A super large intelligent piling ship

Abstract

The present invention provides an ultra-large intelligent pile-driving ship, which relates to the field of ship technology. The present invention solves the technical problem that the prior art does not have a function of judging the position trend of engineering piles during the piling process, resulting in unsatisfactory piling quality. The ultra-large intelligent pile-driving ship includes a hull, a pile-driving frame, a pile-driving hammer, a lifting winch, a bow pile-holding device, a detection device, a data processing device, and a ship-borne monitoring screen, wherein: the pile-driving frame is rotatably connected to the deck of the bow of the hull, and the maximum height of the pile-driving frame from the deck is not less than 140 meters; the data processing device is used to display the number of the engineering pile, the current position of the engineering pile, the possible position of the engineering pile after the piling is completed, the preset target pile position of the engineering pile, and the target position error value range line of the engineering pile on the ship-borne monitoring screen to display the position trend of the engineering pile during the piling process. The present invention increases the real-time monitoring capability of the ultra-large intelligent pile-driving ship and improves the quality of piling.

Description

Technical Field

[0001] The present invention relates to the technical field of ships, and in particular to an ultra-large intelligent piling ship. Background Art

[0002] A large pile-driving ship is a professional engineering vessel that uses a pile hammer to drive engineering piles into the seabed mud to provide pile foundations for offshore buildings. It has the characteristics of large tonnage and high technical difficulty.

[0003] The pile frame is an important part of a large pile-driving ship, which is used to provide guidance and limit for the engineering piles during the hammering process. The maximum height of the pile frame, that is, the maximum height of the pile frame (top) from the deck, is an important parameter of a large pile-driving ship. This parameter determines the size of the engineering piles that can be applied to the pile frame of the large pile-driving ship. The maximum height of the pile frame of the currently known mature and reliable large pile-driving ships is generally around 50 meters, and the size of the engineering piles that can be applied is small, so the applicable sea area is shallow and the application range is narrow.

[0004] In order to expand the application scope of large-scale piling ships, technical personnel in this field have thought of increasing the maximum height of the pile frame of large-scale piling ships. However, after the maximum height of the pile frame is increased, the weight of the pile frame will also increase, and the deformation of the pile frame and the engineering piles during construction will increase accordingly, which greatly increases the difficulty of construction and makes it impossible to ensure the accuracy and quality of piling.

[0005] The applicant has found that the prior art has at least the following technical problems:

[0006] In the prior art, large pile-driving ships do not have the function of judging the position trend of engineering piles during the construction process. Whether the position deviation of the engineering piles after piling is completed will be serious enough to exceed the allowable error value of the engineering piles depends solely on the operator's experience. Once the operator is negligent or encounters an inexperienced operator who is unable to promptly discover and correct the position error during the construction process, the piling position accuracy will be unstable and the piling quality will be unsatisfactory. Summary of the invention

[0007] The embodiment of the present invention provides an ultra-large intelligent piling ship, which solves the technical problem that the prior art has no function of judging the position trend of engineering piles during the piling process, resulting in unsatisfactory piling quality.

[0008] The embodiment of the present invention provides the following technical solutions:

[0009] The ultra-large intelligent piling ship provided in an embodiment of the present invention includes a hull, a piling frame, a piling hammer, a lifting winch, a bow pile holding device, a detection device, a data processing device and a ship-borne monitoring screen, wherein:

[0010] The piling frame is rotatably connected to the deck of the bow of the hull, and the maximum height of the piling frame from the deck is not less than 140 meters. The displacement of the ultra-large intelligent piling ship during sailing is greater than 14,000 tons;

[0011] The pile driving hammer is slidably connected to the pile driving frame and is connected to the lifting winch via a steel wire rope; the lifting winch can drive the pile driving hammer to slide and rise to a suspended position along the pile driving frame via the steel wire rope, and when the lifting winch releases the steel wire rope, the pile driving hammer can slide down to a position to hammer the top of the engineering pile under the action of gravity;

[0012] There are two bow pile-holding devices, which are arranged at different heights on the pile-driving frame, and each bow pile-holding device has a symmetrically arranged pile-holding arm for holding the circumferential surface of the engineering pile;

[0013] The data processing device is used to obtain the size data and position data of the hull, the pile driver, the bow pile holding device and the detection device, which are pre-loaded by the operator, and obtain the number of the engineering pile that needs to be hammered by the pile driver, the size data of the engineering pile, the preset target pile position coordinate data of the engineering pile (the coordinates are used to indicate the target position of the engineering pile) and the allowable error value data of the engineering pile, which are pre-entered by the operator, and detect the position data of the hull, the angle value of the angle between the pile driver and the deck, and the deformation data of the pile driver in real time through the detection device, and obtain the current pile position coordinate data of the engineering pile based on the above data and predict the possible position data of the engineering pile after the piling is completed according to the original hammering method, and display the number of the engineering pile, the current position of the engineering pile, the possible position of the engineering pile after the piling is completed, the preset target pile position of the engineering pile and the target position error value range line of the engineering pile on the ship-borne monitoring screen to show the position trend of the engineering pile during the piling process.

