A gangway and method for measuring the end space position of a gangway

Abstract

A kind of inclined ladder and measurement method for gangway end space position measurement, inclined ladder body is hinged with wave-compensated gangway end on operating ship by hinged shaft, wave-compensated gangway end side is connected with inclined ladder body by telescopic cylinder, inclination sensor is arranged on inclined ladder body, the position of hinged shaft is measurement point;The lower end of inclined ladder body is installed universal wheel, and the ground pressure size of force sensor between the two is fed back, the vertical rotation shaft of universal wheel is connected with rotation angle sensor for measuring the direction angle of universal wheel;Pulse encoder is installed on the horizontal wheel shaft of universal wheel for measuring the rolling distance of universal wheel;The signal of above-mentioned measuring device is received by data processing unit of measurement control system, data processing unit also accepts gangway deflection angle, data processing unit calculates the spatial position change of measurement point in real time, real-time automatic feedback wave-compensated gangway end position, improve the control effect of wave-compensated gangway, reduce operating operator, improve boarding safety.

Description

Technical Field

[0001] This invention relates to the field of marine vessel operation technology, and in particular to an inclined ladder and a measurement method for measuring the spatial position at the end of a gangway. Background Technology

[0002] With the implementation of the national dual-carbon strategy, the rapid development of offshore wind power has led to a sharp increase in the demand for wind power operation and maintenance. Currently, large wind power operation and maintenance vessels under construction are generally equipped with wave (motion) compensated gangways to ensure the personal safety of operation and maintenance personnel during the transfer of vessels and wind turbine piles under harsh sea conditions.

[0003] When large wind power operation and maintenance vessels are in operation, the hull needs to maintain a certain safe distance from the wind turbine pile (usually more than 20 meters). Therefore, the function of the wave compensation gangway is to establish a safe passage from the operation and maintenance vessel to the wind turbine pile. Its end can extend to the boarding platform of the wind turbine pile, and the extension length, pitch angle and slewing angle are constantly adjusted according to the rise and fall of the hull in the waves, so that its end relative to the boarding platform of the wind turbine pile remains as constant as possible.

[0004] Currently, the boarding platforms for wind turbine piles can be broadly classified into two types. One type can withstand greater backing force or pressure. In this case, the end of the wave-compensated gangway can rest against its side or press against its surface / bottom, using greater friction to suppress or adjust the relative movement of the gangway end to ensure the safety of personnel passing through. This is the widely adopted mode at present. The other type of boarding platform has a structural strength or mechanical form that is not suitable for backing or applying pressure.

[0005] In the second scenario, the end of the wave-compensated gangway can only hover above the boarding platform. The position of the gangway end is adjusted in real time through the control system of the wave-compensated gangway to ensure the position and speed fluctuations of the gangway end, thereby ensuring the safety of personnel passing through the end of the wave-compensated gangway. However, a monitoring person needs to be equipped on the boarding platform to provide feedback on whether the position of the end of the wave-compensated gangway is in a safe area to ensure the safety of the operation. This not only increases the personnel requirements but may also lead to untimely feedback, posing certain safety hazards. Summary of the Invention

[0006] To address the shortcomings of existing production technologies, the applicant provides an inclined ladder and measurement method for measuring the spatial position at the end of a gangway, thereby providing real-time automatic feedback on the position of the end of the wave-compensated gangway, further improving the control effect of the wave-compensated gangway, reducing the number of maintenance personnel, and enhancing the safety of the boarding process.

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

[0008] An inclined ladder for measuring the spatial position at the end of a gangway includes an inclined ladder body. A hinge shaft is provided at the lower part of the upper end of the inclined ladder body. The inclined ladder body is hinged to the end of a wave-compensating gangway on a maintenance vessel via the hinge shaft. The side of the end of the wave-compensating gangway is connected to the upper side of the inclined ladder body via a telescopic cylinder. The angle between the length direction of the inclined ladder body and the vertical line is the tilt angle. An inclination sensor for real-time detection of the tilt angle is provided on the inclined ladder body. The installation end of the wave-compensating gangway is connected to the maintenance vessel. The wave-compensating gangway has telescopic function and pitch and rotation functions relative to the maintenance vessel. The position of the hinge shaft is the measurement point.

[0009] The lower end of the inclined ladder body is equipped with casters. The contact pressure between the casters and the platform to be climbed is the ground pressure. A force sensor is installed between the lower end of the inclined ladder body and the casters, which provides feedback on the magnitude of the ground pressure. An angle sensor is connected in series on the vertical axis of the casters to measure the directional angle of the casters. A pulse encoder is installed on the horizontal axle of the casters to measure the rolling distance of the casters.

[0010] It also includes a measurement and control system, which includes a data processing unit that receives and processes signals from tilt sensors, force sensors, rotation sensors and pulse encoders. The data processing unit also receives the gangway deflection angle from the maintenance vessel, and calculates the spatial position change of the measurement point in real time.

[0011] Its further technical solution lies in:

[0012] The initial extension of the telescopic cylinder is set to 50%.

