Leveling method and system for a multi-leg jackup platform

Abstract

The present disclosure provides a leveling method and system of a multi-leg lifting platform, and belongs to the technical field of ocean engineering. The leveling method comprises: detecting the load value of each pile leg; in the case that the load value of each pile leg is greater than the load threshold value, acquiring the horizontal attitude information of the lifting platform, and controlling the speed of each pile leg according to the horizontal attitude information and the lifting direction of the lifting platform. The present disclosure can improve the regulation and control efficiency and safety of the lifting platform.

Description

TECHNICAL FIELD

[0001] The present disclosure belongs to the technical field of ocean engineering, and particularly relates to a leveling method and system of a multi-leg jack-up platform. BACKGROUND

[0002] A self-elevating offshore platform is generally a 3-leg or 4-leg jack-up platform, and the deck area and lifting capacity thereof are limited by the lifting capacity of a single leg. With the continuous strengthening of lifting capacity, the market requires a larger deck area, and therefore, multi-leg jack-up platforms such as 6 / 8 / 10 legs have emerged. Compared with 3-leg or 4-leg jack-up platforms, multi-leg jack-up platforms have more legs, which leads to the difficulty in adjusting the level of the jack-up platform due to the mutual constraint between the legs.

[0003] In related technologies, the adjustment of a multi-leg jack-up platform is also performed according to the adjustment mode of a 3-leg or 4-leg jack-up platform. That is, after each leg stands on the seabed, an operator adjusts a certain leg on the lower side of the jack-up platform according to the inclination state of the jack-up platform, so that the jack-up platform on the side can be lifted.

[0004] However, since multiple legs of the multi-leg jack-up platform simultaneously support the jack-up platform, if the legs are adjusted one by one each time, the jack-up platform will be constrained by other legs and cannot move, thereby causing an accident. SUMMARY

[0005] The present disclosure provides a leveling method and system of a multi-leg jack-up platform, which can improve the safety of the jack-up platform. The technical solution is as follows:

[0006] The embodiment of the present disclosure provides a leveling method of a multi-leg lifting platform, which is used for horizontal adjustment of a multi-leg lifting platform, the multi-leg lifting platform comprising a lifting platform and at least three pairs of legs, the at least three pairs of legs being arranged along a length direction of the lifting platform, and each pair of legs being arranged along a width direction of the lifting platform; the leveling method comprising: detecting a load value of each leg; in the case that the load value of each leg is greater than a load threshold, acquiring horizontal posture information of the lifting platform, the horizontal posture information being used for indicating an inclination direction of the lifting platform, the inclination direction comprising the length direction and / or the width direction; and controlling a speed of each leg according to the horizontal posture information and a lifting direction of the lifting platform, wherein the at least three pairs of legs comprise at least two leg groups arranged along the inclination direction of the lifting platform, when the lifting platform is ascending, an ascending speed of a leg in a first leg group is greater than an ascending speed of a leg in a second leg group, when the lifting platform is descending, a descending speed of a leg in the first leg group is less than a descending speed of a leg in the second leg group, the first leg group and the second leg group are any two adjacent leg groups in the at least two leg groups in the inclination direction, and a height of the lifting platform where the first leg group is located is less than a height of the lifting platform where the second leg group is located.

[0007] In another implementation manner of the present disclosure, the horizontal posture information comprises a first included angle between the lifting platform and a horizontal plane in the width direction and a second included angle between the lifting platform and the horizontal plane in the length direction.

[0008] In another implementation manner of the present disclosure, the first included angle is greater than a first threshold and the second included angle is less than or equal to a second threshold, the inclination direction is the width direction, and the at least three pairs of legs comprise two leg groups arranged at intervals in the width direction; and the controlling the lifting speed of each leg according to the horizontal posture information and the lifting direction of the lifting platform comprises: when the lifting platform is ascending, controlling the ascending speed of the leg in the first leg group to be a rated speed, and controlling the ascending speed of the leg in the second leg group to be N times of the rated speed until the first included angle is less than or equal to the first threshold, wherein N is greater than 0 and less than 1; or when the lifting platform is descending, controlling the descending speed of the leg in the second leg group to be a rated speed, and controlling the descending speed of the leg in the first leg group to be N times of the rated speed until the first included angle is less than or equal to the first threshold, wherein N is greater than 0 and less than 1.