[0014] Optionally, the detection device includes an angle sensor and a stress sensor, wherein:

[0015] There are two angle sensors, one of which is arranged on the pile frame between the two bow pile-holding devices, and the other is arranged on the pile frame above the bow pile-holding device at a higher position; the angle sensor is used to detect the angle value between the pile frame and the deck and send it to the data processing device;

[0016] The pile driver comprises three chord tubes, each of which is provided with a stress sensor, and the stress sensor is used to detect deformation data of the chord tube and send the deformation data of the pile driver to the data processing device as the deformation data of the pile driver;

[0017] The data processing device is also used to receive and process the angle value between the pile driving frame and the deck and the deformation data of the pile driving frame, and use the deformation data of the pile driving frame as the deformation data of the engineering pile to calculate the coordinates of the center points of the pile holding arms of the two bow pile holding devices and regard the straight line determined by the center points of the pile holding arms of the two bow pile holding devices as the center line of the engineering pile, and then calculate the verticality data of the center line of the engineering pile and the sea level as the verticality data of the engineering pile and send it to the ship-borne monitoring screen for display.

[0018] Optionally, the data processing device is further configured to display an alarm message through the shipborne monitoring screen when the deformation data of the pile driver and the verticality data of the engineering pile exceed a safety threshold.

[0019] Optionally, the detection device comprises a global navigation satellite system receiver and a penetration monitor, wherein:

[0020] The number of the GNSS receivers is three, and two of the GNSS receivers are respectively arranged on the left and right sides of the deck, and one of the GNSS receivers is arranged on the deck around the pile driver; the GNSS receiver is used to receive the position data of the hull obtained by satellite detection and send it to the data processing device;

[0021] The penetration monitor is arranged on the top of the pile frame, and is used to detect the distance data between the top of the pile frame and the top of the engineering pile and send it to the data processing device.

[0022] Optionally, the data processing device calculates the distance between the top of the engineering pile and the sea level based on the position data of the hull, the angle value between the pile driver and the deck, the deformation data of the pile driver, and the distance data between the top of the pile driver and the top of the engineering pile, and uses this as the current penetration depth data of the engineering pile.

[0023] Optionally, the method for obtaining the current pile position coordinate data of the engineering pile based on the above data and predicting the possible position data of the engineering pile after the pile driving is completed according to the original hammering method is:

[0024] Calculating the coordinate data of the center of gravity of the engineering pile according to the current penetration depth data of the engineering pile, the position of the center line of the engineering pile and the size data of the engineering pile, and using the coordinate data of the center of gravity of the engineering pile as the current pile position coordinate data of the engineering pile;

[0025] Calculate the difference between the current pile position coordinate data of the engineering pile and the preset target pile position coordinate data of the engineering pile in the horizontal direction, and calculate the ratio of the difference to the current penetration depth data of the engineering pile as the error trend coefficient;

[0026] Calculating the preset target depth data of the engineering pile according to the preset target pile position coordinate data of the engineering pile, and calculating the product of the preset target depth data of the engineering pile and the error trend coefficient to obtain the possible error data of the engineering pile;

[0027] The possible position data of the engineering pile after the piling is completed is obtained by calculating the sum of the possible error data of the engineering pile and the current pile position coordinate data of the engineering pile.

[0028] Optionally, the detection device further comprises a pile hammer weight sensor and a hammer blow recorder, wherein the pile hammer weight sensor is arranged on the steel wire rope and is used to collect the weight of the pile hammer, and the hammer blow recorder records the hammer blow data of the pile hammer in the form of collecting sound signals;

[0029] The data processing device is also used to receive and process the data input by the pile hammer weight sensor and the hammer blow recorder, and calculate the hammer blow energy data of the pile hammer according to the weight of the pile hammer and the length of the steel wire rope, calculate the penetration speed data of the engineering pile according to the ratio of the difference between the current penetration depth data of the engineering pile and the penetration depth data of the engineering pile at the last hammer blow and the time, and display the received data and the calculated data on the ship-borne monitoring screen;

[0030] The data processing device is also used to output all data in the form of reports and send them to the land command platform in the form of wireless signals. The data processing device is also used to receive and process the command information fed back by the land command platform and then send it to the ship-borne monitoring screen for display.

[0031] Optionally, the ultra-large intelligent piling ship further includes an error correction device, and the detection device further includes a scanner, which is arranged on the pile driving frame between the two bow pile-holding devices, and the scanner is used to detect the spacing data between the pile-holding arms of the two bow pile-holding devices and the engineering piles and send the data to the data processing device;

[0032] The error correction device is a pushing cylinder, which includes a cylinder barrel arranged on the pile driving frame and a cylinder rod that pushes against the circumferential surface of the engineering pile. The error correction device is used to adjust the distance between the engineering pile and the pile holding arm by pushing the circumferential surface of the engineering pile by the cylinder rod according to the instruction of the data processing device, so that the center line of the engineering pile coincides with the center point of the pile holding arm.

[0033] Optionally, the data processing device is also used to issue an alarm prompt through the shipboard monitoring screen when the difference between the possible position data of the engineering pile after the piling is completed and the preset target pile position coordinate data of the engineering pile is greater than the allowable error value data of the engineering pile, and to display through the shipboard monitoring screen that the possible position of the engineering pile after the piling is completed exceeds the target position error value range line of the engineering pile.

