A ship heavy transfer system and method

Abstract

The application discloses a ship heavy object transfer system and a transfer method, and the transfer system comprises a motion driving module, a supporting steel frame, a suspension track, a hoisting assembly, a load adjusting water tank, an active floating state compensation system and an operation control system; the motion driving module is fixed at the bottom of the load adjusting water tank, the bottom of the supporting steel frame is fixedly connected with the load adjusting water tank, and the top of the supporting steel frame is used for supporting the suspension track; the hoisting assembly is hung on the suspension track and is used for hoisting a target heavy object; the active floating state compensation system is used for calculating a to-be-adjusted parameter corresponding to floating state compensation of the ship and transmitting the to-be-adjusted parameter to the operation control system; and the operation control system is in communication connection with the active floating state compensation system and is used for controlling the traction force and traction speed of the hoisting assembly and the water quantity and flow rate of the load adjusting water tank according to the to-be-adjusted parameter. The transfer system of the application can keep the ship in a floating state balance state during the transfer of a major structure on the ship, and greatly improves the operation safety.

Description

Technical Field

[0001] This invention relates to the field of water transportation, and in particular to a system and method for transferring heavy objects from ships. Background Technology

[0002] In maritime transportation, it is often necessary to transfer major structures from ships. Traditional methods for transferring major ship structures primarily rely on crane vessels or large-scale lifting equipment at docks. To lift these structures, it is necessary to frequently move the ship's berth to allow the crane boom to reach the lifting position. Furthermore, the lifting process requires complex coordination between the cargo ship, crane vessel, and crane, especially for large cargo, making the operation difficult and time-consuming. This method not only demands complex coordination and cooperation from all parties but also carries the risk of excessive rolling or trimming of the ship due to improper ship-shore coordination or improper load adjustment. This can affect the ship's stability, damage the structures during the transfer, and even lead to ship capsizing and personal injury accidents. Several major accidents have already occurred during the transfer of major ship structures.

[0003] Furthermore, traditional transfer methods pose significant challenges for vessels with limited self-adjustment capabilities. Changing the position of heavy loads on board often requires additional large crane vessels, shore-based lifting equipment, and other pumping equipment, consuming considerable time for adjustment, which poses a significant risk during cargo relocation. Moreover, due to the limited reach of crane booms, repositioning of the cargo ship or crane vessel is frequently necessary. This results in high requirements for berth space at the working dock, high overall operating costs, long operation cycles, high risks, and low efficiency. Summary of the Invention

[0004] This invention provides a ship heavy load transfer system and method. The system incorporates an active buoyancy compensation system, which maintains the overall buoyancy balance of the ship-load-transfer system during the transfer of significant structural components, preventing roll and pitch, thus greatly improving operational safety. Furthermore, it allows ships with limited load-ballast capacity to take longer to adjust ballast water or achieve buoyancy balance, avoiding the risks associated with the inability to achieve balance in a short time.

[0005] According to one aspect of the present invention, a ship heavy load transfer system is provided, the system comprising: a supporting steel frame, a suspended track, a hoisting assembly, a load-adjusting tank, an active buoyancy compensation system, and an operation control system, wherein,

[0006] The bottom of the supporting steel frame is fixedly connected to the load-adjusting water tank, and the top of the supporting steel frame is used to support the suspended track;

[0007] The hoisting assembly is suspended from the suspended track and is used to hoist the target heavy object;

[0008] The active buoyancy compensation system is used to acquire the initial parameters of the ship and the transfer system, the parameters of the ballast tank and the target weight, and calculate the buoyancy compensation parameters of the ship corresponding to the adjustment parameters based on the initial parameters, the parameters of the ballast tank and the parameters of the target weight using a programmed operating procedure, and transmit the buoyancy compensation parameters to the operation control system.

[0009] The operation control system is communicatively connected to the active buoyancy compensation system and is used to control the traction force and traction speed of the hoisting component, as well as the water volume and flow rate of the load adjustment tank, according to the parameters to be adjusted, so as to adjust the buoyancy of the ship.

[0010] In one possible implementation, it also includes: a motion driving module, wherein,

[0011] The motion drive module is fixed to the bottom of the load-adjusting water tank. The motion drive module includes at least two tire sets, a drive power set, a control module, and a telescopic folding frame.

[0012] The tire assembly is located in the downward-facing groove at the bottom of the load-adjusting water tank and is fixedly connected to the load-adjusting water tank via the telescopic folding frame;

[0013] The drive power unit is used to drive the tire assembly to move, and the control module is used to control the drive power unit and the telescopic folding frame.

[0014] In one possible implementation, the control module is specifically used for:

[0015] The telescopic folding frame is controlled to be in an extended state so that the total height of the telescopic folding frame and the tire assembly is greater than the height of the groove. When the total height of the telescopic folding frame and the tire assembly is greater than the height of the groove, the drive power unit is controlled to move the tire assembly to the target position.

[0016] In one possible implementation, the control module is further configured to:

[0017] The telescopic folding frame is controlled to be in a straight position so that the total height of the telescopic folding frame and the tire assembly is less than the height of the groove, allowing the ballast tank of the ship's heavy load transfer system to sit on the deck and be fixedly connected to the ship's deck. The fixing method can be welding or bolting.

[0018] In one possible implementation, the telescopic folding frame consists of a foldable arm and a telescopic shaft;

[0019] The foldable arm is divided into two folding tubes, which are folded at at least two angles and used for fixation after folding. The telescopic shaft is located in the folding tube at the bottom end of the foldable arm and can extend or retract by pulling out or inserting into the folding tube.

[0020] In one possible implementation, the active floating state compensation system includes a detection component and a computing device;

[0021] The detection component is used to detect wind speed in real time, to detect the weight, position, and moving speed of the target object in real time as parameters of the target object, to detect the water volume and flow rate of the ballast tank in real time as parameters of the ballast tank, and to detect the motion attitude of the ship and the stress and strain corresponding to the transfer system in real time as initial parameters.