[0009] In yet another implementation manner of the present disclosure, the first included angle is less than or equal to a first threshold value, and the second included angle is greater than a second threshold value, the tilting direction is the length direction, the at least three pairs of spud legs include at least three spud leg groups arranged at intervals in the length direction, each of the at least three spud leg groups includes a pair of spud legs, and the controlling the lifting speed of each spud leg according to the horizontal posture information and the lifting direction of the lifting platform includes: when the lifting platform is ascending, controlling the lifting speed of the spud legs in a low-position reference spud leg group to be a rated speed, and controlling the lifting speed of the spud legs in other spud leg groups to be N times of the rated speed, and the lifting speed of the spud legs in the other spud leg groups is inversely proportional to the distance from the low-position reference spud leg group in the length direction, until the second included angle is less than or equal to the second threshold value, wherein the low-position reference spud leg group is the spud leg group with the minimum height of the lifting platform; or when the lifting platform is descending, controlling the descending speed of the spud legs in a high-position reference spud leg group to be a rated speed, and controlling the descending speed of the spud legs in other spud leg groups to be N times of the rated speed, and the descending speed of the spud legs in the other spud leg groups is inversely proportional to the distance from the high-position reference spud leg group in the length direction, until the second included angle is less than or equal to the second threshold value, wherein the high-position reference spud leg group is the spud leg group with the maximum height of the lifting platform.

[0010] In yet another implementation manner of the present disclosure, the first included angle is greater than a first threshold value, and the second included angle is greater than a second threshold value, and the tilting direction includes the width direction and the length direction; and the controlling the lifting speed of each pile leg according to the horizontal posture information and the lifting direction of the lifting platform includes: when the lifting platform is ascending, controlling the ascending speed of the pile legs in the first pile leg group in the two pile leg groups in the width direction to be a rated speed, and controlling the ascending speed of the pile legs in the second pile leg group in the two pile leg groups in the width direction to be N times of the rated speed, until the first included angle is less than or equal to the first threshold value, where N is greater than 0 and less than 1; and controlling the ascending speed of the pile legs in the low reference pile leg group in the at least three pile leg groups in the length direction to be the rated speed, and controlling the ascending speed of the pile legs in the other pile leg groups in the length direction to be N times of the rated speed, and the ascending speed of the pile legs in the other pile leg groups in the length direction is inversely proportional to the distance between the low reference pile leg group and the other pile leg groups in the length direction, until the second included angle is less than or equal to the second threshold value, where the low reference pile leg group is the pile leg group with the smallest height of the lifting platform; or when the lifting platform is descending, controlling the descending speed of the pile legs in the second pile leg group in the two pile leg groups in the width direction to be a rated speed, and controlling the descending speed of the pile legs in the first pile leg group in the two pile leg groups in the width direction to be N times of the rated speed, until the first included angle is less than or equal to the first threshold value, where N is greater than 0 and less than 1; and controlling the descending speed of the pile legs in the high reference pile leg group in the at least three pile leg groups in the length direction to be the rated speed, and controlling the descending speed of the pile legs in the other pile leg groups in the length direction to be N times of the rated speed, and the descending speed of the pile legs in the other pile leg groups in the length direction is inversely proportional to the distance between the high reference pile leg group and the other pile leg groups in the length direction, until the second included angle is less than or equal to the second threshold value, where the high reference pile leg group is the pile leg group with the largest height of the lifting platform.

[0011] In yet another implementation manner of the present disclosure, the control of the ascending speed of the pile legs in the at least three pile leg groups in the length direction is that the ascending speed of the pile legs in a low reference pile leg group is a rated speed, and the ascending speed of the pile legs in other pile leg groups is N times of the rated speed, including: if the low reference pile leg group is located at the head of the lifting platform, then along the direction from the head to the tail of the lifting platform, the ascending speeds of different pile leg groups in the at least three pile leg groups are controlled to be an arithmetic decreasing sequence; if the low reference pile leg group is located at the tail of the lifting platform, then along the direction from the head to the tail of the lifting platform, the ascending speeds of different pile leg groups in the at least three pile leg groups are controlled to be an arithmetic increasing sequence; if the low reference pile leg group is located at the middle of the lifting platform, then along the direction from the head to the tail of the lifting platform, the ascending speeds of different pile leg groups in the pile leg groups located between the head of the lifting platform and the position where the low reference pile leg group is located are controlled to be an arithmetic increasing sequence, and the ascending speeds of different pile leg groups in the pile leg groups located between the tail of the lifting platform and the position where the low reference pile leg group is located are controlled to be an arithmetic decreasing sequence; if the low reference pile leg groups are respectively located at the head and the tail of the lifting platform, then along the direction from the head to the tail of the lifting platform, the ascending speeds of different pile leg groups in the pile leg groups located between the head of the lifting platform and the middle of the lifting platform are controlled to be an arithmetic decreasing sequence, and the ascending speeds of different pile leg groups in the pile leg groups located between the tail of the lifting platform and the position where the low reference pile leg group is located are controlled to be an arithmetic increasing sequence.