[0034] Optionally, the hull has a length greater than 120 meters and a width greater than 35 meters; the maximum diameter of the engineering pile is at least 6 meters, the maximum pile weight is at least 700 tons, and the maximum weight of the pile hammer is at least 500 tons.

[0035] Any of the above technical solutions provided by the embodiments of the present invention produces at least the following technical effects:

[0036] The data processing device of the present invention can detect the position data of the hull, the angle value between the pile driver and the deck, and the deformation data of the pile driver in real time through the detection device, and obtain the current pile position coordinate data of the engineering pile based on the above data and predict the possible position data of the engineering pile after the piling is completed according to the original hammering method, and display the number of the engineering pile, the current position of the engineering pile, the possible position of the engineering pile after the piling is completed, the preset engineering pile target pile position and the target position error value range line of the engineering pile on the shipboard monitoring screen to show the position trend of the engineering pile during the piling process. Therefore, the operator only needs to watch the position relationship between the possible position of the engineering pile after the piling is completed and the target position error value range line of the engineering pile on the shipboard monitoring screen to judge whether continuing the piling with the original hammering method can ensure that the final position accuracy of the engineering pile and the piling quality meet the requirements, and then decide to continue piling or take remedial measures such as lifting the engineering pile, adjusting the angle between the pile driving frame and the deck, or replacing the weight and hammering speed of the pile hammer in time, so as to ensure that the final position accuracy of the engineering pile and the piling quality meet the requirements. Therefore, the technical problem that the prior art does not have the function of judging the position trend of the engineering pile during the piling process, resulting in unsatisfactory piling quality, is solved. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Through the following drawings, those skilled in the art may better understand the technical effects of the present invention.

[0038] Figure 1 A schematic diagram of a process of a pile driving frame of an ultra-large intelligent pile driving vessel moving from a minimum height position (stowed state) to a maximum height position provided by an embodiment of the present invention.

[0039] Figure 2 A schematic diagram of the positional relationship between a pile driving frame of an ultra-large intelligent pile driving ship and an island on the ship hull when the pile driving frame is at a minimum height position (stowed state) provided in an embodiment of the present invention.

[0040] Figure 3 A schematic diagram of the stern of a super-large intelligent piling vessel provided in an embodiment of the present invention.

[0041] Figure 4 A schematic diagram of the three-dimensional structure of an ultra-large intelligent piling vessel before the bow pile-holding device is installed provided by an embodiment of the present invention.

[0042] Figure 5 for Figure 4 A schematic front view of an ultra-large intelligent piling vessel provided by an embodiment of the present invention is shown.

[0043] Figure 6 for Figure 4 A right side schematic diagram of an ultra-large intelligent piling vessel provided by an embodiment of the present invention is shown.

[0044] Figure 7 for Figure 4 A schematic top view of an ultra-large intelligent piling vessel provided by an embodiment of the present invention is shown.

[0045] Markings in the figure: 1. hull; 11. island; 2. pile driving frame; 3. pile hammer; 4. lifting winch; 5. bow pile holding device; 6. detection device. DETAILED DESCRIPTION

[0046] The following is combined with the above Figure 1-Figure 7 The preferred implementation modes and various optional implementation schemes provided by the embodiments of the present invention are described in more detail.

[0047] like Figure 1-Figure 7 As shown, an ultra-large intelligent piling ship provided by an embodiment of the present invention includes a hull 1, a piling frame 2, a piling hammer 3, a lifting winch 4, a bow pile holding device 5, a detection device 6, a data processing device and a ship-borne monitoring screen, wherein:

[0048] The pile driving frame 2 is rotatably connected to the deck of the bow of the hull 1, and the maximum height of the pile driving frame 2 from the deck is not less than 140 meters. The displacement of the ultra-large intelligent pile driving ship during sailing is greater than 14,000 tons;

[0049] The pile hammer 3 is slidably connected to the pile frame 2 and is connected to the lifting winch 4 through a steel wire rope; the lifting winch 4 can drive the pile hammer 3 to slide up along the pile frame 2 to a suspended position through the steel wire rope, and when the lifting winch 4 releases the steel wire rope, the pile hammer 3 can slide down to the position of hammering the top of the engineering pile under the action of gravity;

[0050] There are two bow pile-holding devices 5, which are arranged at different heights on the pile-driving frame 2. Each bow pile-holding device 5 has a symmetrically arranged pile-holding arm for holding the circumferential surface of the engineering pile.

[0051] The data processing device is used to obtain the size data and position data of the hull 1, the pile frame 2, the bow pile holding device 5 and the detection device 6 pre-loaded by the operator, and obtain the number of the engineering pile that needs to be hammered by the pile hammer 3, the size data of the engineering pile, the preset engineering pile target pile position coordinate data (the coordinates are used to indicate the target position of the engineering pile) and the allowable error value data of the engineering pile, and detect the position data of the hull 1, the angle value of the angle between the pile frame 2 and the deck (this angle value is used as the angle value of the angle between the engineering pile and the deck or the sea level), and the deformation data of the pile frame 2 in real time through the detection device 6, and obtain the current pile position coordinate data of the engineering pile based on the above data and predict the possible position data of the engineering pile after the pile driving is completed according to the original hammering method, and display the number of the engineering pile, the current position of the engineering pile, the possible position of the engineering pile after the pile driving is completed, the preset engineering pile target pile position and the target position error value range line of the engineering pile on the shipboard monitoring screen to show the position trend of the engineering pile during the pile driving process.

