Automatic Discrimination Construction Method for the Lifting Vessel Operation Process and Operation Aided Decision-making System

Abstract

The present invention provides an automatic discrimination construction method and an operation auxiliary decision-making system for the operation process of a crane ship. The method includes: S1, entering the preparation stage for ship moving and hoisting; S2, calculating the ship hoisting position coordinates and the ship installation position coordinates, and determining the hoisting parameters, ship moving parameters and installation parameters of the crane; S3, using the fast ship moving technology to move the ship to the ship hoisting position; S4, controlling the crane to make hoisting preparations and making process judgments according to the current state of the ship; S5, controlling the crane to lift the object to be lifted and making process judgments according to the current state of the ship; S6, using the fast ship moving technology to move the ship to the ship installation position and making process judgments according to the current state of the ship; S7, controlling the crane to carry out installation and making process judgments according to the current state of the ship. The present invention determines the starting and ending conditions of each process by the state changes of the ship position, boom, hook, etc. during the hoisting process, reduces the manual judgment link, and guides the hoisting construction operation to be completed quickly.

Description

Technical Field

[0001] The present invention relates to the technical field of crane ship operations, and particularly relates to an automatic discrimination construction method for crane ship operation processes and an operation assistance decision-making system. Background Art

[0002] Large crane ships are widely used in the construction of modern large ports, cross-river and cross-sea bridges, nearshore and farshore wind farms, artificial islands and other projects, and are indispensable equipment for marine engineering construction. Crane ships are divided into fixed boom crane ships and full-rotation crane ships. Under the same lifting capacity, full-rotation crane ships have a greater self-weight, deeper operating draft, and higher construction efficiency, but the ship cost is also higher, almost twice that of fixed crane ships. Fixed boom crane ships have a lighter self-weight, shallower draft, and lower cost, but relatively lower construction efficiency. This is because the bottom of the lifting boom of a fixed crane ship is hinged on the bow deck, and the top is pulled by a set of luffing steel wires leading to the gin pole, and can only achieve the function of boom luffing, and cannot perform horizontal rotation of the boom. If the boom needs to be horizontally rotated, the hull needs to be adjusted accordingly, and the adjustment method and timing often rely on the visual inspection and experience of the crew.

[0003] When the ship investment and construction unit has a certain budget, in order to obtain a crane ship with stronger construction capabilities, it often chooses a fixed boom crane ship, but the problems of its low construction efficiency, slow hull displacement, and relying on the visual inspection and experience of the crew for hoisting construction have never been solved. Summary of the Invention

[0004] The purpose of the present invention is to address the deficiencies of the prior art and provide an automatic discrimination construction method for crane ship operation processes and an operation assistance decision-making system. By combining the state changes of the ship position, boom, hook, etc. during the hoisting process, the start and end conditions of each process are determined, reducing the manual judgment link and guiding the hoisting construction operation to be completed quickly.

[0005] To solve the above technical problems, in the first aspect, the present invention provides an automatic discrimination construction method for crane ship operation processes, including:

[0006] S1. Enter the ship moving and hoisting preparation stage;

[0007] S2. Calculate the ship hoisting position coordinates according to the position coordinates of the object to be lifted, calculate the ship installation position coordinates according to the installation position coordinates of the object to be lifted, and determine the hoisting parameters, ship moving parameters, and installation parameters of the crane;

[0008] S3. Use the fast ship moving technology to move the ship to the ship hoisting position;

[0009] S4. Control the crane to make hoisting preparations, and obtain the current position coordinates of the ship and various parameters of the crane in real time. When it is detected that the current position coordinates of the ship are equal to the hoisting position coordinates of the ship, and various parameters of the crane meet the hoisting parameters, it is determined that the preparation stage for ship hoisting and moving ends, and the stage of hooking and hoisting enters;

[0010] S5. Control the crane to lift the object to be lifted, and obtain various parameters of the crane in real time. When it is detected that various parameters of the crane meet the ship moving parameters, it is determined that the stage of hooking and hoisting ends, and the stage of moving the ship to the installation site enters;

[0011] S6. Use the fast ship moving technology to move the ship to the ship installation position, and obtain the current position coordinates of the ship in real time. When it is detected that the current position coordinates of the ship are equal to the ship installation position coordinates, and various parameters of the crane meet the ship moving parameters, it is determined that the stage of moving the ship to the installation site ends, and the stage of installation and alignment enters;

[0012] S7. Control the crane to carry out installation, and obtain various parameters of the crane in real time. When various parameters of the crane meet the installation parameters, it is determined that the object to be lifted is installed and aligned.

