base-type structure 1, and a control point W0 is set at the midpoint of the outer plate line of the stern section of the base-type structure 1.

[0116] The power barge 3 consists of a power battery pack 5, a connecting lock 6, a thruster 7, and a signal receiver 8.

[0117] The powered barge 3 has a shallow draft, allowing it to pass through shallow waters with ease.

[0118] Among them, the power battery pack 5 can meet the power supply during the operation of the power barge 3 and is installed inside the power barge 3.

[0119] The connecting lock 6 is located at the bow of the powered barge 3 and can be automatically connected to the bottom of the base structure 1, so that the powered barge 3 and the base structure 1 are connected to each other as a rigid whole; it can also be automatically unlocked according to the command, so that the powered barge 3 and the base structure 1 are separated from each other.

[0120] A signal receiver 8 is also installed inside the power barge 3 to receive control signals from the control unit.

[0121] The powered barge 3 can operate safely underwater, maintain watertight integrity inside the cabin, and receive control signals to complete corresponding actions.

[0122] The thruster 7 is located below the stern of the powered barge 3. When the powered barge 3 is in operation, it provides effective thrust and keeps the thrust of the powered barge 3 stable.

[0123] A connecting seat 2 is installed on the port and starboard sides of the bow of the bottom-mounted structure 1, which can be used to connect the power barge 3 to the connecting lock 6.

[0124] A connecting seat 2 is installed on the port and starboard sides of the stern of the bottom-mounted structure 1, which can be used to connect the power barge 3 to the connecting lock 6.

[0125] When the four powered barges 3 are connected to the base structure 1 to form a rigid whole, each control unit combines into a complete control unit, which is arranged on the upper deck of the structure. The control unit can control any device in the assembly via wireless signals, and can also read the required attitude parameters, position parameters, power parameters and other information. At the same time, it can control the thrust of the powered barges 3.

[0126] The installation area for the bottom-mounted structure 1 was determined by actual surveying and designated as a rectangular region. The four corners were named control points A1, B1, C1, and D1, respectively. After the bottom-mounted structure 1 was positioned and installed, it corresponded to A0, B0, C0, and D0 on the structure.

[0127] The installation area in the sea is slightly larger than the external dimensions of the structure.

[0128] Simultaneously, a reference point N1 is set at the midpoint of the southward boundary line A1D1 of the installation area, and a reference point S1 is set at the midpoint of the northward boundary line B1C1 of the installation area.

[0129] On the extension line of the northern boundary line D1A1 of the installation area, take a sea line that is 5 times the length of the bow and stern of the structure, and set a control point A2 at the end. That is, A2 is on the extension line of D1A1, and A2A1 = 5 × D1A1.

[0130] Set reference point N2 at the midpoint of the line connecting A2 and A1.

[0131] On the extension line of the southern boundary line C1B1 of the installation area, take a sea line that is 5 times the length of the bow and stern of the structure, and set a control point B2 at the end. That is, B2 is on the extension line of C1B1, and B2B1 = 5 × C1B1.

[0132] Set reference point S2 at the midpoint of the line connecting B2 and B1.

[0133] The enclosed sea area formed by control points A1, A2, B2, and B1 is the approach area, providing attitude and heading adjustments for the hull-mounted structure 1 during its relocation. It also ensures that the hull-mounted structure 1 travels towards the installation area A1B1C1D1.

[0134] A reference point W is set in the middle of the line connecting the approach sea control points A2 and B2, so that the bottom-mounted structure 1 can find the approach sea area when it moves.

[0135] In the specific implementation process:

[0136] When the bottom-mounted structure 1 is transported by a semi-submersible barge to a deep-water area outside the installation area, the semi-submersible barge submerges and releases the bottom-mounted structure 1 into the seawater. At this time, the bottom-mounted structure 1 has a shallow draft, floats on the sea surface, and has no power support.