[0052] The data processing device of the present invention can detect the position data of the hull 1, the angle value of the angle between the pile frame 2 and the deck, and the deformation data of the pile frame 2 in real time through the detection device 6, and obtain the current pile position coordinate data of the engineering pile based on the above data and predict the possible position data of the engineering pile after the pile driving is completed according to the original hammering method, and display the number of the engineering pile, the current position of the engineering pile, the possible position of the engineering pile after the pile driving is completed, the preset engineering pile target pile position and the target position error value range line of the engineering pile on the ship-borne monitoring screen to show the position trend of the engineering pile during the pile driving process. Therefore, the operator only needs to watch the position relationship between the possible position of the engineering pile after the pile driving is completed and the target position error value range line of the engineering pile on the ship-borne monitoring screen to judge whether the original hammering method can continue to pile drive to ensure that the final position accuracy of the engineering pile and the pile driving quality meet the requirements, and then decide to continue piling or take timely remedial measures such as lifting the engineering pile, adjusting the angle value of the angle between the pile frame 2 and the deck, or changing the weight and hammering speed of the pile hammer 3, so as to ensure that the final position accuracy of the engineering pile and the pile driving quality meet the requirements.

[0053] As an optional implementation, the detection device 6 includes an angle sensor and a stress sensor, wherein:

[0054] There are two angle sensors, one of which is arranged on the pile frame 2 between the two bow pile-holding devices 5, and the other is arranged on the pile frame 2 above the bow pile-holding device 5 which is located higher; the angle sensor is used to detect the angle value between the pile frame 2 and the deck and send it to the data processing device;

[0055] The pile driving frame 2 includes three chord tubes, each of which is provided with a stress sensor, which is used to detect deformation data of the chord tube and send it to the data processing device as deformation data of the pile driving frame 2;

[0056] The data processing device is also used to receive and process the angle value between the pile driving frame 2 and the deck and the deformation data of the pile driving frame 2, and use the deformation data of the pile driving frame 2 as the deformation data of the engineering pile to calculate the coordinates of the center points of the pile holding arms of the two bow pile holding devices 5 and regard the straight line determined by the center points of the pile holding arms of the two bow pile holding devices 5 as the center line of the engineering pile, and then calculate the verticality data of the center line of the engineering pile and the sea level as the verticality data of the engineering pile and send it to the ship-borne monitoring screen for display.

[0057] Since the engineering pile is a regular cylindrical structure, and the engineering pile is always held by the pile holding arms of the two bow pile holding devices 5 during the piling process, and the pile holding arms of the two bow pile holding devices 5 are arranged on the pile driving frame 2, and the pile driving frame 2 and the engineering pile are deflected synchronously, the straight line determined by the center points of the pile holding arms of the two bow pile holding devices 5 can be regarded as the center line of the engineering pile.

[0058] As an optional implementation, the data processing device is also used to display an alarm message through the ship-borne monitoring screen when the deformation data of the pile frame 2 and the verticality data of the engineering pile exceed the safety threshold. The alarm function can promptly remind the operator to take measures to avoid safety accidents.

[0059] As an optional implementation, the detection device 6 includes a global navigation satellite system receiver and a penetration monitor, wherein:

[0060] There are three GNSS receivers, and two of them are respectively arranged on the left and right sides of the deck, and one of them is arranged on the deck around the pile driving frame 2; the GNSS receiver is used to receive the position data of the hull 1 obtained by satellite detection and send it to the data processing device;

[0061] The penetration monitor is arranged on the top of the pile frame 2, and the penetration monitor is used to detect the distance data between the top of the pile frame 2 and the top of the engineering pile and send it to the data processing device;

[0062] The data processing device calculates the distance between the top of the engineering pile and the sea level based on the position data of the hull 1, the angle value between the pile frame 2 and the deck, the deformation data of the pile frame 2, and the distance data between the top of the pile frame 2 and the top of the engineering pile, and uses this as the current penetration depth data of the engineering pile.

[0063] As an optional implementation method, the method of obtaining the current pile position coordinate data of the engineering pile based on the above data and predicting the possible position data of the engineering pile after the pile driving is completed according to the original hammering method is:

[0064] Calculate the coordinate data of the center of gravity of the engineering pile according to the current penetration depth data of the engineering pile, the position of the center line of the engineering pile and the size data of the engineering pile, and use the coordinate data of the center of gravity of the engineering pile as the current pile position coordinate data of the engineering pile;

[0065] Calculate the difference between the current pile position coordinate data of the engineering pile and the preset target pile position coordinate data of the engineering pile in the horizontal direction, and calculate the ratio of the difference to the current penetration depth data of the engineering pile as the error trend coefficient;

[0066] Calculate the preset target depth data of the engineering pile according to the preset target pile position coordinate data of the engineering pile, and calculate the product of the preset target depth data of the engineering pile and the error trend coefficient to obtain the possible error data of the engineering pile;

[0067] The possible position data of the engineering pile after the piling is completed is obtained by calculating the sum of the possible error data of the engineering pile and the current pile position coordinate data of the engineering pile.