[0013] Further, in step S2, the hoisting parameters include the boom amplitude β, the hook height h1, and the hook load is zero;

[0014] In step S4, if the boom amplitude of the crane is β, the hook height is equal to h1 and remains unchanged, and the hook load is zero, it is determined that various parameters of the crane meet the hoisting parameters.

[0015] Further, in step S2, the ship moving parameters include the boom amplitude α, the hook height h2, and the hook load is the weight of the object to be lifted;

[0016] In steps S5 and S6, if the boom amplitude of the crane is α, the hook height is equal to h2 and remains unchanged, and the hook load is the weight of the object to be lifted and remains basically unchanged, it is determined that various parameters of the crane meet the ship moving parameters.

[0017] Further, in step S2, the installation parameters include the hook height h3, and the hook load is zero;

[0018] In step S7, if the hook height of the crane is equal to h3 and the hook load is zero, the various parameters of the crane meet the installation parameters.

[0019] Further, step S3 includes: The four corners of the ship are all connected to the fixed anchor by steel wires. A total of k steel wires are arranged (k≥3). Calculate the lengths m1, m2,... m of the k steel wires when the ship is at the current position k , calculate the lengths n1, n2,... n of the k steel wires when the ship is at the hoisting position k, calculate the pay-in and pay-out lengths n1-m1, n2-m2, …… nk-mk of k wire ropes k -mk k , and pay in and pay out the wire ropes according to the pay-in and pay-out lengths of the k wire ropes, so as to complete the rapid displacement of the ship.

[0020] Furthermore, during the process of using the rapid ship displacement technology, if the dispatching distance exceeds the traction distance of the wire rope of the ship displacement winch, a tugboat or the ship's own propulsion device is used for displacement.

[0021] Furthermore, in step S1, before entering the ship displacement hoisting preparation stage, construction conditions are judged: the wind, wave and current states of the construction water area are verified, and combined with the weather of the day, it is judged whether the construction is appropriate.

[0022] In a second aspect, the present invention provides an operation auxiliary decision-making system, including an environment measuring device, a positioning instrument, a laser ranging radar, a multi-sensor, a collection module, a central processor, a controller and a control cabinet, and a visual operation interface;

[0023] The environment measuring device is used to measure the wind, wave and current states of the construction water area where the ship is located in real time and display them on the visual operation interface;

[0024] The positioning instrument is used to measure the position information of the ship in real time;

[0025] The laser ranging radar is used to monitor the spatial movement state of the lifting hook, which is convenient for making decisions on rapid hook lifting and lowering;

[0026] The multi-sensor is used to monitor the operating states of the boom, hoisting winch and cable of the crane ship;

[0027] The collection module is respectively connected to the environment measuring device, the positioning instrument, the laser ranging radar and the multi-sensor, and is used to collect and store data;

[0028] The central processor is connected to the collection module, and is used to analyze and calculate the collected data, display the results on the visual operation interface, and judge the current process;

[0029] The controller and the control cabinet are used to control the construction operations of the crane ship.

[0030] Furthermore, it includes a fiber Bragg grating sensor. The fiber Bragg grating sensor is connected to the collection module, and the fiber Bragg grating sensor is arranged on the hull, the boom, the bracket of the positioning instrument, and the deck base, and is used to monitor the local strength of key parts in real time.

[0031] Further, it includes a liquid level sensor, a water pressure sensor, and a shipborne gyroscope. The liquid level sensor, the water pressure sensor, and the shipborne gyroscope are respectively used to measure the liquid level of the ship's ballast tank, the liquid pressure at the bottom of the liquid tank, and the hull tilt angle, so as to obtain the ship's loading capacity and the floating state of the ship.