[0013] The telescopic cylinder's extension range ensures that the tilt angle varies from 50° to 60°.

[0014] The force sensor is a two-component type. One component of the force sensor is perpendicular to the length direction of the inclined ladder body, and the other component is parallel to the length direction of the inclined ladder body.

[0015] The data processing unit is used to receive signals from the force sensor and control the extension of the telescopic cylinder; the data processing unit is used to receive tilt angle and gangway deflection angle data, and calculate the spatial orientation of the measurement point by combining the length of the inclined ladder body; the data processing unit is used to process the data from the angle sensor and pulse encoder to determine the movement trajectory of the omnidirectional wheel.

[0016] Cameras are installed at the top and bottom of the end of the wave-compensating gangway. The cameras are used to confirm the contact point position of the caster wheels on the wind turbine pile launching platform.

[0017] The casters are anti-slip type.

[0018] A measurement method using an inclined ladder for measuring the spatial position at the end of a gangway, comprising the following steps:

[0019] Deploy the inclined ladder and start the measurement function: Open the valve control component of the telescopic cylinder. After the telescopic cylinder extends, the main body of the inclined ladder rotates around the hinge axis to the deployment state. Driven by the wave-compensated gangway, the main body of the inclined ladder moves the casters to the center of the platform to the optimal safe position. The position of the casters is the original reference point, and the position of the measurement point is the optimal working position. Start the measurement control system.

[0020] Establish a measurement spatial coordinate system: the original reference point is the origin of the spatial coordinate system, the intersection of the plane where the inclined ladder is located and the plane where the platform is located is the X-axis of the spatial coordinate system, the Y-axis of the spatial coordinate system is located on the plane where the platform is located and is perpendicular to the X-axis of the spatial coordinate system, and the Z-axis of the spatial coordinate system passes through the origin of the spatial coordinate system and is perpendicular to the platform.

[0021] Establish a dynamic vector measurement system: generate planar vectors, inclined ladder spatial vectors, and gangway end spatial vectors in the spatial coordinate system.

[0022] The planar vector represents the positional change of the omnidirectional wheel. The starting point of the planar vector is the origin of the spatial coordinate system, and the ending point of the planar vector is the omnidirectional wheel. The real-time planar vector is obtained by fitting the real-time measurement data of the angle sensor and the pulse encoder.

[0023] The inclined ladder spatial vector represents the real-time position of the inclined ladder body. The starting end of the inclined ladder spatial vector is the universal wheel, the ending end of the inclined ladder spatial vector is the measurement point, the length of the inclined ladder spatial vector is the length of the inclined ladder body, the angle between the inclined ladder spatial vector and the XOY plane is the complementary angle of the tilt angle, and the angle between the inclined ladder spatial vector and the YOZ plane is the gangway deflection angle.

[0024] The spatial vector at the end of the gangway represents the positional change of the measurement point. The starting point of the spatial vector at the end of the gangway is the origin of the spatial coordinate system, and the ending point of the spatial vector at the end of the gangway is the measurement point. The spatial vector at the end of the gangway is the sum of the planar vector and the inclined ladder spatial vector. The spatial vector at the end of the gangway is used by the data processing unit to determine the real-time position of the measurement point.

[0025] Position adjustment of measurement points: The data processing unit feeds back the real-time position of the measurement points to the control system of the wave-compensated gangway. By adjusting the extension length, pitch angle and slewing angle of the wave-compensated gangway, the measurement points are forced to continuously approach or return to the optimal working position.

[0026] Real-time adjustment of ground pressure: The data processing unit detects the output ground pressure of the force sensor. If the amplitude of the ground pressure is less than the lower limit of the ground pressure, the inclined ladder telescopic cylinder is extended to increase the downward pressure of the inclined ladder body. If the amplitude of the ground pressure is greater than the upper limit of the ground pressure, the inclined ladder telescopic cylinder is retracted to reduce the downward pressure of the inclined ladder body.

[0027] Its further technical solution lies in:

[0028] In the steps of setting up the inclined ladder and starting the measurement function, when starting the measurement control system, the force sensor, tilt sensor, rotation angle sensor, pulse encoder and data processing unit are started first. The force sensor obtains the ground pressure, and then the data processing unit adjusts the length of the telescopic cylinder according to the magnitude of the ground pressure to keep the magnitude of the ground pressure within the resultant force range. After the rotation angle sensor of the universal wheel, the pulse encoder and the deflection angle of the gangway are zeroed, the measurement function is started. The tilt sensor measures the tilt angle of the inclined ladder in real time.

[0029] The beneficial effects of this invention are as follows:

[0030] This invention features a compact and reasonable structure and is easy to operate. By installing an inclined ladder body at the end of the wave-compensating gangway, the spatial position of the measurement point can be accurately measured based on the length and inclination angle of the inclined ladder body, the rolling distance and orientation of the casters on the platform, and the deflection angle of the gangway. This allows for real-time automatic feedback of the position at the end of the wave-compensating gangway, further improving the control effect of the wave-compensating gangway, reducing the number of maintenance personnel, and enhancing the safety of the boarding process.