[0068] Since the engineering pile is a regular cylindrical structure, the accuracy of the entire engineering pile position in the horizontal direction can be ensured by measuring the position of its center of gravity.

[0069] The above calculation method can calculate the possible position data of the engineering pile after the piling is completed before the piling is completed. Therefore, it is only necessary to determine whether the possible position data of the engineering pile after the piling is completed is within the allowable error value data range of the engineering pile to decide whether remedial measures need to be taken, so as to ensure that the final position accuracy of the engineering pile and the piling quality meet the requirements.

[0070] As an optional implementation, the detection device 6 further includes a pile hammer weight sensor and a hammer blow recorder, wherein the pile hammer weight sensor is arranged on the wire rope and is used to collect the weight of the pile hammer 3, and the hammer blow recorder records the hammer blow data of the pile hammer 3 in the form of collected sound signals;

[0071] The data processing device is also used to receive and process the data input by the pile hammer weight sensor and the hammer blow recorder, and calculate the hammer blow energy data of the pile hammer 3 according to the weight of the pile hammer 3 and the length of the steel wire rope, calculate the penetration speed data of the engineering pile according to the ratio of the difference between the current penetration depth data of the engineering pile and the penetration depth data of the engineering pile at the previous hammer blow and the time, and display the received data and the calculated data on the ship-borne monitoring screen;

[0072] The data processing device is also used to output all data in the form of reports and send them to the land command platform in the form of wireless signals. The data processing device is also used to receive and process the command information fed back by the land command platform and send it to the ship-borne monitoring screen for display.

[0073] By monitoring the weight, number of blows, blow energy data of the pile hammer 3 and the penetration speed data of the engineering pile, it is possible to fully and timely understand whether the working process of the pile hammer 3 and the engineering pile is normal during the piling process, thereby discovering problems and hidden dangers early.

[0074] As an optional implementation, the ultra-large intelligent piling ship further includes an error correction device, and the detection device 6 further includes a scanner, which is arranged on the piling frame 2 between the two bow pile-holding devices 5, and the scanner is used to detect the spacing data between the pile-holding arms of the two bow pile-holding devices 5 and the engineering piles and send it to the data processing device;

[0075] The error correction device is a pushing cylinder, which includes a cylinder barrel arranged on the pile driving frame 2 and a cylinder rod that pushes against the circumferential surface of the engineering pile. The error correction device is used to adjust the distance between the engineering pile and the pile holding arm by pushing the circumferential surface of the engineering pile through the cylinder rod according to the instructions of the data processing device, so that the center line of the engineering pile coincides with the center point of the pile holding arm.

[0076] The error correction device can ensure that the center line of the engineering pile coincides with the center point of the pile holding arm, thereby ensuring the position accuracy of the pile driving.

[0077] As an optional implementation, the data processing device is also used to issue an alarm prompt through the shipboard monitoring screen when the difference between the possible position data of the engineering pile after piling is completed and the preset target pile position coordinate data of the engineering pile is greater than the allowable error value data of the engineering pile, and to display through the shipboard monitoring screen that the possible position of the engineering pile after piling is completed exceeds the target position error value range line of the engineering pile.

[0078] The above scheme can facilitate operators to intuitively and quickly find that the engineering piles have position deviations, thereby reminding the operators to take remedial measures in time to avoid the expansion of the position deviation and the occurrence of irremediable problems.

[0079] As an optional implementation, the length of the hull 1 is greater than 120 meters, and the beam is greater than 35 meters; the maximum diameter of the engineering pile is 6 meters, the maximum pile weight is 700 tons, and the maximum weight of the pile hammer 3 is 500 tons.

[0080] The above data can support that the ultra-large intelligent piling vessel has a large tonnage and can pile smoothly even in severe sea conditions. The maximum height of the piling frame 2 from the deck can exceed 140 meters or even 150 meters.

[0081] In summary, the ultra-large intelligent piling ship is composed of a pile hammer, a pile frame and other ancillary equipment systems. During the piling operation, the effective coordination between various equipment and systems is required to complete the entire piling process from pile hanging, pile erection to piling.

[0082] In order to effectively improve the intelligent operation capability and risk resistance of the ultra-large intelligent piling ship, the ultra-large intelligent piling ship provided in the embodiment of the present invention has also developed an intelligent management system for piling ships, which intelligently guides piling operations through real-time data collection and analysis, and provides suggestions and data support for auxiliary decision-making, thereby improving the intelligent piling and operation level of the piling ship and realizing intelligent management and efficient operation of the piling ship.

[0083] The intelligent management system of the ultra-large intelligent piling ship consists of six parts: construction management control platform, environmental perception and early warning platform, ship status monitoring platform, intelligent station control platform, high-precision piling monitoring platform, and shipping management platform.

[0084] The construction management and control platform can realize the linkage and coordination of various sub-systems, centralize the real-time data of different systems, and intelligently guide the piling operation of the piling ship by establishing a digital model of the piling ship and analyzing the collected data in real time.