[0137] Since the bottom-mounted structure 1 may be moved from any location in the installation area, this embodiment describes the migration method from one direction, and the same migration method is used for any other direction.

[0138] Simultaneously, the No. 1 powered barge 301 is positioned against the port side connecting seat on the A0B0 side of the stern of the structure, and the connecting lock on the No. 1 powered barge 301 automatically locks the structure, connecting the No. 1 powered barge 301 to the structure as one unit.

[0139] Simultaneously, the No. 2 powered barge 302 is controlled to rest against the starboard connecting seat on the A0B0 side of the stern of the structure, and the connecting lock on the No. 2 powered barge 302 automatically locks the structure, connecting the No. 2 powered barge 302 and the structure as one unit.

[0140] Simultaneously, the No. 3 powered barge 303 is controlled to rest against the port side connecting seat on the bow C0D0 side of the structure, and the connecting lock on the No. 3 powered barge 303 automatically locks the structure, connecting the No. 3 powered barge 303 to the structure as one unit.

[0141] Simultaneously, the No. 4 powered barge 304 is positioned against the starboard connecting seat on the bow C0D0 side of the structure, and the connecting lock on the No. 4 powered barge automatically locks the structure, connecting the No. 4 powered barge to the structure as one unit.

[0142] At this point, Power Barge No. 1 301, Power Barge No. 2 302, Power Barge No. 3 303, and Power Barge No. 4 304 are rigidly connected to the base structure 1, and together they form a power assembly.

[0143] The controls for Power Barge 1 301, Power Barge 2 302, Power Barge 303, and Power Barge 4 304 are connected wirelessly to the control unit on the base structure 1.

[0144] Input the coordinates of four control points at the installation sea area, namely A1, B1, C1, and D1, into the assembly control unit 4. The control unit 4 automatically calculates the coordinates of reference points N1 and S1 according to the calculation rules.

[0145] The control unit simultaneously calculates the coordinates of the approach sea area control points, namely A2 and B2, as well as the position coordinates of reference points W, N2, and S2, according to the calculation rules.

[0146] (a) Remote migration:

[0147] At this point, the power assembly consisting of four sets of powered barges 3 and the bottom-mounted structure 1 began to autonomously control the model and migrate to the installation area.

[0148] a: At a location far from the installation area, the control unit 4 obtains the position coordinates of four control points A0, B0, C0, and D0 on the structure in real time through the navigation system on the bottom-mounted structure 1, and simultaneously calculates the position coordinates of control points N0 and S0.

[0149] b: The power assembly adjusts its direction via the power barge 3, bringing the bow of the hull-mounted structure 1 (C0D0) closest to the reference point A2B2 of the approach area, i.e., the bow of the hull-mounted structure 1 faces the approach area.

[0150] c: In control unit 4, based on the position coordinates of control points E0 and W, a virtual guide line E0W is drawn as the guide line for the initial migration of the power assembly.

[0151] d: Guided by guide line 9, the power assembly control unit controls the four powered floating barges to proceed towards the approaching sea area. En route, based on the coordinates of control points A0, B0, C0, and D0 provided by the navigation system, the power output of the powered floating barges is continuously adjusted, and their course is kept aligned with the guide line.

[0152] (ii) Short-distance migration:

[0153] a: When the power unit advances to the vicinity of the approach area under the guidance of the guide line, the control unit monitors the position coordinates of the bow control points C0 and D0 of the structure in real time and compares them with the coordinates of the reference points A2 and B2 of the approach area. When the control point C0 or D0 of the structure crosses the reference point A2 and comes into contact with the approach area A2B2B1A1, the power unit switches to short-distance migration.

[0154] b: The power assembly controls four power barges, operating at reduced power, so that the power assembly moves slowly under the traction of the guide line, while simultaneously acquiring the position information of control point E0 in real time.

[0155] c: When control point E0 crosses reference point W and enters approach area A2B2B1A1, the structure enters the course adjustment process and stops the guidance of the virtual guide line.