[0031] Furthermore, the present invention also has the following advantages:

[0032] (1) The two-component force sensor monitors the force on the lower part of the inclined ladder from two vertical directions, making it easier to analyze and determine the structural force on this part.

[0033] (2) Real-time feedback on the position of the measurement point of the wave compensation gangway. On the one hand, feedback on whether the position of the end of the wave compensation gangway is in the safe zone, further ensuring the accuracy of the rotation, extension and pitch of the wave compensation gangway and ensuring the safety of operation and maintenance personnel. On the other hand, prompting the control system of the wave compensation gangway to correct the position of the end of the wave compensation gangway 1 in a timely manner, so that the measurement point continuously approaches or returns to the best working position, and the casters continuously approach or return to the best safe position, so as to make the boarding operation experience better. Attached Figure Description

[0034] Figure 1 This is a schematic diagram of the structure of the present invention.

[0035] Figure 2 This is a schematic diagram of the force measurement of the force sensor of the present invention.

[0036] Figure 3 This is a schematic diagram showing the tilt angle of the main body of the inclined ladder of the present invention.

[0037] Figure 4 The inclined trapezoidal space vector is established when the measurement space coordinate system is set up for this invention.

[0038] Figure 5 This is a diagram showing the positional variation of the inclined trapezoidal space vector within the measurement space coordinate system according to the present invention.

[0039] Figure 6 This is a schematic diagram of the gangway deflection angle of the present invention.

[0040] Figure 7 This is a diagram illustrating the fitting process of the planar vector in this invention.

[0041] Figure 8 This is a diagram showing the connection relationships within the data processing unit of the present invention.

[0042] Among them: 1. Wave-compensated gangway; 2. Platform;

[0043] 301. Inclined ladder main body; 302. Triangular mechanism support; 303. Hinge shaft; 304. Telescopic cylinder;

[0044] 305. Force sensor; 306. Tilt sensor; 307. Mounting plate; 308. Turning mechanism;

[0045] 309. Angle sensor; 310. Caster wheel; 311. Pulse encoder; 312. Data processing unit; 3122. Valve control assembly;

[0046] 401. First force component; 402. Second force component; 403. Ground pressure;

[0047] 501. Contact plane; 50101. Origin of spatial coordinate system; 50102. X-axis of spatial coordinate system; 50103. Y-axis of spatial coordinate system; 502. Z-axis of spatial coordinate system;

[0048] 504. Rolling trajectory of the omnidirectional wheel; 505. Planar vector; 506. Spatial vector of the inclined ladder; 507. Measurement point; 508. Spatial direction at the end of the gangway;

[0049] β, gangway deflection angle; α, tilt angle; O, optimal safe position; P, optimal working position. Detailed Implementation

[0050] The specific embodiments of the present invention will now be described with reference to the accompanying drawings.

[0051] Example 1:

[0052] like Figure 1As shown, the inclined ladder used for measuring the spatial position at the end of the gangway in this embodiment includes an inclined ladder body 301. A hinge shaft 303 is provided at the lower part of the upper end of the inclined ladder body 301. The inclined ladder body 301 is hinged to the end of the wave-compensating gangway 1 on the maintenance vessel via the hinge shaft 303. The side of the end of the wave-compensating gangway 1 is connected to the upper side of the inclined ladder body 301 via a telescopic cylinder 304. The angle between the length direction of the inclined ladder body 301 and the vertical line is the tilt angle α. An tilt sensor 306 for real-time detection of the tilt angle α is provided on the inclined ladder body 301. The installation end of the wave-compensating gangway 1 is connected to the maintenance vessel. The wave-compensating gangway 1 has telescopic function and pitch and rotation functions relative to the maintenance vessel. The position of the hinge shaft 303 is the measurement point 507.

[0053] Specifically, triangular mechanism supports 302, which serve as handrails, are set on both sides of the inclined ladder body 301. Telescopic cylinders 304 can be hydraulic or pneumatic cylinders. Two telescopic cylinders 304 are located on both sides of the end of the wave-compensating gangway 1. One end of each telescopic cylinder 304 is connected to the end of the triangular mechanism support 302 closest to the wave-compensating gangway 1, and the other end is connected to the end of the wave-compensating gangway 1. The two ends of the telescopic cylinder 304 form a triangle with the axis of the hinge shaft 303. An inclination sensor 306 is installed inside the inclined ladder body 301, specifically located along the length of the inclined ladder body 301. The lower side; when the telescopic cylinder 304 retracts to the bottom, the inclined ladder body 301 is in the retracted state, closing the end of the wave compensation gangway 1; when the inclined ladder body 301 is deployed, the telescopic cylinder 304 extends, and ensures that the pressure between the inclined ladder body 301 and the platform 2 to be climbed is kept within a certain range, ensuring that the connection between the inclined ladder body 301 and the platform 2 is safe and reliable, meeting the requirements for human passage; when deploying the inclined ladder body 301, the inclination angle α needs to make the step plane on the inclined ladder body 301 parallel or nearly parallel to the platform 2, ensuring the comfort of people walking on the inclined ladder body 301.