[0085] The environmental perception and early warning platform uses anemometers, wave height meters, current meters, temperature meters and network technology to provide ships with and record real-time hydrological and meteorological information within the construction area, and achieves early warning of pile-driving operations by pile-driving ships through the digital model of the construction management and control platform.

[0086] The ship status monitoring platform can realize real-time perception and efficient control of the ship status, and feedback the ship status information to the construction management control platform in real time, so that the ship can make corresponding adjustments according to construction needs. The ship's floating state sensor, ballast tank level sensor, and hull stress sensor can be used to perceive the piling ship's ship attitude data in real time.

[0087] The intelligent station control platform uses the pile-driving vessel's auxiliary thruster system and Beidou positioning system to achieve real-time intelligent mobile positioning during the pile-driving process, without relying solely on tugboat towing and anchor shifting positioning.

[0088] The ship management platform uses the ship-to-shore communication system to realize information exchange between the ship and the shore or other ships, achieving a data integration effect of shore and sea. Under the premise of ensuring data security, information sharing between the ship and the shore center is realized.

[0089] The construction management control platform is the core control system of the ultra-large intelligent piling vessel.

[0090] The platform is fully involved in the entire construction process of the piling ship. From the ship's berthing, pile erection, pile position measurement and positioning to the start of piling, the construction management and control platform can guide, direct, monitor, control and record the entire operation process. By collecting and recording all relevant parameters in the construction process in real time, a complete record of the construction process can be formed, which is of great significance for ensuring construction quality, analyzing quality influencing factors and quality traceability.

[0091] The platform mainly aggregates data and signals from the environmental perception and warning platform, ship status monitoring platform, intelligent station control platform, high-precision piling monitoring platform and shipping management platform in real time, and guides piling construction in real time after analysis and processing based on the three-dimensional digital model of the piling ship and other platform data.

[0092] The environmental perception and early warning platform obtains real-time data on wind speed and direction at sea through three anemometers installed on the top of the cockpit, the top and the middle of the pile frame. It obtains real-time data on the velocity and direction of the sea, wave height, wave direction, wavelength and wave period through the current meters and wave height meters installed on the bow and both sides of the midship of the piling ship. It obtains real-time data on indoor and outdoor temperature and seawater temperature through the thermometers installed on the top of the cockpit, indoors and amidships. Through data collection and analysis, the data is transmitted to the platform in real time. Based on the three-dimensional digital model and processed characteristic data, it analyzes, guides and warns the piling ship in real time to carry out piling operations.

[0093] The ship status monitoring platform obtains the floating information and roll, pitch, sway, swing, bow and heave data of the pile driver in the sea in real time through a floating sensor and a high-precision attitude sensor installed in the middle of the pile driver amidships; senses the force and deformation data of the hull in real time through three groups of stress sensors installed at the bow, amidships and stern; obtains the ballast water level information of the ballast tank in real time through the liquid level sensor installed at the bottom of the ballast tank; comprehensively analyzes the real-time status of the ship based on the information of the environmental perception platform and the data of the ship status monitoring platform, and intelligently starts the ballast tank ballast system in real time according to the three-dimensional digital model of the construction management and control platform, so as to control the ship status to be within the accuracy requirements and safety range required for piling in real time; at the same time, based on the three-dimensional model, real-time analysis and early warning are carried out to predict the high-risk factors of the ship status and guide offshore piling operations.

[0094] The intelligent station control platform obtains the precise position and motion trajectory of the pile-driving ship in real time through the Beidou navigation and positioning device installed at the key position of the hull. Through the two full-rotation electric propulsion devices installed at the stern and the two side thrusters at the bow, the propulsion devices and side thrusters are intelligently started according to the Beidou positioning information and operation commands. It is particularly suitable for short-distance self-propelled and high-precision positioning in narrow waters, and can realize the functions of on-site positioning, on-site steering, and directional navigation of the pile-driving ship. It can perform full-dimensional intelligent positioning operations under 2-meter wave height, 3-knot ocean current, and 4-level wind, and can ensure the ability of the pile-driving ship to achieve intelligent positioning within ±20 degrees of the center line in real time. At the same time, according to the information of the environmental perception platform and the ship status monitoring platform, the three-dimensional digital model is used to analyze and predict the control ability of the pile-driving ship under the condition of gradually increasing wind, waves and currents in real time, and timely point out whether the ship can be adjusted to resist wind and current to maintain the ship's position and continue to operate when the wind force increases to level 5 or 6.

[0095] The ship management platform realizes the sharing and integration of information resources of the whole ship by establishing a safe and effective local area network; by configuring remote communication equipment, dual 4G+5G communication and microwave communication signal amplification equipment, it realizes safe and controllable ship-shore communication services, and exchanges network data with the command center of the headquarters on shore; it is equipped with wireless AP equipment to achieve wireless network coverage of the whole ship, etc. The platform can realize the use, maintenance and equipment management functions of pile-driving ships. The focus is on collecting, processing, storing, monitoring, managing, searching and transmitting the ship's security information to realize the joint management of shore-sea data. It provides useful decision-making and management information for relevant departments and personnel, including equipment management, maintenance and maintenance plans, maintenance, spare parts / materials / tools management, logistics material management, certificate management, crew management, navigation management, comprehensive query statistics and other functions. It can realize the information exchange between pile-driving ships at sea and shore-based or other ships. Using the ship-shore communication system, under the premise of ensuring data security, it can realize the information sharing of the ship and the shore-based center, and can share hydrological environment information in real time, and provide operation and early warning information for other ships.