[0012] In yet another implementation manner of the present disclosure, the control of the lowering speed of the pile legs in the high reference pile leg group is the rated speed, and the control of the lowering speed of the pile legs in the other pile leg groups in the length direction is N times of the rated speed, including: if the high reference pile leg group is located at the head of the lifting platform, the lowering speeds of different pile leg groups in the at least three pile leg groups are arranged in an arithmetic decreasing sequence along the direction from the head to the tail of the lifting platform; if the high reference pile leg group is located at the tail of the lifting platform, the lowering speeds of different pile leg groups in the at least three pile leg groups are arranged in an arithmetic increasing sequence along the direction from the head to the tail of the lifting platform; if the high reference pile leg group is located at the middle of the lifting platform, the lowering speeds of different pile leg groups in the pile leg groups located between the head of the lifting platform and the position where the high reference pile leg group is located are arranged in an arithmetic increasing sequence along the direction from the head to the tail of the lifting platform, and the lowering speeds of different pile leg groups in the pile leg groups located between the tail of the lifting platform and the position where the low reference pile leg group is located are arranged in an arithmetic decreasing sequence along the direction from the head to the tail of the lifting platform; if the low reference pile leg group is located at the head and the tail of the lifting platform respectively, the lowering speeds of different pile leg groups in the pile leg groups located between the head of the lifting platform and the middle of the lifting platform are arranged in an arithmetic decreasing sequence along the direction from the head to the tail of the lifting platform, and the lowering speeds of different pile leg groups in the pile leg groups located between the tail of the lifting platform and the position where the low reference pile leg group is located are arranged in an arithmetic increasing sequence along the direction from the head to the tail of the lifting platform.

[0013] In yet another implementation manner of the present disclosure, a leveling system of a multi-pile leg lifting platform is also provided, which comprises a pile leg bottom contact detection module, an acquisition module and an adjustment module; the pile leg bottom contact detection module is configured to detect the load value of each pile leg; the acquisition module is configured to acquire the horizontal attitude information of the lifting platform when the load value of each pile leg is greater than a load threshold value, the horizontal attitude information being used to indicate the tilt direction of the lifting platform, the tilt direction including the length direction and / or the width direction; and the adjustment module is configured to control the speed of each pile leg according to the horizontal attitude information and the lifting direction of the lifting platform, wherein the at least three pairs of pile legs include at least two pile leg groups arranged along the tilt direction of the lifting platform, the lifting speed of the pile legs in a first pile leg group is greater than the lifting speed of the pile legs in a second pile leg group when the lifting platform is lifted, and the lowering speed of the pile legs in the first pile leg group is less than the lowering speed of the pile legs in the second pile leg group when the lifting platform is lowered, the first pile leg group and the second pile leg group are any two adjacent pile leg groups in the at least two pile leg groups in the tilt direction, and the height of the lifting platform where the first pile leg group is located is less than the height of the lifting platform where the second pile leg group is located.

[0014] In still another implementation form of the disclosure, a computer device is also provided, which comprises a processor and a memory configured to store instructions executable by the processor; the processor is configured to execute the leveling method of the multi-leg lifting platform as described above.

[0015] In still another implementation form of the disclosure, a computer storage medium is also provided, which stores computer instructions, and the computer instructions are executed by a processor to implement the leveling method of the multi-leg lifting platform as described above.