[0054] A caster wheel 310 is installed at the lower end of the inclined ladder body 301. The contact pressure between the caster wheel 310 and the platform 2 to be climbed is the ground pressure 403. A force sensor 305 is installed between the lower end of the inclined ladder body 301 and the caster wheel 310. The force sensor 305 provides feedback on the magnitude of the ground pressure 403. An angle sensor 309 is connected in series on the vertical shaft of the caster wheel 310. The angle sensor 309 is used to measure the direction angle of the caster wheel 310. A pulse encoder 311 is installed on the horizontal axle of the caster wheel 310. The pulse encoder 311 is used to measure the rolling distance of the caster wheel 310.

[0055] Specifically, a mounting plate 307 is provided at the lower end of the inclined ladder body 301. The upper part of the mounting plate 307 is connected to the inclined ladder body 301 through a force sensor 305. A caster wheel 310 is mounted on the mounting plate 307. An angle sensor 309 is mounted on the angle mechanism 308 of the caster wheel 310. During the initial placement of the inclined ladder body 301, the extension and retraction of the telescopic cylinder 304 is controlled by the tilt sensor 306 to make the step plane on the inclined ladder body 301 parallel or nearly parallel to the platform 2. When the caster wheel 310 contacts the optimal safe position O of the platform 2, the sensor is activated, and the current contact point between the platform 2 and the caster wheel 310 is taken as the original reference point. This is the initial state of the inclined ladder body 301. Figure 4 As shown, the line connecting the original reference point and the measurement point 507 is consistent with the length direction of the inclined ladder body 301. The line connecting the original reference point and the measurement point 507 is located in the YOZ plane, and the contact plane 501 is the upper surface of the platform 2.

[0056] Specifically, the force sensor 305 is used to provide feedback on the telescopic movement of the telescopic cylinder 304 and the pitching movement of the wave-compensated gangway 1, so that the ground pressure 403 is within the normal pressure range. The control principle is as follows:

[0057] When the data processing unit 312 detects the ground pressure 403 output by the force sensor 305, if the amplitude of the ground pressure 403 is less than the lower limit of the ground pressure, it controls the extension cylinder 304 of the inclined ladder to extend, increasing the downward pressure of the inclined ladder body 301; if the amplitude of the ground pressure 403 is greater than the upper limit of the ground pressure, it controls the extension cylinder 304 of the inclined ladder to retract, reducing the downward pressure of the inclined ladder body 301; because the position of the measuring point 507 rises, the ground pressure 403 decreases. While adjusting the extension of the extension cylinder 304, the data processing unit 312 will feed back the change in the pitch angle of the wave-compensated gangway 1, causing the wave-compensated gangway 1 to press down, which in turn causes the ground pressure 403 to increase. It is necessary to adjust the extension cylinder 304 to shorten again, dynamically adjusting the position of the measuring point 507 while ensuring that the ground pressure 403 is within the normal pressure range; the same applies when the position of the measuring point 507 decreases.

[0058] It also includes a measurement and control system, which includes a data processing unit 312 that receives and processes signals from an inclination sensor 306, a force sensor 305, a rotation angle sensor 309, and a pulse encoder 311. The data processing unit 312 also receives the gangway deflection angle β from the maintenance vessel. The data processing unit 312 calculates the spatial position change of the measurement point 507 in real time.

[0059] Specifically, the gangway deflection angle β is the sum of the changes in the bow angle of the maintenance vessel relative to the initial state of the inclined gangway body 301 and the slewing angle of the wave-compensated gangway 1. To further clarify, maintenance vessels use dynamic positioning to control the horizontal movement of the hull, with bow angle changes not exceeding 1° and position changes not exceeding 1m. Therefore, the angular displacement caused by the positional change of the maintenance vessel transmitted to the end of the wave-compensated gangway 1 is very small and can be ignored. Thus, the gangway deflection angle β can be approximately equal to the change in the slewing angle of the wave-compensated gangway 1. The data processing unit 312 can be fixedly installed in the housing at the end of the wave-compensated gangway 1.

[0060] By installing the inclined ladder body 301 at the end of the wave-compensated gangway 1, the spatial position of the measuring point 507 can be accurately measured based on the length and tilt angle α of the inclined ladder body 301, the rolling distance and orientation of the casters 310 on the platform 2, and the gangway deflection angle β. This allows for real-time automatic feedback of the position at the end of the wave-compensated gangway, further improving the control effect of the wave-compensated gangway, reducing the number of maintenance personnel, and enhancing the safety of the boarding process.

[0061] Furthermore, the initial extension of the telescopic cylinder 304 is set to 50%. This is the optimal operating state when deploying the inclined ladder body 301.

[0062] Furthermore, the telescopic cylinder 304's telescopic range ensures that the tilt angle α varies from 50° to 60°. This range of tilt angle α ensures the walking comfort and safety of the personnel embarking on the journey.