[0032] The beneficial effects of the present invention are as follows:

[0033] 1. By combining the state changes of the ship position, boom, and hook during the hoisting process, the present invention determines the starting and ending conditions of each process, reduces the manual judgment link, guides the hoisting operation to be completed quickly, and improves the construction efficiency and quality.

[0034] 2. The present invention determines the lengths of the wire ropes retracted and released by each positioning winch according to the length changes of the wire ropes before and after the ship moves, and uses the controller to control the retracting and releasing actions of each positioning winch, realizing the automatic and rapid displacement of the ship.

[0035] 3. The present invention adopts a ship operation auxiliary decision-making system, collects and fuses data from various sensors and detectors, obtains information on the ship construction water area, the hull, the boom, and the operating states of key equipment and components, and combines the hoisting ship construction operation process discrimination method and the rapid ship moving technology to realize the efficient construction operation of a large hoisting ship. Description of the Drawings

[0036] Figure 1 is the flow chart of the present invention;

[0037] Figure 2 is the schematic diagram of the rapid ship moving technology of the present invention;

[0038] Figure 3 is the data monitoring chart of the operation auxiliary decision-making system of the present invention;

[0039] Figure 4 is the data monitoring chart of the main hook and boom movement states in the operation auxiliary decision-making system of the present invention. Detailed Embodiments

[0040] In order to make the technical problems, technical solutions, and beneficial effects to be solved by the present application clearer, the following further details the present application in conjunction with the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0041] This embodiment provides an operation auxiliary decision-making system, which includes an environmental measurement device, a ship state monitoring device, a fiber Bragg grating sensor, a positioning instrument, a laser ranging radar, a multi-sensor, a collection module, a central processor, a controller and a control cabinet, and a visualization operation interface;

[0042] The environmental measurement device includes an anemometer, a laser wave gauge, and a shipborne current measuring device. The anemometer, laser wave gauge, and shipborne current measuring device are respectively used to measure the wind, wave, and current states of the construction water area where the ship is located in real time and display them on the visualization operation interface.

[0043] The ship condition monitoring device includes a liquid level sensor, a water pressure sensor, and a shipborne gyroscope. The liquid level sensor, water pressure sensor, and shipborne gyroscope are respectively used to measure the liquid level of the ship's ballast tank, the liquid pressure at the bottom of the liquid tank, and the hull tilt angle, so as to obtain the ship's loading capacity and floating state.

[0044] The fiber Bragg grating sensor is a steel sheet type fiber Bragg grating strain sensor. The fiber Bragg grating sensors are arranged on the hull, the boom, the bracket of the positioning instrument, and the deck pedestal, and are used to monitor the local strength of key parts in real time.

[0045] The positioning instrument is used to measure the position information of the ship in real time; the positioning instrument can adopt the Beidou navigation system or the GPS system.

[0046] The laser ranging radar is used to monitor the spatial movement state of the hook, which is convenient for making decisions on quickly lifting and lowering the hook.

[0047] The multi-sensor includes a force sensor, an angular displacement sensor, an inclination sensor, a tension sensor, etc., and is used to monitor the operating states of the boom, the hoisting winch, and the cable of the crane ship (as Figure 4 shown);

[0048] The acquisition module is respectively connected to the environmental measurement device, the ship condition monitoring device, the fiber Bragg grating sensor, the positioning instrument, the laser ranging radar, and the multi-sensor, and is used to collect and store data;

[0049] The central processor is connected to the acquisition module, and is used to analyze and calculate the collected data and display the results on the visualization operation interface (as Figure 3 shown), and to judge the current process.

[0050] The controller and the control cabinet are used to control the construction operations of the crane ship. The controller and the control cabinet are integrally arranged in the ship's centralized control room, which is convenient for personnel operation.