[0096] The working process of the intelligent management system for piling operations is as follows:

[0097] The offshore piling operation of a piling ship can be divided into six processes according to the process sequence, namely, piling ship stationing, pile hoisting, pile erecting, positioning, pile sinking and piling. During the six piling processes, the ultra-large intelligent piling ship integrates and coordinates the work through the platform to realize the offshore intelligent piling operation of the ultra-large intelligent piling ship.

[0098] The first step is to get the pile-driving ship stationed;

[0099] The second step is pile lifting operation;

[0100] The third step is pile erection;

[0101] The fourth step is precise positioning;

[0102] The fifth step is pile sinking operation;

[0103] Step 6: Pile driving.

[0104] Beneficial effects of the present invention (process improvement advantages):

[0105] The ultra-large intelligent piling ship of the present invention is a special research and development design based on the technical defects of existing piling ships and the national development needs. It can effectively meet the use requirements of piling ships in the existing technology while achieving the goals of intelligence, high efficiency, economy and environmental protection.

[0106] Compared with the pile-driving boats in the prior art, the ultra-large intelligent pile-driving boat of the present invention improves the operation efficiency by more than 15%, reduces the number of operators by more than 25%, reduces the safety risk by about 30%, and improves the pile foundation quality accuracy by up to 100%, which greatly improves the overall management efficiency and construction effect of the pile-driving boats in the prior art. Under the premise of ensuring safety, it realizes the optimization of personnel allocation and reduces the phenomenon of inefficient equipment operation.

[0107] The ultra-large intelligent piling ship will eventually achieve efficient ship management and safe operation through the organic combination and data sharing between various platforms. The digital model of the entire ship equipment will be established and monitored and managed through corresponding sensors. Through big data analysis, auxiliary suggestions and data support will be provided for ship management decisions, and the ship management level will be continuously improved. The intelligent, digital and automated management of piling operations will be realized.

[0108] This technical solution has been experimentally verified on a 140-meter-class pile-driving ship, and the use effect is good. The preliminary verification fully demonstrates that this technical solution has great innovative significance and promotion and application value.

[0109] The above technical solutions are all preferred embodiments of the present application, and are not intended to limit the protection scope of the present application. Therefore, any equivalent changes made based on the structure, shape, and principle of the present application should be included in the protection scope of the present application.