[0022] The computing device is used to calculate in real time the parameters to be adjusted when the ship system is kept in a balanced floating state during the movement of the target weight, based on the wind speed, the parameters of the target weight, the parameters of the load adjustment tank and the initial parameters, and to send the parameters to be adjusted to the operation control system.

[0023] The parameters to be adjusted include the traction force and traction speed of the hoisting component in hoisting the target weight, and the water volume and flow rate of the load adjustment water tank.

[0024] In one possible implementation, the operation control system is specifically used for:

[0025] A control signal is generated based on the parameters to be adjusted, and the control signal is sent to the hoisting assembly and the load adjustment water tank to adjust the traction force and traction speed of the hoisting assembly, as well as the water volume and flow rate of the load adjustment water tank based on the control signal.

[0026] In one possible implementation, the number of the load-adjusting water tanks is at least two, the load-adjusting water tanks are distributed along the bottom horizontal plane of the transfer system, and a circulating water pipe is provided between the at least two load-adjusting water tanks.

[0027] The load adjustment water tank is equipped with a circulating water system, which is used to adjust the dynamic pressure and discharge of water between at least two load adjustment water tanks through the circulating water pipe based on the control signal.

[0028] In one possible implementation, the load-balanced water tank includes a first water tank and a second water tank, and the circulating water system is specifically used for:

[0029] According to the control signal, the first water tank is controlled to be ballasted and the second water tank is controlled to be discharged.

[0030] During the movement of the target weight, the first water tank is located away from the target weight, and the second water tank is located close to the target weight.

[0031] According to another aspect of the present invention, a method for transferring heavy objects on a ship is provided. The method is applied to a ship heavy object transfer system, the transfer system including a support steel frame, a suspended rail, a hoisting assembly, a ballast tank, an active buoyancy compensation system, and an operation control system. The bottom of the support steel frame is fixedly connected to the ballast tank, the top of the support steel frame is used to support the suspended rail, and the hoisting assembly is suspended from the suspended rail.

[0032] The method includes:

[0033] The ship heavy load transfer system is transferred onto the ship via transshipment and moved to a balanced position.

[0034] Control the hoisting assembly to move directly above the target object, and hoist the target object using the hoisting assembly;

[0035] When the hoisting assembly moves the target weight to the target position, the initial parameters of the ship and the transfer system, the parameters of the load adjustment tank and the target weight are obtained through the active buoyancy compensation system. Based on the initial parameters, the parameters of the load adjustment tank and the parameters of the target weight, the parameters to be adjusted corresponding to the buoyancy compensation of the ship are calculated and the parameters to be adjusted are transmitted to the operation control system.

[0036] The operation control system controls the traction force and traction speed of the hoisting component, as well as the water volume and flow rate of the load adjustment water tank, according to the parameters to be adjusted.

[0037] After the hoisting operation is completed, the ship's heavy load transfer system is transferred off the ship via transshipment. According to another aspect of the invention, an electronic device is provided, comprising:

[0038] At least one processor; and,

[0039] A memory communicatively connected to the at least one processor; wherein,

[0040] The memory stores a computer program that can be executed by the at least one processor, which enables the at least one processor to perform the ship heavy load transfer method according to any embodiment of the present invention.

[0041] According to another aspect of the present invention, a computer-readable storage medium is provided, the computer-readable storage medium storing computer instructions for causing a processor to execute and implement the ship heavy load transfer method according to any embodiment of the present invention.

[0042] The technical solution of this invention involves lifting a target heavy object using a hoisting assembly; acquiring initial parameters of the ship and the transfer system, parameters of the load adjustment tank, and parameters of the target heavy object through an active buoyancy compensation system; calculating the adjustment parameters corresponding to the ship's buoyancy compensation based on the initial parameters, the load adjustment tank parameters, and the target heavy object parameters; and transmitting the adjustment parameters to the operation control system; the operation control system then controls the traction force and traction speed of the hoisting assembly, as well as the water volume and flow rate of the load adjustment tank, based on the adjustment parameters. This method changes the outdated operational methods that require manual communication between crane vessels and cargo ships, and between shore cranes and cargo ships, with each system operating independently. It enables the automatic and intelligent transfer of major structures on board, making the entire process efficient and safe. Not only can the transfer task be completed without the aid of shore cranes and crane vessels, but the ship's buoyancy can also be maintained stably throughout the transfer process through monitoring and load adjustment by its own balance system, providing a larger operating window. This is of great significance for improving operational efficiency, reducing costs, and enhancing safety, especially for ships with poor load adjustment capabilities, representing a significant technological advancement. Moreover, this invention is particularly applicable to many underdeveloped maritime countries and regions around the world that lack adequate working docks and crane vessels, and plays a significant role in promoting the marine economy.

[0043] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0044] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0045] Figure 1 This is a structural diagram of a ship heavy load transfer system provided in Embodiment 1 of the present invention;

[0046] Figure 2 This is a flowchart of a method for transferring heavy objects on a ship according to Embodiment 2 of the present invention;

[0047] Figure 3This is an architectural diagram of a ship heavy load transfer system provided in Embodiment 3 of the present invention;

[0048] Figure 4 This is a schematic diagram of the lifting process before lifting a heavy object, provided in Embodiment 3 of the present invention.

[0049] Figure 5 This is a schematic diagram of the transfer process in the first operation stage provided in Embodiment 3 of the present invention;

[0050] Figure 6 This is a schematic diagram of the transfer process in the second operation stage provided in Embodiment 3 of the present invention;

[0051] Figure 7 A schematic diagram of an electronic device that can be used to implement embodiments of the present invention is shown. Detailed Implementation

[0052] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0053] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0054] Example 1

[0055] Figure 1 This is a structural diagram of a ship heavy object transfer system provided in Embodiment 1 of the present invention. This embodiment can be applied to the transfer of heavy structures on ships.

[0056] Reference Figure 1 The ship's major cargo transfer system includes a supporting steel frame 20, a suspended track 30, a hoisting assembly 40, a load adjustment tank 50, an active buoyancy compensation system 60, and an operation control system 70.