[0156] d: The power unit adjusts its course using reference point E0 as the baseline. Control the No. 2 and No. 4 power barges to generate counterforce, and control the No. 1 and No. 3 power barges to increase their power.

[0157] e: Under the combined action of powered barge No. 1, No. 2, No. 3, and No. 4, the structure's course was gradually adjusted to be parallel to the approach area, that is, the line connecting control points C0D0 was parallel to the line connecting reference points A2B2.

[0158] f: The original guide line becomes ineffective. During this process, the control unit acquires the position coordinates of control points N0 and S0 on the structure in real time and compares them with reference points N2 and S2.

[0159] g: Control powered barges No. 1, No. 2, No. 3, and No. 4 to act in the same direction on the power assembly and slowly navigate towards the installation area. The control unit acquires the real-time position information of control points A0, B0, C0, and D0 and compares it with the approach area reference points A2, B2, A1, and B1 to ensure that all control points of the power assembly are within the approach area.

[0160] h: Real-time acquisition of control points N0 and S0 of the structure, and determination of the distance between N0 and N2 and the vertical distance between S0 and S2, controlling the individual power units to migrate along the approach area towards the installation area. When the control points on the power assembly exceed the approach area, the power direction of the four power barges is adjusted in real time according to the distance between N0 and N2 and S0 and S2, pulling the power assembly back into the approach area, and keeping the distance between N0 and N2 and the distance between S0 and S2 as equal as possible to ensure the structure moves forward smoothly.

[0161] (III) Installation and Migration:

[0162] When the power unit is navigating in the approach area, the control unit monitors the position coordinates of the bow control points C0 and D0 of the structure in real time and compares them with the coordinates of the approach reference points A1 and B1. When the control points C0 and D0 of the structure come into contact with the installation area A1B1C1D1, the power unit is moved to the installation area.

[0163] a: The power assembly acquires the position coordinates of control points N0 and S0 in real time, and uses the distance between N0 and N1 and the distance between S0 and S1 as guidance to guide the power assembly to move forward.

[0164] b: During the installation and relocation of the power unit, the distances N0N1 and S0S1 should always be kept close, and the control points A0, B0, C0, and D0 of the structure should be kept within the installation area and the approach area.

[0165] c: When the stern sections A0 and B0 of the structure cross the reference points A1 and B1 of the installation sea area, the power assembly is fully installed in the installation sea area.

[0166] (iv) Positioning Adjustment:

[0167] When the power unit is fully in the installation area, it automatically switches to positioning and adjustment mode.

[0168] a: The control unit acquires the coordinates of the control points A0, B0, C0, and D0 of the structure, and adjusts the control points of the structure to be located within the installation sea area by means of the power distribution of the power assembly.

[0169] b: The control unit calculates the NON1 distance and the SOS1 distance, and adjusts the translation of the structure through the power combination of the power assembly, so that the NON1 distance is equal to the SOS1 distance;

[0170] c: The control unit calculates the distance between A0 and A1B1, calculates the distance between B0 and A1B1, and adjusts the translation of the structure through the power assembly to make the distance between A0 and A1B1 equal to the distance between B0 and A1B1.

[0171] After the above three steps, the structure is in the correct installation position, that is, the structure enters the preset installation position, and the orientation and angle are consistent with the preset orientation.

[0172] (V) Bottom-sitting operation:

[0173] Once the structure is confirmed to be able to settle on the bottom through positioning operations, the control unit controls the ballast water system inside the structure to inject ballast water into the ballast water tanks in a sequential manner. At the same time, the injection flow rate of the ballast water tanks is adjusted in real time through the attitude feedback of the structure to ensure that the structure sinks in a uniform upright buoyancy. Powered barge No. 1, Powered Barge No. 2, Powered Barge No. 4 follow the structure and sink in an upright attitude.