[0051] As Figure 1 shown, the construction method for automatically judging the operation process of the crane ship using the above operation assistance decision-making system includes:

[0052] S1. Conduct construction condition judgment: Check the wind, wave, and current states of the construction water area, and combine with the weather of the day to judge whether the construction is appropriate. If so, enter the stage of preparing for ship movement and hoisting;

[0053] S2. The operator calculates the ship's lifting position coordinates based on the position coordinates of the object to be lifted. The ship's lifting position is the position where the ship can lift the object to be lifted. Based on the installation position coordinates of the object to be lifted, the operator calculates the ship's installation position coordinates. The ship's installation position is the position where the ship can install the object to be lifted. Among them, both the ship's lifting position coordinates and the ship's installation position coordinates are the coordinates of the four corners of the ship.

[0054] Determine the lifting parameters, ship moving parameters, and installation parameters of the crane.

[0055] The lifting parameters are the parameters of the crane when the preparatory work for the ship to lift the object to be lifted is completed. The lifting parameters include the boom amplitude β, the hook height h1, and the hook load is zero. Among them, β and h1 are different from the position coordinates of the object to be lifted, and the boom amplitude and hook height of the boom are also different, so that the hook and the lifting appliance are not far above the object to be lifted.

[0056] The ship moving parameters are the parameters of the crane when the ship can move quickly after lifting the object to be lifted. The ship moving parameters include the boom amplitude α, the hook height h2, and the hook load is the weight of the object to be lifted. It should be noted that in order to ensure safe and fast ship movement later, after lifting the object to be lifted, the boom amplitude and hook height of the boom should be adjusted. Among them, the boom amplitude of the boom can be about 65°.

[0057] The installation parameters are the parameters of the crane after the ship completes the installation of the object to be lifted. The installation parameters include the hook height h3 and the hook load is zero. It should be noted that since the installation position of the object to be lifted is unchanged, after the object to be lifted is in place, the hook height should be a fixed value and the hook load is zero.

[0058] S3. Use the fast ship moving technology to move the ship to the ship's lifting position. The fast ship moving technology is specifically as follows: All four corners of the ship are connected to the fixed anchor by steel wires. A total of k steel wires are arranged (k≥3). Calculate the lengths m1, m2, …, m of the k steel wires when the ship is in the current position k , calculate the lengths n1, n2, …, n of the k steel wires when the ship is in the lifting position k , calculate the retracting and releasing lengths n1 - m1, n2 - m2, …, n k -m k , and retract and release the steel wires according to the retracting and releasing lengths of the k steel wires, so as to complete the fast ship movement.

[0059] Such as Figure 2As shown, in this embodiment, six fixed anchors are provided, and a total of six steel wire ropes are arranged. The six steel wire ropes are respectively connected to six positioning winches on the ship. The coordinates of the current position of the ship are (x1, y1, z1), (x2, y2, z2), (x3, y3, z3), (x4, y4, z4), and the coordinates of the six fixed anchors are (M1, N1, O1), (M2, N2, O2), (M3, N3, O3), (M4, N4, O4), (M5, N5, O5), (M6, N6, O6). The coordinates of the ship's lifting position are (x 11 , y 11 , z 11 ), (x 21 , y 21 , z 21 ), (x 31 , y 31 , z 31 ), (x 41 , y 41 , z 41 ). Then the lengths of the six steel wire ropes for retracting and extending are respectively:

[0060]

[0061]

[0062]

[0063]

[0064]

[0065]

[0066] If the retracting and extending length is positive, it means paying out the rope; if the retracting and extending length is negative, it means taking in the rope. The central processing unit calculates the retracting and extending lengths of each steel wire rope, and the controller outputs an electrical signal to control each positioning winch to perform the retracting and extending actions, so as to efficiently complete the ship displacement.

[0067] In this embodiment, the object to be lifted is a segmental girder. After the ship moves to the ship's lifting position, the longitudinal center axis of the ship is perpendicular to the longitudinal center axis of the object to be lifted.

[0068] S4. Control the crane to make hoisting preparations, adjust the boom amplitude to β, lower the hook so that it is not far above the object to be lifted. During this process, the acquisition module collects the current position coordinates of the ship and various parameters of the crane in real time. When the central processor detects that the current position coordinates of the ship are equal to the hoisting position coordinates of the ship, and the boom amplitude of the crane is β, the hook height is equal to h1 and remains unchanged, and the hook load is zero, it is determined that the parameters of the crane meet the hoisting parameters. The central processor reminds the construction personnel that the preparation stage of ship moving and hoisting is over and enters the stage of hooking and hoisting.