[0057] The bottom of the supporting steel frame 20 is fixedly connected to the load-adjusting water tank 50, and the top of the supporting steel frame 20 is used to support the suspended track 30. The hoisting assembly 40 is suspended on the suspended track 30 and is used to hoist the target heavy object. The target heavy object is a large cargo or a large structure to be transferred. This invention does not specifically limit the type of target heavy object.

[0058] The active buoyancy compensation system 60 is used to acquire the initial parameters of the ship and the transfer system, the parameters of the load adjustment tank 50 and the parameters of the target weight, calculate the buoyancy compensation parameters of the ship based on the initial parameters, the parameters of the load adjustment tank 50 and the parameters of the target weight, and transmit the buoyancy compensation parameters to the operation control system 70.

[0059] The initial parameters may include parameters corresponding to the ship's motion attitude and the stress and strain of the transfer system. The parameters of the ballast tank 50 may include the water volume of the ballast tank and the flow rate of water discharge or ballast. The ballast tank 50 can realize the ballast and discharge of water. The parameters of the target weight may include the weight, position and moving speed of the target weight. The parameters to be adjusted may be calculated by the active buoyancy compensation system 60 and used to ensure that the ship-transfer system-target weight are in buoyancy balance. The parameters that need to be adjusted for the ballast tank 50 and the hoisting component 40 are the parameters that need to be adjusted.

[0060] The operation control system 70 is communicatively connected to the active floating state compensation system 60, and is used to control the traction force and traction speed of the hoisting component 40, as well as the water volume and flow rate of the load adjustment water tank 50, according to the parameters to be adjusted.

[0061] Specifically, the operation control system 70 can receive the parameters to be adjusted sent by the active floating compensation system 60, and generate control signals based on the parameters to control the traction force and traction speed of the hoisting component 40 when hoisting the target heavy object, as well as the water volume and ballast / discharge flow rate of the load adjustment tank 50.

[0062] In one implementation, the transfer system further includes a motion drive module 10, which is fixed to the bottom of the load-adjusting water tank 50. The motion drive module 10 includes at least two tire sets, a drive power unit, a control module, and a telescopic folding frame. The tire sets are disposed in downward-facing grooves at the bottom of the load-adjusting water tank 50 and are fixedly connected to the load-adjusting water tank 50 via the telescopic folding frame. The drive power unit is used to drive the tire sets to move, and the control module is used to control the drive power unit and the telescopic folding frame.

[0063] The system can consist of four tire assemblies, positioned at the bottom of the left and right supporting steel frames 20. These tire assemblies enable the entire transfer system to move on the deck. The system can be moved from the shore to the target location on the ship's deck by moving the tire assemblies. After the cargo transfer is complete, the tire assemblies are used to move the system back to the shore. This allows the transfer system to be moved to the ship for the transfer of heavy cargo, and also provides high flexibility, enabling it to be moved to any ship requiring the transfer of heavy cargo. Preferably, each tire assembly consists of three or more tires connected in series side-by-side to ensure safe operation of the transfer system at large tilt angles.

[0064] Preferably, the ballast tank 50 includes a first tank and a second tank. For vessels with poor self-adjustment capabilities, when the transfer system is loaded onto the vessel, the first tank is filled with ballast water, while the second tank is not. Then, the telescopic folding frame under the first tank is in the extended state, while the telescopic folding frame of the second tank is in the folded state. The transfer system moves towards the vessel using the tires under the first tank, leaving the second tank suspended. Once the second tank reaches directly above the target position on the vessel, its telescopic folding frame begins to extend. While the first tank is slowly loaded onto the vessel, ballast water from the first tank is simultaneously transported to the second tank via a circulating water pipe.

[0065] Preferably, the drive power unit can be composed of a drive motor, which outputs corresponding torque and transmits it to the tire assembly, enabling the tires to move. The control module can control the drive power unit and the telescopic folding frame. For example, when it is necessary to rotate the tires, a drive control signal can be generated and transmitted to the drive power unit. The motor of the drive power unit outputs corresponding torque and speed according to the signal, precisely controlling the forward, backward, or directional movement of the tire assembly. The control module can also control the state of the telescopic folding frame, controlling it to be in an extended or folded state.

[0066] In one implementation, the control module is specifically used to: control the telescopic folding frame to be in an extended state, so that the total height of the telescopic folding frame and the tire assembly is greater than the height of the groove; and when the total height of the telescopic folding frame and the tire assembly is greater than the height of the groove, control the drive power unit to move the tire assembly to the target position. At this time, the bottom of the ballast tank 50 is not in contact with the ship's deck, and the entire transfer system moves freely on the ship's deck supported by the tire assembly.

[0067] In one implementation, the control module is further configured to: control the telescopic folding frame to be in a straightened state, so that the total height of the telescopic folding frame and the tire assembly is less than the height of the groove, and to fix the ship's heavy load transfer system to the ship's deck.

[0068] When the transfer system moves to the target position, the telescopic support can be folded. In the folded state, the tire set retracts into the groove of the load-adjusting water tank 50, and the bottom of the load-adjusting water tank 50 is in contact with the deck. That is, under the action of gravity, the transfer system is fixedly connected to the deck of the ship, and then the transfer operation of the target heavy object is performed.

[0069] In one implementation, the telescopic folding frame is composed of a foldable arm and a telescopic shaft; the foldable arm is divided into two folding cylinders, which can be folded at at least two angles and fixed after folding; the telescopic shaft is arranged in the folding cylinder at the bottom end of the foldable arm, and the telescopic shaft extends and retracts by being pulled out of or inserted into the folding cylinder.

[0070] In one implementation, the support steel frame 20 is made of steel structure, a first control room is arranged on the top of the support steel frame 20, and a second control room is arranged at the bottom of the support steel frame 20; the first control room is equipped with an active floating state compensation system 60, and the second control room is equipped with an operation control system 70, so as to realize the calculation of floating state compensation and the control of the load-adjusting water tank 50 and the hoisting assembly 40.