[0174] If the structure is affected by wind and waves and deviates from its original position, the control unit will control the powered barge to provide power and maintain the following three actions:

[0175] (a) The control unit obtains the position coordinates of the structure control points A0, B0, C0, and D0, and adjusts the structure control points to be located within the installation sea area by means of the power distribution of the power assembly.

[0176] (b) The control unit calculates the NON1 distance and the SOS1 distance, and adjusts the translation of the structure through the power combination of the power assembly, so that the NON1 distance is equal to the SOS1 distance;

[0177] (c) The control unit calculates the distance between A0 and A1B1, calculates the distance between B0 and A1B1, and adjusts the translation of the structure through the power assembly so that the distance between A0 and A1B1 is equal to the distance between B0 and A1B1.

[0178] Once the structure is firmly on the bottom, the autonomous relocation and installation work is completed. The No. 1 powered barge connection lock automatically opens, and the No. 1 powered barge detaches from the structure and floats up due to buoyancy.

[0179] The No. 2 powered barge connection lock automatically opened, and the No. 2 powered barge detached from the structure and floated up due to buoyancy.

[0180] The No. 3 powered barge connection lock automatically opened, and the No. 3 powered barge detached from the structure and floated up due to buoyancy.

[0181] The No. 4 powered barge's connection lock automatically opened, allowing the No. 4 powered barge to detach from the structure and float upwards due to buoyancy.

[0182] After all four powered barges have fully surfaced, they leave the installation area and return to the semi-submersible barge in the deep sea area.

[0183] The above description is an explanation of the present invention and not a limitation thereof. The scope of the present invention is defined by the claims. Within the scope of protection of the present invention, any form of modification may be made.