[0069] S5. After the construction personnel complete the hooking operation and move away from the operation area, control the crane to lift the object to be lifted. The hook hoisting winch starts to work, and the hook continues to rise until it reaches the height h2 and then remains unchanged. At the same time, adjust the boom amplitude to 65°. The acquisition module obtains various parameters of the crane in real time. When it is detected that the boom amplitude of the crane is 65°, the hook height is equal to h2 and remains unchanged, and the hook load is the weight of the object to be lifted and basically remains unchanged (it can float within a small range), it is determined that the parameters of the crane meet the ship moving parameters. The central processor reminds the construction personnel that the stage of hooking and hoisting is over and enters the stage of moving the ship to the installation site.

[0070] S6. Use the same fast ship moving technology in step S3 to move the ship to the ship installation position, and finely adjust the ship position so that the bow of the ship faces the installation position directly, making the longitudinal centerline of the ship basically coincide with the centerline of the installation position. During this process, the ship continuously maintains the hoisting state at the end of the previous process (that is, the parameters of the crane meet the ship moving parameters), and the hoisting winch is in the braking state. The acquisition module obtains the current position coordinates of the ship in real time. When the current position coordinates of the ship are equal to the ship installation position coordinates, and the parameters of the crane meet the ship moving parameters, it is determined that the stage of moving the ship to the installation site is over and enters the installation and positioning stage. The central processor reminds the construction personnel to enter the installation and positioning stage.

[0071] S7. According to the precise requirements of the installation of the object to be lifted, finely adjust the ship position, or adjust the boom amplitude angle, or adjust the height of the object to be lifted so that it is directly above the installation destination, and then slowly lower the hook, tow and align. After the object to be lifted is installed in place, complete the unhooking. During this process, the positioning winch works, the ship positioning coordinates change slightly, the amplitude winch or the hook hoisting winch works, the boom angle may change until it is fixed, the hook height changes and then gradually decreases until the object to be lifted is located at the installation position, and the weight of the load sensor decreases to zero. During this process, the acquisition module obtains various parameters of the crane in real time. When the hook height of the crane is equal to h3 and the hook load is zero, it is determined that the object to be lifted is installed in place. The central processor reminds the construction personnel to complete the installation of the object to be lifted.

[0072] It should be noted that during the process of using the fast ship moving technology, if the dispatching distance exceeds the traction distance of the ship moving winch wire rope, then use a tugboat or the ship's own propulsion device for displacement.

[0073] The automatic discrimination construction method and operation assistance decision-making system for the operation process of the crane ship analyze the logical relationships and start and end discrimination conditions of each operation process of the crane ship construction operation, adopt diversified monitoring means, construct the corresponding information system, and combine with the fast ship moving technology to achieve informatized, intelligent and high-efficiency construction operations of large crane ships.