[0071] In one implementation, the transfer system further includes an elevator system 80. Based on the elevator system 80, relevant personnel can ascend to the first control room at the top of the support steel frame 20, so that the relevant personnel can monitor or overhaul the state of the active floating state compensation system 60 conveniently.

[0072] In one implementation, the shape of the suspended rail 30 is at least one of a "hui"-shaped (closed loop), a cross-shaped, and a "kou"-shaped (square closed loop), and the hoisting assembly 40 slides longitudinally or transversely through the suspended rail 30.

[0073] In practical applications, the hoisting route can be planned according to the initial position and the target position of the target heavy object, and then the hoisting assembly 40 is controlled to slide on the suspended rail 30 based on the route. When sliding to the cross loop, the rail passage switch can also be controlled to close through the operation control system 70.

[0074] In one implementation, the traction system of the hoisting assembly 40 is composed of a winch and a steel wire rope. One set of winch is arranged at each of the four ends (front, rear, left and right) of the hoisting assembly 40. The winches are fixed on the support steel frame beam and connected to the hoisting assembly 40 through steel wire ropes. The traction force of the winches is used to realize the transfer of the hoisting assembly 40 along the suspended rail 30. The traction rate parameters of the winches, the pay-out and take-up length parameters of the steel wire ropes, the operation control right and the like are connected into the operation control system 70, so as to realize automatic control.

[0075] In one implementation, the hoisting assembly 40 is equipped with a tractor unit that provides traction to move the hoisting assembly along the suspended track 30. Preferably, the tractor unit is electrically powered. The hoisting assembly 40 is equipped with a braking system and a track switchover device.

[0076] In one implementation, the suspended track 30 is equipped with a track switch conversion device at the "+" intersection area. The track switch conversion device consists of a parallel track, a turning track, a track conversion control system, and a hydraulic rotator. The track conversion control system controls the hydraulic rotator to drive the parallel track and the turning track to switch.

[0077] In one implementation, the lifting assembly 40 includes a hook equipped with an independent winch wire rope system for raising and lowering the hook. The hook is also equipped with a lifting frame.

[0078] In one implementation, the active floating state compensation system 60 includes a detection component and a computing device.

[0079] The detection components are used to detect wind speed in real time, the weight, position, and moving speed of the target object as parameters of the target object, the water volume and flow rate of the ballast tank 50 as parameters of the ballast tank 50, and the motion attitude of the ship and the stress and strain corresponding to the transfer system as initial parameters.

[0080] The computing device is used to calculate in real time the parameters to be adjusted when the ship system is kept in a balanced floating state during the movement of the target weight, based on the wind speed, the parameters of the target weight, the parameters of the ballast tank 50 and the initial parameters, and to send the parameters to be adjusted to the operation control system 70.

[0081] Among them, the parameters to be adjusted include the traction force and traction speed of the hoisting component 40 for hoisting the target weight, and the water volume and flow rate of the load adjustment water tank 50.

[0082] Specifically, the detection component monitors in real time the wind speed, the weight and position of the target object lifted by the hoisting component 40, the moving speed of the object, the water volume in each ballast tank 50, the amount of water added and removed from each ballast tank 50, and the output speed, as well as the ship's motion attitude and the stress and strain of the ship's transfer system. After detection, the position of the target object, the water volume in the ballast tank 50, and the ship's initial parameters are obtained. Then, the calculation device calculates and proposes a floating state compensation strategy, providing real-time feedback on the parameters to be adjusted to maintain the floating state of the entire ship system in equilibrium during the object's movement. These parameters include the traction force and traction speed of the object lifting, the compensation water volume and output speed of each ballast tank 50, and the parameters to be adjusted are sent to the operation control system 70.

[0083] In one implementation, the operation control system 70 is configured to generate control signals based on the parameters to be adjusted, and send the control signals to the hoisting assembly 40 and the load adjustment water tank 50, so as to adjust the traction force and traction speed of the hoisting assembly 40, and the water volume and flow rate of the load adjustment water tank 50 based on the control signals.

[0084] In this embodiment, the parameters to be adjusted can be calculated based on the change in the center of gravity caused during the transfer of the target heavy object. That is, the hoisting speed of the hoisting component and the pressure discharge speed and water volume of the ballast tank can be adjusted according to the parameters to be adjusted, which can offset the degree of change in the center of gravity caused by the transfer of the target heavy object, thereby ensuring the floating balance of the ship.

[0085] Optionally, the lifting assembly 40 may consist of a rope, a lifting frame, and a hook. Optionally, the lifting assembly 40 may consist of a gripper and a telescopic boom.

[0086] In one implementation, there are at least two load adjustment tanks 50, which are distributed along the bottom horizontal plane of the transfer system. A circulating water pipe is provided between the at least two load adjustment tanks 50. The load adjustment tanks 50 are equipped with a circulating water system, which is used to adjust the dynamic pressure of water inflow and outflow between the at least two load adjustment tanks 50 according to the parameters to be adjusted through the circulating water pipe.

[0087] Specifically, the load adjustment tanks 50 are located at the four corners of the transfer system and connected to the operation control system 70. They receive control signals from the operation control system and adjust the water volume and discharge speed of the load adjustment tanks 50 accordingly. Each load adjustment tank 50 is equipped with a circulating water system, and interconnected circulating water pipes connect the tanks. Under the control of the operation control system 70, circulating pumps dynamically pump water into and out of each load adjustment tank 50. Furthermore, before transferring the target heavy object, the load adjustment tanks 50 are replenished with sufficient water, eliminating the need for dewatering from seawater during the operation.

[0088] In one implementation, the load-adjusting water tank 50 includes a first water tank and a second water tank. The circulating water system is specifically used to: control the first water tank to perform ballast loading and control the second water tank to perform load discharge according to the control signal; wherein, during the movement of the target weight, the first water tank is the water tank away from the target weight, and the second water tank is the water tank close to the target weight.

[0089] Specifically, during the lifting, transfer, and unloading of the target heavy object by the transfer system, water tank ballast is performed according to the position of the heavy object to achieve the ship's floating balance. The water tank ballast operation is based on the position of the heavy object; water tanks closer to the heavy object are ballasted with a certain amount of water, while water tanks farther away from the heavy object are ballasted with a corresponding amount of water.