[0016] The technical scheme provided by the embodiments of the disclosure has the following beneficial effects:

[0017] When adjusting the levelness of the multi-leg lifting platform by the leveling method, the load values of the legs are detected first, and the horizontal posture information of the platform is obtained when the load values of the legs are greater than the load threshold value. Thus, it can be determined whether the legs have touched the bottom or not, i.e., whether the legs have been stood on the seabed or not, according to the load values of the legs. When the load values of the legs are all greater than the load threshold value, it indicates that the legs have all touched the bottom, and the legs can support the lifting platform at this time. Therefore, the safety can be improved when adjusting the legs subsequently, and accidents caused by the legs not touching the bottom can be avoided. Moreover, the speeds of the at least two leg groups are adjusted to be different according to the horizontal posture information and the lifting direction of the lifting platform. Thus, the different leg groups can be adjusted according to the horizontal posture information without adjusting one by one, which greatly improves the adjustment efficiency and also improves the adjustment accuracy. BRIEF DESCRIPTION OF DRAWINGS

[0018] In order to more clearly illustrate the technical scheme in the embodiments of the disclosure, the drawings needed in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the disclosure, and other drawings can be obtained by those skilled in the art without any creative effort.

[0019] Figure 1 is a structural schematic diagram of a multi-leg lifting platform;

[0020] Figure 2 is a flowchart of a leveling method of a multi-leg lifting platform provided by an embodiment of the disclosure;

[0021] Figure 3 is a flowchart of another leveling method of a multi-leg lifting platform provided by an embodiment of the disclosure;

[0022] Figure 4 is a mounting schematic diagram of an inclination sensor of a multi-leg lifting platform provided by an embodiment of the disclosure;

[0023] Figure 5 is a detection schematic diagram of the inclination sensor of the multi-leg lifting platform in the first posture;

[0024] Figure 6 is a schematic diagram of the first posture of the multi-leg lifting platform provided by the embodiment of the present disclosure;

[0025] Figure 7 is a detection schematic diagram of the inclination sensor of the multi-leg lifting platform in the second posture;

[0026] Figure 8 is a schematic diagram of the second posture of the multi-leg lifting platform provided by the embodiment of the present disclosure;

[0027] Figure 9 is a detection schematic diagram of the inclination sensor of the multi-leg lifting platform in the third posture;

[0028] Figure 10 is a schematic diagram of the third posture of the multi-leg lifting platform provided by the embodiment of the present disclosure;

[0029] Figure 11 is a detection schematic diagram of the inclination sensor of the multi-leg lifting platform in the fourth posture;

[0030] Figure 12 is a schematic diagram of the fourth posture of the multi-leg lifting platform provided by the embodiment of the present disclosure;

[0031] Figure 13 is a logic control diagram of the leveling method provided by the embodiment of the present disclosure;

[0032] Figure 14 is a schematic diagram of the leveling system of the multi-leg lifting platform provided by the embodiment of the present disclosure;

[0033] Figure 15 is a structural schematic diagram of a computer device provided by the embodiment of the present disclosure.

[0034] The meanings of the symbols in the figure are as follows:

[0035] 100, leg; 101, first inclination sensor; 102, second inclination sensor. DETAILED DESCRIPTION

[0036] In order to make the purpose, technical scheme and advantages of the present disclosure clearer, the embodiments of the present disclosure will be further described in detail below with reference to the drawings.

[0037] Figure 1 is a structural schematic diagram of a multi-leg lifting platform, such as Figure 1As shown, the multi-leg jack-up platform includes a jack-up platform and at least three pairs of legs 100. The at least three pairs of legs 100 are arranged along a length direction (a) of the jack-up platform, and two legs 100 in each pair of legs 100 among the at least three pairs of legs 100 are arranged along a width direction of the jack-up platform. Figure 1

[0038] Each leg 100 is driven to rise and fall by a corresponding motor drive unit. The leg 100 is provided with a rack. The motor drive unit includes a motor, a gear box, a frequency converter, and an electromagnetic brake. The frequency converter is connected to the motor, and is used to control the output speed and torque of the motor. The motor is connected in transmission to the gear box, and drives the output gear in the gear box to rotate. The output gear is engaged with the rack, so that the rising and falling actions of the leg and the jack-up platform can be realized. The electromagnetic brake is installed at the tail of the motor, and is used to provide a braking torque for the jack-up platform and the leg after the motor stops.

[0039] Figure 2 is a flowchart of a leveling method of a multi-leg jack-up platform provided by the embodiment of the present disclosure, as shown in Figure 2 The embodiment of the present disclosure provides a leveling method of a multi-leg jack-up platform, and the leveling method is used for horizontal adjustment of the multi-leg jack-up platform. The leveling method includes the following steps.

[0040] S201: detecting a load value of each leg.

[0041] S202: acquiring horizontal posture information of the jack-up platform in a case where the load value of each leg is greater than a load threshold.