[0063] Furthermore, such as Figures 1-2 As shown, the force sensor 305 is a two-component type. One component of the force sensor 305 is perpendicular to the length direction of the inclined ladder body 301, and the other component of the force sensor 305 is parallel to the length direction of the inclined ladder body 301.

[0064] Specifically, the angles of the first force component 401 and the second force component 402 of the ground pressure 403 will change depending on the tilt angle α. The magnitude of the ground pressure 403 reflects the degree of clamping between the caster wheel 310 and the platform 2. Keeping the magnitude of the ground pressure 403 within a reasonable range ensures the effective rolling of the caster wheel 310 without damaging the structural strength of the inclined ladder body 301. The two-component force sensor 305 monitors the force on the lower part of the inclined ladder body 301 from two vertical directions, making it easier to analyze and determine the structural force on this part.

[0065] Furthermore, such as Figures 3-8As shown, the data processing unit 312 is used to receive the signal from the force sensor 305 and control the extension of the telescopic cylinder 304, thereby adjusting the magnitude of the ground pressure 403; the data processing unit 312 is used to receive the tilt angle α and the gangway deflection angle β data, and calculate the spatial orientation of the measurement point 507 by combining the length of the inclined ladder body 301; the data processing unit 312 is used to process the data from the angle sensor 309 and the pulse encoder 311 to determine the movement trajectory of the universal wheel 310.

[0066] Specifically, spatial orientation refers to the pitch and rotation of the wave-compensated gangway 1 compared to the initial state of the inclined gangway body 301. Based on the magnitude of the ground pressure 403 fed back by the force sensor 305, the telescopic cylinder 304 is instructed to extend and retract, and the wave-compensated gangway 1 is instructed to pitch, extend, retract, and rotate. On the one hand, the magnitude of the ground pressure 403 is adjusted, and on the other hand, the caster wheel 310 is returned to the optimal safe position O, and the measuring point 507 is returned to the optimal working position P.

[0067] Furthermore, cameras are installed at the top and bottom of the end of the wave-compensated gangway 1. These cameras are used to confirm the contact point position of the casters 310 on the platform 2. The contact point position is the optimal safety position O. The use of cameras facilitates operators to monitor or automatically determine the position of the casters 310, ensuring that the casters 310 do not slip off the platform 2, and also facilitates the placement of the inclined ladder body 301.

[0068] Furthermore, the 310 caster wheel is anti-slip.

[0069] Example 2:

[0070] like Figures 1-8 As shown, the measurement method for the inclined ladder used for measuring the spatial position at the end of a gangway according to Embodiment 1 includes the following steps:

[0071] Preliminary work for measurement:

[0072] When the maintenance vessel is in operation, it first sails to a position close to the wind turbine pile and activates the dynamic positioning system of the maintenance vessel. This positioning system uses a high-precision gyrocompass and differential GPS, and uses the propulsion system to dynamically adjust the hull position of the maintenance vessel in the horizontal plane, which can ensure that the bow angle fluctuation of the maintenance vessel does not exceed 1° and the forward, backward and left and right position fluctuation does not exceed 1m.

[0073] Specifically, the personnel responsible for operating the wave compensation gangway 1 adjust the extension, pitch, and rotation of the wave compensation gangway 1, and with the help of cameras at the top and bottom of the end of the wave compensation gangway 1, make the end of the wave compensation gangway 1 reach above the platform 2 of the wind turbine pile.

[0074] Deploy the inclined ladder main body 301 and activate the measurement function:

[0075] like Figure 4 As shown, the valve control component 3122 of the telescopic cylinder 304 is opened. After the telescopic cylinder 304 extends, the inclined ladder body 301 rotates around the hinge shaft 303 to the deployment state. Under the drive of the wave-compensated gangway 1, the inclined ladder body 301 moves the caster 310 to the center position of the platform 2 to the optimal safe position O. The position of the caster 310 is the original reference point, and the position of the measuring point 507 is the optimal working position P. The measurement control system is started.

[0076] Specifically, the valve control component 3122 is hydraulic or pneumatic and is controlled by the data processing unit 312. When the inclined ladder body 301 is laid out, the tilt angle α needs to make the step plane on the inclined ladder body 301 parallel or nearly parallel to the platform 2 to ensure the comfort of personnel walking on the inclined ladder body 301. The operator of the wave-compensated gangway 1 confirms through the camera that the contact point of the caster wheel 310 on the platform 2 is suitable for operation, so that there is no risk of the caster wheel 310 slipping out of the platform 2, that is, the caster wheel 310 is in a safe position. The camera is installed at the top and bottom of the end of the wave-compensated gangway 1. The operator at the rear uses the camera to observe from different angles and finally select the overlapping position, that is, the optimal safe position O.