[0090] In this embodiment of the invention, the transfer system further includes: a pre-ballast module, used to determine the pre-ballast water volume based on the weight, initial position and target position of the target object before the hoisting assembly 40 hoists the target object, and send the pre-ballast water volume to the control operating system; the operation control system is also used to control the water regulating tank to perform pre-ballast based on the pre-ballast water volume.

[0091] Specifically, pre-ballasting can be understood as the process of calculating the maximum amount of water required by the ballast tank during the lifting and transfer of the target object, based on the object's weight, initial position, and target location, and then performing ballasting according to this maximum amount. The maximum ballast volume is the pre-ballast water volume. Further, the pre-ballast water volume is sent to the control operating system, which generates a corresponding control signal to control the ballast tank to perform pre-ballasting according to the pre-ballast water volume. Pre-ballasting can be performed before or after loading onto the ship.

[0092] The pre-ballast process in this embodiment ensures that the ballast tank stores sufficient water, allowing it to function properly during actual lifting operations. This avoids situations where insufficient water volume during ballasting or unloading could lead to an unbalanced floating state of the vessel.

[0093] In a preferred implementation, the load-adjusting water tank 50 comprises a water tank, a water tank level sensor, a vent pipe, a load-adjusting pipe (circulating water pipe), a load-adjusting pump, and remote-controlled valves, forming a load-adjusting system capable of controlling the flow rate and monitoring the water tank level (monitoring the water volume). This load-adjusting system can be connected to the operation control system 70, and based on the control signals from the operation control system 70, the load-adjusting system can be controlled to achieve automated control of the load-adjusting water tank 50.

[0094] In one implementation, the transfer system is powered by both shipboard power and uninterruptible power supply (UPS) to ensure that the transfer system has a backup power source in the event of shipboard power failure.

[0095] The technical solution of this invention involves lifting a target heavy object using a hoisting assembly; acquiring initial parameters of the ship and transfer system, parameters of the ballast tank, and parameters of the target heavy object through an active buoyancy compensation system; calculating the adjustment parameters corresponding to the ship's buoyancy compensation based on the initial parameters, ballast tank parameters, and target heavy object parameters; and transmitting these adjustment parameters to the operation control system; the operation control system then controls the traction force and traction speed of the hoisting assembly, as well as the water volume and flow rate of the ballast tank, according to the adjustment parameters. This invention solves the technical problems of traditional cargo transfer methods, which not only require complex coordination and cooperation from all parties but also pose risks of excessive rolling or trimming of the ship due to improper ship-shore coordination and improper ballast adjustment. It achieves automatic and intelligent transfer of the target heavy object on board, with the entire process being efficient and safe. Not only can the transfer task be completed without the aid of shore cranes and crane vessels, but the ship's buoyancy stability is maintained throughout the transfer process through monitoring and ballast adjustment by its own balancing system, providing a larger working window. This is of great significance for improving operational efficiency, reducing costs, and enhancing safety, especially for ships with poor load-bearing capacity, representing a technological advancement. Furthermore, this invention is particularly applicable to many underdeveloped maritime countries and regions worldwide that lack adequate docks and crane vessels, playing a crucial role in promoting the marine economy.

[0096] Example 2

[0097] Figure 2 This is a flowchart of a method for transferring heavy objects on a ship according to Embodiment 2 of the present invention. This embodiment is applicable to the transfer of target heavy objects on a ship, and the method can be executed by a ship heavy object transfer system.

[0098] The transfer system includes a supporting steel frame 20, a suspended track 30, a hoisting assembly 40, a load-adjusting water tank 50, an active buoyancy compensation system 60, and an operation control system 70. The bottom of the supporting steel frame is fixedly connected to the load-adjusting water tank, and the top of the supporting steel frame supports the suspended track. The hoisting assembly is suspended from the suspended track. The method includes:

[0099] S210. The ship heavy cargo transfer system is transferred onto the ship and moved to a balanced position. First, the cargo ship is adjusted to a balanced state, and the ship's weight, center of gravity, displacement, and draft data are obtained and input into the active buoyancy compensation system 60 of the transfer system. Then, through analysis of relevant information such as the target heavy object's drawings, site location map, and transfer destination, the weight, center of gravity, dimensions, transfer start point, and end point coordinates of the target heavy object are obtained and input into the active buoyancy compensation system 60 of the transfer system.

[0100] Driven by the motion drive module 10, the transfer system transfers and secures itself to the ship's deck. Further, the active buoyancy compensation system 60 calculates the pre-ballast water volume of the ballast tank 50 based on input parameters, and the transfer system begins to pre-ballast the ballast tank 50 with the corresponding ballast water volume. Optionally, the water can be pumped into the seawater through a flexible hose extending from the ballast tank 50 via the ship's side; alternatively, it can be pumped in via industrial or marine pumping.

[0101] Meanwhile, the transfer system monitors the wind speed in real time. If the wind speed exceeds the limit, the operation is temporarily suspended. If the wind speed is within the normal range, the system detects the position of the target object and the operation control system 70 sends a signal to move the hoisting component above the target object.

[0102] S220. Control the hoisting assembly to move directly above the target object, and hoist the target object using the hoisting assembly.

[0103] Specifically, the hoisting components move the target heavy object along a pre-planned route.

[0104] S230. When the hoisting assembly moves the target weight to the target position, the initial parameters of the ship and the transfer system, the parameters of the load adjustment tank and the parameters of the target weight are obtained through the active buoyancy compensation system. Based on the initial parameters, the parameters of the load adjustment tank and the parameters of the target weight, the parameters to be adjusted corresponding to the buoyancy compensation of the ship are calculated, and the parameters to be adjusted are transmitted to the operation control system.