Claims

1. An ultra-large intelligent piling ship, characterized in that: The ultra-large intelligent piling ship includes a hull, a piling frame, a piling hammer, a lifting winch, a bow pile holding device, a detection device, a data processing device and a shipboard monitoring screen, among which: The piling frame is rotatably connected to the deck of the bow of the hull, and the maximum height of the piling frame from the deck is not less than 140 meters. The displacement of the ultra-large intelligent piling ship during sailing is greater than 14,000 tons; The pile driving hammer is slidably connected to the pile driving frame and is connected to the lifting winch via a steel wire rope; the lifting winch can drive the pile driving hammer to slide and rise to a suspended position along the pile driving frame via the steel wire rope, and when the lifting winch releases the steel wire rope, the pile driving hammer can slide down to a position to hammer the top of the engineering pile under the action of gravity; There are two bow pile-holding devices, which are arranged at different heights on the pile-driving frame, and each bow pile-holding device has a symmetrically arranged pile-holding arm for holding the circumferential surface of the engineering pile; The data processing device is used to obtain the size data and position data of the hull, the pile driver, the bow pile holding device and the detection device, which are pre-loaded by the operator, and obtain the number of the engineering pile that needs to be hammered by the pile driver, the size data of the engineering pile, the preset target pile position coordinate data of the engineering pile and the allowable error value data of the engineering pile, which are pre-entered by the operator, and detect the position data of the hull, the angle value of the angle between the pile driver and the deck, and the deformation data of the pile driver in real time through the detection device, and obtain the current pile position coordinate data of the engineering pile based on the above data and predict the possible position data of the engineering pile after the pile driving is completed according to the original hammering method, and display the number of the engineering pile, the current position of the engineering pile, the possible position of the engineering pile after the pile driving is completed, the preset target pile position of the engineering pile and the target position error value range line of the engineering pile on the ship-borne monitoring screen to show the position trend of the engineering pile during the pile driving process; The detection device includes an angle sensor and a stress sensor, wherein: There are two angle sensors, one of which is arranged on the pile frame between the two bow pile-holding devices, and the other is arranged on the pile frame above the bow pile-holding device at a higher position; the angle sensor is used to detect the angle value between the pile frame and the deck and send it to the data processing device; The pile driver comprises three chord tubes, each of which is provided with a stress sensor, and the stress sensor is used to detect deformation data of the chord tube and send the deformation data of the pile driver to the data processing device as the deformation data of the pile driver; The data processing device is also used to receive and process the angle value between the pile driving frame and the deck and the deformation data of the pile driving frame, and use the deformation data of the pile driving frame as the deformation data of the engineering pile to calculate the coordinates of the center points of the pile holding arms of the two bow pile holding devices and regard the straight line determined by the center points of the pile holding arms of the two bow pile holding devices as the center line of the engineering pile, and then calculate the verticality data of the center line of the engineering pile and the sea level as the verticality data of the engineering pile and send it to the ship-borne monitoring screen for display; The detection device comprises a global navigation satellite system receiver and a penetration monitor, wherein: The number of the GNSS receivers is three, and two of the GNSS receivers are respectively arranged on the left and right sides of the deck, and one of the GNSS receivers is arranged on the deck around the pile frame; the GNSS receiver is used to receive the position data of the hull obtained by satellite detection and send it to the data processing device; the penetration monitor is arranged on the top of the pile frame, and the penetration monitor is used to detect the distance data between the top of the pile frame and the top of the engineering pile and send it to the data processing device; The data processing device calculates the distance between the top of the engineering pile and the sea level based on the position data of the hull, the angle between the pile frame and the deck, the deformation data of the pile frame, and the distance data between the top of the pile frame and the top of the engineering pile, and uses this as the current penetration depth data of the engineering pile; The method for obtaining the current pile position coordinate data of the engineering pile based on the above data and predicting the possible position data of the engineering pile after the pile driving is completed according to the original hammering method is: Calculating the coordinate data of the center of gravity of the engineering pile according to the current penetration depth data of the engineering pile, the position of the center line of the engineering pile and the size data of the engineering pile, and using the coordinate data of the center of gravity of the engineering pile as the current pile position coordinate data of the engineering pile; Calculate the difference between the current pile position coordinate data of the engineering pile and the preset target pile position coordinate data of the engineering pile in the horizontal direction, and calculate the ratio of the difference to the current penetration depth data of the engineering pile as the error trend coefficient; Calculating the preset target depth data of the engineering pile according to the preset target pile position coordinate data of the engineering pile, and calculating the product of the preset target depth data of the engineering pile and the error trend coefficient to obtain the possible error data of the engineering pile; The possible position data of the engineering pile after the piling is completed is obtained by calculating the sum of the possible error data of the engineering pile and the current pile position coordinate data of the engineering pile.

2. The ultra-large intelligent piling vessel according to claim 1, characterized in that: The data processing device is also used to display warning information through the ship-borne monitoring screen when the deformation data of the pile driver and the verticality data of the engineering pile exceed a safety threshold.

3. The ultra-large intelligent piling vessel according to claim 1, characterized in that: The detection device also includes a pile hammer weight sensor and a hammer blow recorder, wherein the pile hammer weight sensor is arranged on the steel wire rope and is used to collect the weight of the pile hammer, and the hammer blow recorder records the hammer blow data of the pile hammer in the form of collecting sound signals; The data processing device is also used to receive and process the data input by the pile hammer weight sensor and the hammer blow recorder, and calculate the hammer blow energy data of the pile hammer according to the weight of the pile hammer and the length of the steel wire rope, calculate the penetration speed data of the engineering pile according to the ratio of the difference between the current penetration depth data of the engineering pile and the penetration depth data of the engineering pile at the last hammer blow and the time, and display the received data and the calculated data on the ship-borne monitoring screen; The data processing device is also used to output all data in the form of reports and send them to the land command platform in the form of wireless signals. The data processing device is also used to receive and process the command information fed back by the land command platform and then send it to the ship-borne monitoring screen for display.

4. The ultra-large intelligent piling vessel according to claim 3, characterized in that: The ultra-large intelligent pile-driving ship further includes an error correction device, and the detection device further includes a scanner, which is arranged on the pile driving frame between the two bow pile-holding devices, and the scanner is used to detect the spacing data between the pile-holding arms of the two bow pile-holding devices and the engineering piles and send the spacing data to the data processing device; The error correction device is a pushing cylinder, which includes a cylinder barrel arranged on the pile driving frame and a cylinder rod that pushes against the circumferential surface of the engineering pile. The error correction device is used to adjust the distance between the engineering pile and the pile holding arm by pushing the circumferential surface of the engineering pile by the cylinder rod according to the instruction of the data processing device, so that the center line of the engineering pile coincides with the center point of the pile holding arm.

5. The ultra-large intelligent piling vessel according to claim 4, characterized in that: The data processing device is also used to issue an alarm prompt through the ship-borne monitoring screen when the difference between the possible position data of the engineering pile after the piling is completed and the preset target pile position coordinate data of the engineering pile is greater than the allowable error value data of the engineering pile, and to display through the ship-borne monitoring screen that the possible position of the engineering pile after the piling is completed exceeds the target position error value range line of the engineering pile.

6. The ultra-large intelligent piling vessel according to claim 1, characterized in that: The length of the hull is greater than 120 meters and the width is greater than 35 meters; the maximum pile diameter of the engineering pile is at least 6 meters, the maximum pile weight is at least 700 tons, and the maximum weight of the pile hammer is at least 500 tons.

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