Claims

1. A migration method for an unmanned, autonomously controlled, unpowered, bottom-mounted platform, characterized in that: It includes a base-type structure (1), a control unit (4) is provided in the middle of the interior of the base-type structure (1), and a power barge (3) is installed on each of the four sides of the base-type structure (1) through a connecting seat (2). Control points A0, B0, C0 and D0 are set at the four corners of the base-type structure (1). The closed line connecting the four points A0, B0, C0 and D0 forms the outer outline of the base-type structure (1). Control point N0 is set at the midpoint of the port side outer plate line of the bottom-mounted structure (1), control point S0 is set at the midpoint of the starboard side outer plate line of the bottom-mounted structure (1), control point E0 is set at the midpoint of the bow outer plate line of the bottom-mounted structure (1), and control point W0 is set at the midpoint of the stern outer plate line of the bottom-mounted structure (1). The sea area for the installation of the bottom-mounted structure (1) is defined as a rectangular area based on the actual survey, and the four corners are named control points A1, B1, C1 and D1 in sequence. A reference point N1 is set up at the midpoint of the southward boundary line A1D1 of the installation area, and a reference point S1 is set up at the midpoint of the northward boundary line B1C1 of the installation area. On the extension line of the northward boundary line D1A1 of the installation area, take a sea line that is 5 times the length of the bow and stern of the structure, and set a control point A2 at the end. Set reference point N2 at the midpoint of the line connecting A2 and A1; On the extension line of the southern boundary line C1B1 of the installation area, take a sea line that is 5 times the length of the bow and stern of the structure, and set a control point B2 at the end. Set reference point S2 at the midpoint of the line connecting B2 and B1; The enclosed sea area formed by connecting control points A1, A2, B2, and B1 is the approach sea area; Set a reference point W in the middle of the line connecting control points A2 and B2 in the approach area; The specific migration process is as follows: S1: Remote migration The power assembly consisting of four sets of powered barges (3) and a bottom-mounted structure (1) began to autonomously control the model and migrate to the installation area. S1.1: At a location far from the installation sea area, the control unit (4) obtains the position coordinates of four control points A0, B0, C0 and D0 on the structure in real time through the navigation system on the bottom-mounted structure (1), and calculates the position coordinates of control points N0 and S0 at the same time. S1.2: The power assembly adjusts its direction via the power barge (3) to bring the bow C0D0 of the bottom-mounted structure (1) closest to the reference point A2B2 of the approach area, i.e., the bow of the bottom-mounted structure (1) faces the approach area. S1.3: In the control unit (4), based on the position coordinates of control points E0 and W, a virtual guide line E0W is drawn as the guide line (9) for the initial migration of the power assembly. S1.4: Guided by the guide line (9), the power assembly control unit controls the four powered floating barges (3) to proceed toward the approach waters. S2: Short-distance migration, S2.1: When the power assembly moves to the vicinity of the approach area under the guidance of the guide line, the control unit (4) monitors the position coordinate information of the bow control points C0 and D0 of the structure in real time and compares and analyzes them with the coordinates of the reference points A2 and B2 of the approach area. When the control point C0 or D0 of the structure crosses the reference point A2 and contacts the approach area A2B2B1A1, the power assembly changes to short-distance migration. S2.2: The power assembly controls four sets of power barges (3) to operate with reduced power, so that the power assembly moves slowly under the traction of the guide line, while the position information of the control point E0 is obtained in real time. S2.3: When control point E0 crosses reference point W and enters approach area A2B2B1A1, the structure enters the course adjustment process and stops the guidance of the virtual guide line; S2.4: The power unit adjusts its course with reference point E0 as the reference point, controls the No. 2 power barge (302) and the No. 4 power barge (304) to give the reverse force, and controls the No. 1 power barge (301) and the No. 3 power barge (303) to increase the power; S2.5: Under the combined action of the four sets of powered barges (3), the heading of the structure is gradually adjusted to be parallel to the approach sea area, that is, the line connecting control point C0D0 is parallel to the line connecting reference point A2B2; S2.6: The original guide line loses its function. During this process, the control unit (4) obtains the position coordinates of the control points N0 and S0 on the structure in real time and compares them with the reference points N2 and S2 to ensure that the control points N0 and S0 of the power assembly are within the approach sea area. S2.7: Control the four sets of powered barges (3) to act in the same direction on the power assembly and slowly sail towards the installation area. The control unit (4) obtains the location information of control points A0, B0, C0, and D0 in real time and compares it with the reference points A2, B2, A1, and B1 of the approach area to ensure that all control points of the power assembly are within the approach area. S2.8: Real-time acquisition of structure control points N0 and S0, and determination of the distance between N0N2 and the vertical distance between S0S2, control the individual power unit to move along the approach sea area to the installation sea area; when the control point on the power assembly exceeds the approach sea area, adjust the power direction of the four sets of power barges (3) in real time according to the distance between N0N2 and S0S2, pull the power assembly back to the approach sea area, and try to keep the distance between N0N2 and S0S2 equal to ensure that the structure moves forward smoothly; S3: Installation and migration When the power unit is navigating in the approach area, the control unit monitors the position coordinates of the bow control points C0 and D0 of the structure in real time and compares them with the coordinates of the reference points A1 and B1 in the approach area. When the control points C0 and D0 of the structure come into contact with the installation area A1B1C1D1, the power unit is moved to the installation area. S4: Positioning adjustment When the power unit is fully in the installation area, it automatically switches to positioning and adjustment mode. S5: Bottom-sitting operation When the structure is confirmed to be able to sit on the bottom through the positioning operation, the control unit (4) controls the ballast water system inside the structure to inject ballast water into the ballast water tank of the structure in sequence. At the same time, the injection flow rate of the ballast water tank is adjusted in real time through the attitude feedback of the structure to ensure that the structure sinks in a uniform positive floating attitude. The four sets of power barges (3) follow the structure to sink in a positive attitude. Once the structure is firmly in place, the autonomous relocation and installation work will be completed. The four sets of power barges (3) automatically open their connecting locks, detach from the structure, and float up under the action of buoyancy; After all four powered barges have fully surfaced, they leave the installation area and return to the semi-submersible barge in the deep sea area.