[0074] The above-described embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements on some of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the various embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A method for automatically distinguishing the operation process of a crane ship, characterized in that: include: S1, enter the ship moving and lifting preparation stage; S2. Calculate the coordinates of the lifting position of the ship according to the coordinates of the position of the hoisted object, calculate the coordinates of the installation position of the ship according to the coordinates of the installation position of the hoisted object, and determine the lifting parameters, ship moving parameters and installation parameters of the crane; S3. Use the rapid ship moving technology to move the ship to the ship lifting position; S4, control the crane to prepare for lifting, and obtain the coordinates of the current position of the ship and various parameters of the crane in real time. When it is detected that the coordinates of the current position of the ship are equal to the coordinates of the lifting position of the ship, and the various parameters of the crane meet the lifting parameters, it is determined that the ship moving and lifting preparation stage is over and the hook lifting stage is entered; S5, controlling the crane to lift the object, and obtaining various parameters of the crane in real time. When it is detected that the various parameters of the crane meet the ship moving parameters, it is determined that the hook lifting stage is over and the ship moving to the installation site stage is entered; S6. Use the fast ship moving technology to move the ship to the ship installation location, and obtain the coordinates of the current position of the ship in real time. When it is detected that the coordinates of the current position of the ship are equal to the coordinates of the ship installation location, and the various parameters of the crane meet the ship moving parameters, it is determined that the stage of moving the ship to the installation site is over and the installation stage begins; S7, controlling the crane to install, and obtaining various parameters of the crane in real time, and when the various parameters of the crane meet the installation parameters, determining that the object to be hoisted is installed in place; In step S2, the lifting parameters include lifting width β, hook height h1, and hook load is zero; In step S4, if the lifting amplitude of the crane is β, the hook height is equal to h1 and remains unchanged, and the hook load is zero, it is determined that the parameters of the crane meet the lifting parameters; In step S2, the ship moving parameters include the lifting width α, the hook height h2, and the hook load is the weight of the object being lifted; In steps S5 and S6, if the crane's lifting amplitude is α, the hook height is equal to h2 and remains unchanged, and the hook load is the weight of the object being hoisted and remains substantially unchanged, it is determined that the crane parameters meet the ship moving parameters; In step S2, the installation parameters include the hook height h3 and the hook load is zero; In step S7, if the hook height of the crane is equal to h3 and the hook load is zero, then the parameters of the crane meet the installation parameters.

2. The method for automatically distinguishing the operation process of a crane vessel according to claim 1 is characterized in that: Step S3 includes: the four corners of the ship are connected to the fixed anchor by wire ropes, a total of k wire ropes are arranged (k ≥ 3), and the lengths m1, m2, ... m of the k wire ropes when the ship is at the current position are calculated. k , calculate the lengths n1, n2, ... n of k steel wire ropes when the ship is in the lifting position k , calculate the retracted and extended lengths of k steel wire ropes n1-m1, n2-m2, ... n k -m k , the steel wire ropes are retracted and released according to the retracted and released lengths of k steel wire ropes, thereby completing the rapid shifting of the ship.

3. The method for automatically distinguishing the operation process of a crane vessel according to claim 1 is characterized in that: When using the rapid ship moving technology, if the maneuvering distance exceeds the traction distance of the ship moving winch wire rope, a tugboat or the ship's own propulsion device is used for displacement.

4. The method for automatically distinguishing the operation process of a crane vessel according to claim 1 is characterized in that: In step S1, before entering the ship moving and lifting preparation stage, the construction conditions are judged: the wind, wave and current conditions in the construction waters are checked, and combined with the weather of the day, it is judged whether it is suitable for construction.

5. An operation auxiliary decision system for implementing the automatic identification construction method of the crane ship operation process according to any one of claims 1 to 4, characterized in that: It includes environmental measurement device, locator, laser ranging radar, multi-sensor, acquisition module, central processing unit, controller and control cabinet, and visual operation interface; The environmental measurement device is used to measure the wind, wave and current conditions of the construction waters where the ship is located in real time and display them on a visual operation interface; The positioning device is used to measure the position information of the ship in real time; The laser rangefinder radar is used to monitor the spatial motion state of the hook, facilitating rapid decision-making for raising and lowering the hook; The multi-sensor is used to monitor the operating status of the crane boom, hoisting winch and cable of the crane vessel; The acquisition module is respectively connected to the environment measurement device, the locator, the laser ranging radar, and the multi-sensor to collect and store data; The central processing unit is connected to the acquisition module and is used to analyze and calculate the collected data and display the results in a visual operation interface, as well as to identify the current process; The controller and the control cabinet are used to control the construction work of the crane vessel.

6. The operation auxiliary decision system according to claim 5, characterized in that: It includes a fiber grating sensor connected to a collection module and arranged on a hull, a lifting boom, a bracket of a positioning instrument, and a deck base for real-time monitoring of the local strength of key parts.

7. The operation auxiliary decision system according to claim 5, characterized in that: It includes a liquid level sensor, a water pressure sensor and a shipboard gyroscope, which are used to measure the liquid level in the ship's ballast tank, the liquid pressure at the bottom of the tank and the tilt angle of the hull, so as to obtain the cabin loading capacity and the floating state of the ship.

Images