[0077] Furthermore, during the deployment of the inclined ladder body 301 and the activation of the measurement function, when the measurement control system is activated, the force sensor 305, tilt sensor 306, rotation sensor 309, pulse encoder 311, and data processing unit 312 are activated first. The force sensor 305 acquires the ground pressure 403. Then, the data processing unit 312 adjusts the length of the telescopic cylinder 304 according to the magnitude of the ground pressure 403 to keep the magnitude of the ground pressure 403 within the resultant force range. After the rotation sensor 309 of the universal wheel 310, the pulse encoder 311, and the deflection angle β of the gangway are zeroed, the measurement function is activated. The tilt sensor 306 measures the tilt angle α of the inclined ladder body 301 in real time.

[0078] Establish a measurement space coordinate system:

[0079] like Figures 4-7 As shown, the original reference point is the origin 50101 of the spatial coordinate system. The intersection of the plane where the inclined ladder body 301 is located and the plane where the platform 2 is located is the X-axis 50102 of the spatial coordinate system. The Y-axis 50103 of the spatial coordinate system is located on the plane where the platform 2 is located and is perpendicular to the X-axis 50102 of the spatial coordinate system. The Z-axis 502 of the spatial coordinate system passes through the origin 50101 of the spatial coordinate system and is perpendicular to the platform 2.

[0080] Specifically, the spatial coordinate system serves as the fixed coordinate system of the measurement system. When the measurement and control system is started, the spatial coordinate system is generated, and all measurement data in the subsequent process is referenced to this coordinate system.

[0081] Establish a dynamic vector measurement system:

[0082] like Figure 5 As shown, a plane vector 505, a staircase space vector 506, and a gangway end space vector 508 are generated in the spatial coordinate system.

[0083] Plane vector 505 represents the position change of the omnidirectional wheel 310. The starting point of plane vector 505 is the origin 50101 of the spatial coordinate system, and the ending point of plane vector 505 is the omnidirectional wheel 310. The real-time plane vector 505 is obtained by fitting the real-time measurement data of the angle sensor 309 and the pulse encoder 311.

[0084] Specifically, such as Figure 7 As shown, the output signal of the pulse encoder 311 includes the number of pulses and the pulse direction. Each pulse represents a fixed length L. A positive pulse direction indicates that the wheel rolls in the positive direction of the Y-axis, and a negative pulse direction indicates that the wheel rolls in the negative direction of the Y-axis. The angle signal output by the angle sensor 309 represents the angle by which the wheel deviates from the positive direction of the Y-axis. Based on the above design, from the start of the data processing unit 312, the pulse vector can be continuously acquired based on the output signals of the pulse encoder 311 and the angle sensor 309. Then the vector at any given time By continuously recording the planar vector 505, the omnidirectional wheel's rolling trajectory 504 can be formed.

[0085] The inclined ladder space vector 506 represents the real-time position of the inclined ladder body 301. The starting end of the inclined ladder space vector 506 is the universal wheel 310, the ending end of the inclined ladder space vector 506 is the measurement point 507, the length of the inclined ladder space vector 506 is the length of the inclined ladder body 301, the angle between the inclined ladder space vector 506 and the XOY plane is the complementary angle of the tilt angle α, and the angle between the inclined ladder space vector 506 and the YOZ plane is the gangway deflection angle β.

[0086] The spatial vector 508 at the end of the gangway represents the position change of the measurement point 507. The starting point of the spatial vector 508 at the end of the gangway is the origin 50101 of the spatial coordinate system, and the ending point of the spatial vector 508 at the end of the gangway is the measurement point 507. The spatial vector 508 at the end of the gangway is the sum of the planar vector 505 and the inclined ladder spatial vector 506. The spatial vector 508 at the end of the gangway is used by the data processing unit 312 to determine the real-time position of the measurement point 507.

[0087] Specifically, the measurement principle of the dynamic vector measurement system is as follows:

[0088] like Figure 4As shown, in the initial state, the plane on which the inclined ladder body 301 is located is initially perpendicular to the YOZ plane. At this time, the inclined ladder space vector 506 is on the YOZ plane, that is, the angle between the vector and the YOZ plane is 0°. At this time, the position of the measurement point 507 is the optimal working position P.

[0089] like Figure 5 , Figure 6 As shown, during the subsequent movement, the change in the angle between the inclined ladder spatial vector 506 and the YOZ plane is the gangway deflection angle β. The gangway deflection angle β is the sum of the changes in the bow angle of the maintenance vessel relative to the initial state of the inclined ladder body 301 and the turning angle of the wave-compensated gangway 1. The changes in the bow angle of the maintenance vessel and the turning angle of the wave-compensated gangway 1 can be obtained through the control system of the maintenance vessel, that is, the gangway deflection angle β can be obtained in real time. The gangway deflection angle β is the angle between the inclined ladder spatial vector 506 and the YOZ plane.

[0090] like Figure 3 As shown, the angle between the inclined trapezoidal space vector 506 and the XOY plane is the complementary angle of the inclination angle α.

[0091] The length of the inclined staircase space vector 506 is known (i.e., the length of the inclined staircase body 301, which is a fixed value). The angles between the inclined staircase space vector 506 and the XOY plane and the YOZ plane can be obtained in real time, so the inclined staircase space vector 506 can be calculated.