[0105] Specifically, during the hoisting process, the active buoyancy compensation system 60 continuously monitors the position of the target object, the center of gravity of the transfer system, the center of gravity of the hoisting component 40, and the water volume and center of gravity of the balancing water tank 50. Combined with previously input parameters, the system calculates the hoisting path and the parameters to be adjusted for the balancing water tank 50 based on the algorithm, and predicts changes in wind speed, the center of gravity of the entire system, the position and speed of the target object, the center of gravity of the transfer system, the center of gravity of the hoisting component, and the water volume of the balancing water tank 50 at each moment in the next stage. The active buoyancy compensation system 60 compares the real-time detected values ​​with the predicted values; if a deviation is found, it issues different levels of warnings based on the magnitude of the deviation.

[0106] S240. The operation control system controls the traction force and traction speed of the hoisting component, as well as the water volume and flow rate of the load adjustment water tank, according to the parameters to be adjusted.

[0107] Specifically, the control system 70 generates control signals based on the parameters to be adjusted corresponding to the hoisting path and the parameters to be adjusted in the load adjustment water tank 50, and sends the control signals to the hoisting assembly 40 and the load adjustment water tank 50. The hoisting assembly 40 hoists the heavy object according to the parameters to be adjusted, and the hoisting assembly 40 moves the heavy object along the suspended track according to the path and speed. The load adjustment water tank 50 adjusts the water volume and load adjustment speed of the ballast tank of each water compartment according to the parameters to be adjusted.

[0108] Once the load reaches the target position, the hoisting assembly 40 slowly lowers the load. The active buoyancy compensation system 60 monitors the stress on the hoisting assembly 40 in real time and sends the adjustment parameters to the load adjustment tank 50 until the weight of the target load is transferred to the deck.

[0109] S250. After the hoisting work is completed, the ship's heavy load transfer system will be transferred off the ship.

[0110] For ships with poor load adjustment capabilities and long load adjustment cycles, after the target load is transferred to the target location, the ship's own system is in a floating unbalanced state, requiring a long time for load adjustment. The transfer system of this invention can use its powerful balancing and load adjustment capabilities to assist the ship in load adjustment. After the load is in place, water is pumped out through a soft water pipe extending from the load adjustment tank 50 through the side of the ship, and then the transfer system is moved out of the ship.

[0111] The technical solution of this invention involves lifting a target heavy object using a hoisting assembly; acquiring initial parameters of the ship and transfer system, parameters of the ballast tank, and parameters of the target heavy object through an active buoyancy compensation system; calculating the adjustment parameters corresponding to the ship's buoyancy compensation based on the initial parameters, ballast tank parameters, and target heavy object parameters; and transmitting these adjustment parameters to the operation control system; and controlling the traction force and traction speed of the hoisting assembly, as well as the water volume and flow rate of the ballast tank, according to the adjustment parameters. This invention solves the technical problems of traditional cargo transfer methods, which not only require complex coordination and cooperation from all parties but also pose risks of excessive rolling or trimming of the ship due to improper ship-shore coordination and improper ballast adjustment. It enables unified, automatic, and intelligent transfer of target heavy objects on board, with the entire process being efficient and safe. Not only can the transfer task be completed without the aid of shore cranes and crane vessels, but the ship's buoyancy stability is maintained throughout the transfer process through monitoring and ballast adjustment by its own balancing system, providing a larger working window. This is of great significance for improving operational efficiency, reducing costs, and enhancing safety, especially for ships with poor load-bearing capacity, representing a technological advancement. Furthermore, this invention is particularly applicable to many underdeveloped maritime countries and regions worldwide that lack adequate docks and crane vessels, playing a crucial role in promoting the marine economy.

[0112] Example 3

[0113] Figure 3 This is an architecture diagram of a ship heavy load transfer system provided in Embodiment 3 of the present invention. Based on the above embodiments, this embodiment further refines the calculation method and procedure for the amount of ballast water required by the ballast water tank in the two operation stages.

[0114] like Figure 3 As shown, the transfer system includes: hoisting assembly 41, load adjustment water tank A, load adjustment water tank B, active compensation system 61, operation control system 71, and target weight 81.

[0115] In this embodiment of the invention, after the transfer system is loaded onto the ship, the active compensation system 61 acquires the floating state-related parameters of the ship 91 and performs initial load adjustment and balancing to bring the transfer system and the ship 91 into a floating state of equilibrium, thus preparing for the hoisting component 41 to hoist and transfer the target heavy object 81.

[0116] Then, the hoisting component 41 lifts the target weight 81, and the transfer system is rebalanced.

[0117] Furthermore, based on the distance the heavy object moves, the water levels in the corresponding real-time load transfer system, specifically load tanks A and B, are adjusted to maintain the ship's buoyancy.

[0118] Specifically, during the transfer operation, the active buoyancy compensation system 61 adjusts the water volume of ballast tank A and ballast tank B in two modes according to different operational states to maintain the buoyancy balance of the vessel 91.

[0119] Figure 4 This is a schematic diagram of the target heavy object before lifting, as provided in Embodiment 3 of the present invention.

[0120] Figure 5 This is a schematic diagram of the transfer process in the first operation stage provided in Embodiment 3 of the present invention. The first stage operation involves the transfer of the target heavy object 81, i.e., the process of lifting the heavy object and transferring it to the target location but not unloading it. During this process, the ship's buoyancy must be maintained, such as... Figure 5 As shown:

[0121] The weight of the transfer system is distributed at both ends, namely G1 and G2.

[0122] The target object on the ship weighs 81 kg (G0).

[0123] Ship 91 weight G 船 Since the target object 81 was not lifted, the weight G0 of the target object 81 belongs to G. 船 Part of it, which will be introduced later (G) 船 -G0)

[0124] The weight creates a state of torque equilibrium, that is, it is balanced at the center of gravity. From this, we can obtain...

[0125] G1+G2+G0+(G 船 -G0)=G 总 Weight remains unchanged

[0126] G1 L1+G2 L2+G0 L0+(G 船 -G0)L 船0 =G 总 L 总 =0 Total torque balance

[0127] In the formula: L X Let L be the lever arm, a vector; since the torques are balanced, then L... 总 The value is zero; if the direction of L1 is taken as the positive direction of the coordinate system, then the value is negative.