2. The migration method of an unmanned, autonomously controlled, unpowered, bottom-mounted platform as described in claim 1, characterized in that: The base-type structure (1) is a rectangular parallelepiped structure.

3. The migration method of an unmanned, autonomously controlled, unpowered, bottom-mounted platform as described in claim 1, characterized in that: Each power barge (3) is equipped with a battery pack (5) and a signal receiver (8). One end of the power barge (3) is equipped with a thruster (7), and the other end of the power barge (3) is equipped with a connection lock (6) that connects to the connection seat (2).

4. The migration method of an unmanned, autonomously controlled, unpowered, bottom-mounted platform as described in claim 1, characterized in that: When the four sets of powered barges (3) are connected to the bottom-mounted structure (1) to form a rigid whole, each of them controls and combines into a complete control unit, which is arranged on the upper deck of the bottom-mounted structure (1).

5. The migration method of an unmanned, autonomously controlled, unpowered, bottom-mounted platform as described in claim 1, characterized in that: The installation area in the sea is larger than the external dimensions of the bottom-mounted structure (1).

6. The migration method of an unmanned, autonomously controlled, unpowered, bottom-mounted platform as described in claim 1, characterized in that: In S1.4, the power output of the powered buoy is continuously adjusted according to the position coordinates of control points A0, B0, C0, and D0 given by the navigation system, and the course is adjusted to always move around the guide line.

7. The migration method of an unmanned, autonomously controlled, unpowered, bottom-mounted platform as described in claim 1, characterized in that: S3 includes the following operation steps: S3.1: The power assembly acquires the position coordinates of control points N0 and S0 in real time, and uses the distance between N0 and N1 and the distance between S0 and S1 as guidance to guide the power assembly to move forward; S3.2: During the installation and relocation of the power unit, the distances N0N1 and S0S1 must always be kept close, and the control points A0, B0, C0, and D0 of the structure must be kept within the installation sea area and the approach sea area. S3.3: When the stern A0 and B0 of the structure cross the reference points A1 and B1 of the installation sea area, the power assembly is fully entered into the installation sea area.

8. The migration method of an unmanned, autonomously controlled, unpowered, bottom-mounted platform as described in claim 1, characterized in that: S4 includes the following operation steps: S4.1: The control unit acquires the position coordinates of the structure control points A0, B0, C0, and D0, and adjusts the structure control points to be located within the installation sea area through the power distribution of the power assembly. S4.2: The control unit calculates the distances NON1 and SOS1, and adjusts the translation of the structure through the power combination of the power assembly to make the distance NON1 equal to the distance SOS1. S4.3: The control unit calculates the distance between A0 and A1B1, calculates the distance between B0 and A1B1, and adjusts the translation of the structure through the power assembly to make the distance between A0 and A1B1 equal to the distance between B0 and A1B1. After the above three steps, the structure is in the correct installation position, that is, the structure enters the preset installation position, and the orientation and angle are consistent with the preset orientation.

9. The migration method of an unmanned, autonomously controlled, unpowered, bottom-mounted platform as described in claim 1, characterized in that: In S5, if the structure is affected by wind and waves and deviates from its original position, the control unit controls the powered barge to provide power and maintain the following three actions: (a) The control unit obtains the position coordinates of the structure control points A0, B0, C0 and D0, and adjusts the structure control points to be located within the installation sea area by means of the power distribution of the power assembly; (b) The control unit calculates the NON1 distance and the SOS1 distance, and adjusts the translation of the structure through the power combination of the power assembly so that the NON1 distance is equal to the SOS1 distance; (c) The control unit calculates the distance between A0 and A1B1, calculates the distance between B0 and A1B1, and adjusts the translation of the structure through the power assembly so that the distance between A0 and A1B1 is equal to the distance between B0 and A1B1.

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