[0092] Adjustment of the position of measurement point 507:

[0093] The data processing unit 312 feeds back the real-time position of the measuring point 507 to the control system of the wave-compensated gangway 1. By adjusting the extension length, pitch angle and slewing angle of the wave-compensated gangway 1, the measuring point 507 is forced to continuously approach or return to the optimal working position P.

[0094] Real-time adjustment of ground pressure 403:

[0095] The data processing unit 312 detects the ground pressure 403 output by the force sensor 305. If the amplitude of the ground pressure 403 is less than the lower limit of the ground pressure, the inclined ladder telescopic cylinder 304 is controlled to extend, increasing the downward pressure of the inclined ladder body 301. If the amplitude of the ground pressure 403 is greater than the upper limit of the ground pressure, the inclined ladder telescopic cylinder 304 is controlled to retract, reducing the downward pressure of the inclined ladder body 301.

[0096] Specifically, the normal pressure range is from the lower limit to the upper limit of the landing pressure, and can be selected from 50Kgf to 150Kgf depending on the specific situation.

[0097] During operation, the position adjustment of the step measurement point 507 and the timely adjustment of the ground pressure 403 based on the dynamic vector measurement system are cyclical, ensuring that the vertical distance of the measurement point 507 from the optimal working point does not exceed the adjustment range of the measuring inclined ladder (the stroke range of the inclined ladder telescopic cylinder 304, and ensuring that the change range of the tilt angle α is 50°-60°). The control system of the wave compensation gangway adjusts the measurement point 507 back to the height of the optimal working position P. Since the entire system is a closed-loop feedback, within one control cycle, the data processing unit 312 of the measuring inclined ladder needs to calculate the angular deviation of the current spatial direction 508 at the end of the gangway from the initial moment based on the current gangway deflection angle β and the signals from the sensors on the measuring inclined ladder, so as to guide how the rotation angle of the wave compensation gangway 1 should be adjusted in the next moment.

[0098] The objective of this embodiment is to provide real-time feedback on the position of the measurement point 507 of the wave-compensated gangway 1. On the one hand, it provides feedback on whether the position of the end of the wave-compensated gangway 1 is within the safe zone, further ensuring the accuracy of the rotation, extension, and pitch movements of the wave-compensated gangway 1 and ensuring the safety of maintenance personnel. On the other hand, it prompts the control system of the wave-compensated gangway 1 to promptly correct the position of the end of the wave-compensated gangway 1, so that the measurement point 507 continuously approaches or returns to the optimal working position P, and the caster wheel 310 continuously approaches or returns to the optimal safe position O, resulting in a better boarding operation experience.