[0128] When the target weight 81 is lifted and moved by ΔL (note that ΔL is a vector, and L...), X (Same direction coordinates)

[0129] If the total weight remains constant and the torque balance also remains constant, then at this time we have:

[0130] G 11 +G 21 +(G 船 -G0)=G 总

[0131] Torque: G 11 L1+G 21 L2+(G 船 -G0)L 船0 =G 总 L 总 =0

[0132] In the formula G 11 G 21 To transfer the system, the target weight 81 is lifted and moved by ΔL. To maintain the above weight and torque balance, the weight is obtained again by redistributing the weight of the target weight 81 and adjusting the ballast water load.

[0133] G 11 =G1+ΔG 01 +ΔG 11 G 21 =G2+ΔG 02 +ΔG 21

[0134] In the formula ΔG 01 ΔG 02 The weight ΔG is the weight of the target object 81 distributed between the two ends of the transfer system. 01 +ΔG 02 =G0;

[0135] ΔG11 ΔG 21 ΔG represents the water volume adjusted for water tanks A and B respectively. ΔG is positive during ballast loading and negative during unloading.

[0136] Torque: ΔG 01 L1+ΔG 02 L2 = G0(L0 - ΔL)

[0137] From (G1+ΔG 01 +ΔG 11 )+(G2+ΔG 02 +ΔG 21 )+(G 船 -G0)=G 总

[0138] We can obtain ΔG 11 +ΔG 21 =0, ΔG 11 =-ΔG 21

[0139] Torque: (G1+ΔG) 01 +ΔG 11 L1+(G2+ΔG) 02 +ΔG 21 L2+(G 船 -G0)L 船0 =G 总 L 总 =0

[0140] By combining the above weight balance equation and torque balance equation, we can obtain: ΔG 11 -ΔG 21

[0141] Based on the above solution results, the water volume of water tanks A and B in the load transfer system can be obtained in real time according to the transfer distance of the target heavy object 81, so as to achieve the goal of keeping the ship's buoyancy unchanged during the lifting and transfer of the heavy object.

[0142] Figure 6 This is a schematic diagram of the transfer process in the second operation stage provided in Embodiment 3 of the present invention. The second stage operation is the process of hoisting the target heavy object 81 to the target location for unloading. During this process, the buoyancy of the vessel 91 must be maintained.

[0143] In the second phase of the operation, the parameter definitions and vector directions are the same as those in the first phase. To ensure that the balance remains unchanged, after the target weight 81 is moved ΔL to the target position and unloaded, the weight at both ends of the transfer system is redistributed to obtain G. 12 G 22 Based on the principle that the total weight remains constant and the torque is balanced, the following equation can be obtained.

[0144] G12 +G 21 +G0+(G 船 -G0)=G 总

[0145] G 12 L1+G 22 L2+G0 L0+G0(L0-ΔL)+(G 船 -G0)L 船0 =G 总 L 总 =0

[0146] By combining the above formulas, we can obtain the corresponding water volume adjustment of water tanks A and B in the transfer system when the target weight 81 is unloaded to the target position.

[0147] The technical solution of this invention involves detecting the position of the target object being lifted by the hoisting assembly and the water volume in the ballast tank using the ship's floating balance system. Based on the target object's position, the water volume in the ballast tank, and the ship's initial parameters, it determines the parameters to be adjusted when the ship is in floating balance and sends these parameters to the operation control system. The control system generates control signals based on these parameters and adjusts the moving speed of the hoisting assembly, the water volume in the ballast tank, and the pressure discharge speed according to these control signals. This solution adjusts the pressure discharge of the ballast tank in real time based on the target object's movement during the lifting process, ensuring the ship remains in a floating balance state. This changes the traditional ship-shore collaborative operation method, enabling the safe and efficient transfer of major structures on board. It not only allows for transfer tasks without the aid of shore cranes but also maintains ship stability during the transfer process through monitoring and ballast adjustment by the ship's own balance system. This is significant for improving operational efficiency, reducing costs, and enhancing safety, especially for ships with limited self-ballast adjustment capabilities, representing a technological advancement.

[0148] Example 4

[0149] Figure 7 A schematic diagram of an electronic device that can be used to implement embodiments of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the invention described and / or claimed herein.

[0150] like Figure 7 As shown, the electronic device 100 includes at least one processor 11 and a memory, such as a read-only memory (ROM) 12 or a random access memory (RAM) 13, communicatively connected to the at least one processor 11. The memory stores computer programs executable by the at least one processor. The processor 11 can perform various appropriate actions and processes based on the computer program stored in the ROM 12 or loaded from storage unit 18 into the RAM 13. The RAM 13 can also store various programs and data required for the operation of the electronic device 100. The processor 11, ROM 12, and RAM 13 are interconnected via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0151] Multiple components in electronic device 100 are connected to I / O interface 15, including: input unit 16, such as keyboard, mouse, etc.; output unit 17, such as various types of displays, speakers, etc.; storage unit 18, such as disk, optical disk, etc.; and communication unit 19, such as network card, modem, wireless transceiver, etc. Communication unit 19 allows electronic device 100 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0152] Processor 11 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. Processor 11 performs the various methods and processes described above, such as a method for transferring heavy loads from a ship.

[0153] In some embodiments, a method for transferring heavy objects from a ship can be implemented as a computer program tangibly contained in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program can be loaded and / or installed on electronic device 100 via ROM 12 and / or communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the method for transferring heavy objects from a ship described above can be performed. Alternatively, in other embodiments, processor 11 can be configured to perform a method for transferring heavy objects from a ship by any other suitable means (e.g., by means of firmware).

[0154] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), payload-programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0155] Computer programs used to implement the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when executed by the processor, the computer programs cause the functions / operations specified in the flowcharts and / or block diagrams to be performed. The computer programs may be executed entirely on a machine, partially on a machine, or as a standalone software package, partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0156] In the context of this invention, a computer-readable storage medium can be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, apparatus, or device. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination thereof. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0157] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0158] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or computing systems that include middleware components (e.g., application servers), or computing systems that include frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0159] A computing system can include clients and servers. Clients and servers are generally located far apart and typically interact through a communication network. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a hosting product within the cloud computing service system to address the shortcomings of traditional physical hosts and VPS services, such as high management difficulty and weak business scalability.

[0160] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0161] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A ship heavy cargo transfer system, characterized in that, include: The system includes a supporting steel frame, suspended track, hoisting components, load-adjusting water tank, active buoyancy compensation system, and operation control system. The bottom of the supporting steel frame is fixedly connected to the load-adjusting water tank, and the top of the supporting steel frame is used to support the suspended track; The hoisting assembly is suspended from the suspended track and is used to hoist the target heavy object; The active buoyancy compensation system is used to acquire the initial parameters of the ship and the transfer system, the parameters of the ballast tank and the target weight, and calculate the buoyancy compensation parameters of the ship corresponding to the adjustment parameters based on the initial parameters, the parameters of the ballast tank and the parameters of the target weight using a programmed operating procedure, and transmit the buoyancy compensation parameters to the operation control system. The operation control system is communicatively connected to the active buoyancy compensation system and is used to control the traction force and traction speed of the hoisting component, as well as the water volume and flow rate of the load adjustment tank, according to the parameters to be adjusted, so as to adjust the buoyancy of the ship. The active floating state compensation system includes a detection component and a computing device; The detection component is used to detect wind speed in real time, to detect the weight, position, and moving speed of the target object in real time as parameters of the target object, to detect the water volume and flow rate of the ballast tank in real time as parameters of the ballast tank, and to detect the motion attitude of the ship and the stress and strain corresponding to the transfer system in real time as initial parameters. The computing device is used to calculate in real time the parameters to be adjusted when the ship system is kept in a balanced floating state during the movement of the target weight, based on the wind speed, the parameters of the target weight, the parameters of the load adjustment tank and the initial parameters, and to send the parameters to be adjusted to the operation control system. The parameters to be adjusted include the traction force and traction speed of the hoisting component in hoisting the target weight, and the water volume and flow rate of the load adjustment water tank.

2. The transfer system according to claim 1, characterized in that, Also includes: Motion drive module, in which, The motion drive module is fixed to the bottom of the load-adjusting water tank. The motion drive module includes at least two tire sets, a drive power set, a control module, and a telescopic folding frame. The tire assembly is located in the downward-facing groove at the bottom of the load-adjusting water tank and is fixedly connected to the load-adjusting water tank via the telescopic folding frame; The drive power unit is used to drive the tire assembly to move, and the control module is used to control the drive power unit and the telescopic folding frame.

3. The transfer system according to claim 2, characterized in that, The control module is specifically used for: The telescopic folding frame is controlled to be in an extended state so that the total height of the telescopic folding frame and the tire assembly is greater than the height of the groove. When the total height of the telescopic folding frame and the tire assembly is greater than the height of the groove, the drive power unit is controlled to move the tire assembly to the target position.

4. The transfer system according to claim 2, characterized in that, The control module is further used for: The telescopic folding frame is controlled to be in a straight position so that the total height of the telescopic folding frame and the tire assembly is less than the height of the groove, so that the load adjustment tank of the ship's heavy load transfer system sits on the deck and is fixedly connected to the deck of the ship.

5. The transfer system according to any one of claims 2-4, characterized in that, The telescopic folding frame consists of a foldable arm and a telescopic shaft; The foldable arm is divided into two folding tubes, which are folded at at least two angles and used for fixation after folding. The telescopic shaft is located in the folding tube at the bottom end of the foldable arm and can extend or retract by pulling out or inserting into the folding tube.

6. The transfer system according to claim 1, characterized in that, The operation control system is specifically used for: A control signal is generated based on the parameters to be adjusted, and the control signal is sent to the hoisting assembly and the load adjustment water tank to adjust the traction force and traction speed of the hoisting assembly, as well as the water volume and flow rate of the load adjustment water tank based on the control signal.

7. The transfer system according to claim 6, characterized in that, The number of the load adjustment water tanks is at least two, and the load adjustment water tanks are distributed along the bottom horizontal plane of the transfer system. At least two load adjustment water tanks are connected by circulating water pipes. The load adjustment water tank is equipped with a circulating water system, which is used to adjust the dynamic pressure and discharge of water between at least two load adjustment water tanks through the circulating water pipe based on the control signal.

8. The transfer system according to claim 7, characterized in that, The load-adjusting water tank includes a first water tank and a second water tank, and the circulating water system is specifically used for: According to the control signal, the first water tank is controlled to be ballasted and the second water tank is controlled to be discharged. During the movement of the target weight, the first water tank is located away from the target weight, and the second water tank is located close to the target weight.

9. A method for transferring heavy objects from a ship, characterized in that, The ship heavy load transfer system according to claim 1 includes a supporting steel frame, a suspended rail, a hoisting assembly, a ballast tank, an active buoyancy compensation system, and an operation control system. The bottom of the supporting steel frame is fixedly connected to the ballast tank, the top of the supporting steel frame is used to support the suspended rail, and the hoisting assembly is suspended from the suspended rail. The method includes: The ship heavy load transfer system is transferred onto the ship via transshipment and moved to a balanced position. Control the hoisting assembly to move directly above the target object, and hoist the target object using the hoisting assembly; When the hoisting assembly moves the target weight to the target position, the initial parameters of the ship and the transfer system, the parameters of the load adjustment tank and the target weight are obtained through the active buoyancy compensation system. Based on the initial parameters, the parameters of the load adjustment tank and the parameters of the target weight, the parameters to be adjusted corresponding to the buoyancy compensation of the ship are calculated and the parameters to be adjusted are transmitted to the operation control system. The operation control system controls the traction force and traction speed of the hoisting component, as well as the water volume and flow rate of the load adjustment water tank, according to the parameters to be adjusted. After the hoisting operation is completed, the ship's heavy cargo transfer system will be transferred off the ship.

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