[0099] 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 method for measuring the spatial position of an inclined ladder at the end of a gangway, characterized in that: The inclined ladder used for measuring the spatial position at the end of the gangway includes an inclined ladder body (301). A hinge shaft (303) is provided at the lower part of the upper end of the inclined ladder body (301). The inclined ladder body (301) is hinged to the end of the wave compensation gangway (1) on the maintenance vessel through the hinge shaft (303). The side of the end of the wave compensation gangway (1) is connected to the side of the upper end of the inclined ladder body (301) through a telescopic cylinder (304). The angle between the length direction of the inclined ladder body (301) and the vertical line is the tilt angle (α). An inclination sensor (306) for real-time detection of the tilt angle (α) is provided on the inclined ladder body (301). The installation end of the wave compensation gangway (1) is connected to the maintenance vessel. The wave compensation gangway (1) has telescopic function and pitch and rotation functions relative to the maintenance vessel. The position of the hinge shaft (303) is the measurement point (507). The lower end of the inclined ladder body (301) is equipped with casters (310). The contact pressure between the casters (310) and the platform (2) to be climbed is the ground pressure (403). A force sensor (305) is provided between the lower end of the inclined ladder body (301) and the casters (310). The force sensor (305) provides feedback on the magnitude of the ground pressure (403). An angle sensor (309) is connected in series on the vertical axis of the casters (310). The angle sensor (309) is used to measure the direction angle of the casters (310). A pulse encoder (311) is installed on the horizontal axle of the casters (310). The pulse encoder (311) is used to measure the rolling distance of the casters (310). It also includes a measurement and control system, which includes a data processing unit (312) that receives and processes signals from an inclination sensor (306), a force sensor (305), a rotation sensor (309), and a pulse encoder (311). The data processing unit (312) also receives the gangway deflection angle (β) from the maintenance vessel. The data processing unit (312) calculates the spatial position change of the measurement point (507) in real time. The measurement method includes the following steps: Deploy the inclined ladder body (301) and start the measurement function: Open the valve control component (3122) of the telescopic cylinder (304). After the telescopic cylinder (304) extends, the inclined ladder body (301) rotates around the hinge axis (303) to the deployment state. Under the drive of the wave-compensated gangway (1), the inclined ladder body (301) moves the caster wheel (310) to the center position of the platform (2) to the optimal safe position (O). The position of the caster wheel (310) is the original reference point, and the position of the measurement point (507) is the optimal working position (P). Start the measurement control system. Establish a measurement spatial coordinate system: The original reference point is the origin of the spatial coordinate system (50101), the intersection of the plane where the main body of the inclined ladder (301) is located and the plane where the platform (2) is located is the X-axis (50102) of the spatial coordinate system, the Y-axis (50103) of the spatial coordinate system is located on the plane where the platform (2) is located and is perpendicular to the X-axis (50102) of the spatial coordinate system, and the Z-axis (502) of the spatial coordinate system passes through the origin (50101) of the spatial coordinate system and is perpendicular to the platform (2); Establish a dynamic vector measurement system: Generate a planar vector (505), an inclined ladder spatial vector (506), and a gangway end spatial vector (508) in the spatial coordinate system. The planar vector (505) represents the position change of the omnidirectional wheel (310). The starting point of the planar vector (505) is the origin (50101) of the spatial coordinate system, and the ending point of the planar vector (505) is the omnidirectional wheel (310). The real-time planar vector (505) is obtained by fitting the real-time measurement data of the angle sensor (309) and the pulse encoder (311). The inclined ladder space vector (506) represents the real-time position of the inclined ladder body (301). The starting end of the inclined ladder space vector (506) is the universal wheel (310), the ending end of the inclined ladder space vector (506) is the measurement point (507), the length of the inclined ladder space vector (506) is the length of the inclined ladder body (301), the angle between the inclined ladder space vector (506) and the XOY plane is the complementary angle of the tilt angle (α), and the angle between the inclined ladder space vector (506) and the YOZ plane is the gangway deflection angle (β). The spatial vector (508) at the end of the gangway represents the position change of the measurement point (507). The starting point of the spatial vector (508) at the end of the gangway is the origin (50101) of the spatial coordinate system, and the ending point of the spatial vector (508) at the end of the gangway is the measurement point (507). The spatial vector (508) at the end of the gangway is the sum of the planar vector (505) and the inclined ladder spatial vector (506). The spatial vector (508) at the end of the gangway is used by the data processing unit (312) to determine the real-time position of the measurement point (507). Position adjustment of measurement point (507): The data processing unit (312) feeds back the real-time position of measurement point (507) to the control system of wave compensation gangway (1). By adjusting the extension length, pitch angle and slewing angle of wave compensation gangway (1), the measurement point (507) is forced to continuously approach or return to the optimal working position (P). Real-time adjustment of ground pressure (403): The data processing unit (312) detects the output ground pressure (403) of the force sensor (305). If the amplitude of the ground pressure (403) is less than the lower limit of the ground pressure, the inclined ladder telescopic cylinder (304) is controlled to extend, increasing the downward pressure of the inclined ladder body (301). If the amplitude of the ground pressure (403) is greater than the upper limit of the ground pressure, the inclined ladder telescopic cylinder (304) is controlled to retract, reducing the downward pressure of the inclined ladder body (301).

2. The measurement method as described in claim 1, characterized in that: The initial extension of the telescopic cylinder (304) is set to 50%.

3. The measurement method as described in claim 1, characterized in that: The telescopic cylinder (304) has a telescopic range that ensures the tilt angle (α) varies from 50° to 60°.

4. The measurement method as described in claim 1, characterized in that: The force sensor (305) is a two-component type. One component of the force sensor (305) is perpendicular to the length direction of the inclined ladder body (301), and the other component of the force sensor (305) is parallel to the length direction of the inclined ladder body (301).

5. The measurement method as described in claim 1, characterized in that: The data processing unit (312) is used to receive the signal from the force sensor (305) and control the extension of the telescopic cylinder (304); the data processing unit (312) is used to receive the tilt angle (α) and gangway deflection angle (β) data, and calculate the spatial orientation of the measurement point (507) by combining the length of the inclined ladder body (301); the data processing unit (312) is used to process the data from the angle sensor (309) and the pulse encoder (311) to determine the movement trajectory of the universal wheel (310).

6. The measurement method as described in claim 1, characterized in that: Cameras are installed at the top and bottom of the end of the wave-compensating gangway (1), and the cameras are used to confirm the contact point position of the caster wheel (310) on the wind turbine pile boarding platform (2).

7. The measurement method as described in claim 1, characterized in that: The caster wheel (310) is anti-slip.

8. The measurement method as described in claim 1, characterized in that: In the step of setting up the inclined ladder body (301) and starting the measurement function, when starting the measurement control system, the force sensor (305), tilt sensor (306), rotation sensor (309), pulse encoder (311) and data processing unit (312) are started first. The force sensor (305) acquires the ground pressure (403). Then the data processing unit (312) adjusts the length of the telescopic cylinder (304) according to the magnitude of the ground pressure (403) so that the magnitude of the ground pressure (403) is kept within the resultant force range. After the rotation sensor (309) of the universal wheel (310), the pulse encoder (311) and the deflection angle (β) of the gangway are cleared to zero, the measurement function is started. The tilt sensor (306) measures the tilt angle (α) of the inclined ladder body (301) in real time.

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