[0042] The horizontal posture information is used to indicate an inclination direction of the jack-up platform, and the inclination direction includes a length direction and / or a width direction.

[0043] S203: controlling a speed of each leg according to the horizontal posture information and a rising direction of the jack-up platform.

[0044] The at least three pairs of legs include at least two leg groups arranged along the inclination direction of the jack-up platform. When the jack-up platform rises, the rising speed of the leg in the first leg group is greater than the rising speed of the leg in the second leg group. When the jack-up platform falls, the falling speed of the leg in the first leg group is less than the falling speed of the leg in the second leg group. The first leg group and the second leg group are any two adjacent leg groups in the at least two leg groups in the inclination direction, and the height of the jack-up platform where the first leg group is located is less than the height of the jack-up platform where the second leg is located.

[0045] ​When the levelness of the multi-leg lifting platform is adjusted by the above leveling method, the leveling method first detects the load values of the legs, and obtains the horizontal posture information of the platform when the load values of the legs are greater than the load threshold value. Thus, whether each leg has reached the bottom can be determined according to the load values of the legs, that is, whether the leg has been erected on the seabed. When the load values of the legs are all greater than the load threshold value, it indicates that each leg has reached the bottom, and at this time, the legs can support the lifting platform. Therefore, when the legs are adjusted subsequently, the safety can be improved, and accidents caused by the legs not reaching the bottom can be avoided. Moreover, the leveling method adjusts the speeds of the at least two leg groups to be different according to the horizontal posture information and the lifting direction of the lifting platform. Thus, the different leg groups can be adjusted according to the horizontal posture information without being adjusted one by one, so that the adjustment efficiency is greatly improved, and the adjustment accuracy is also improved.

[0046] Figure 3 FIG. 1 is a flowchart of another leveling method of a multi-leg lifting platform provided by the embodiment of the present disclosure, as shown in FIG. 1, the embodiment of the present disclosure also provides a leveling method of a multi-leg lifting platform, and the leveling method comprises the following steps. Figure 3

[0047] S301: detecting load values of the legs.

[0048] In the embodiment, a torque sensor is connected to each leg. The torque sensor is connected to an output shaft of a gear box used for driving the leg to which the torque sensor is connected.

[0049] The torque sensor is installed in the corresponding gear box of each leg, and the torque sensor is used for monitoring the load of each gear box in real time.

[0050] S302: obtaining horizontal posture information of the lifting platform when the load values of the legs are all greater than a load threshold value.

[0051] The horizontal posture information comprises a first included angle between the lifting platform and a horizontal plane in a width direction and a second included angle between the lifting platform and the horizontal plane in a length direction.

[0052] After the multi-leg lifting platform reaches the instruction operation area, each leg is lowered. Due to the uneven seabed, the sequence of the legs contacting the seabed is inconsistent. When the load value (monitored by the torque sensor) of the leg exceeds a set load threshold value (for example, T = 200T), it is judged that the leg has reached the bottom, and the leg stops moving. The other legs continue to move downward until all the legs of the lifting platform have reached the bottom, and all the legs move simultaneously to lift the lifting platform.

[0053] When the leg is lowered, the torque sensor detects the value of pulling the leg. When the leg reaches the bottom, the load direction of the torque sensor changes to the direction of pressing the leg. ​

[0054] Figure 4 FIG. 1 is a schematic diagram of the installation of the inclination sensor of the multi-leg lifting platform according to an embodiment of the present disclosure, as shown in the figure, in order to obtain the horizontal attitude information (the first angle and the second angle), a first inclination sensor 101 is arranged at the head of the length direction of the lifting platform. A second inclination sensor 102 is arranged at the tail of the length direction of the lifting platform, and the extension direction of the straight line where the second inclination sensor 102 and the first inclination sensor 101 are located is the same as the length direction of the lifting platform. Figure 4

[0055] Each inclination sensor includes a first detection value and a second detection value. The first detection value is used to reflect the first angle between the lifting platform in the width direction (direction b, that is, the direction of the y-axis) and the horizontal plane. The second detection value is used to reflect the second angle between the lifting platform in the length direction (direction a, that is, the direction of the x-axis) and the horizontal plane.

[0056] In this embodiment, since the width of the lifting platform is small, the error between the first detection value of the first inclination sensor and the first detection value of the second inclination sensor is not large, so the average of the first detection value of the first inclination sensor and the first detection value of the second inclination sensor can be taken as the first angle.

[0057] The second angle can be obtained by the second detection value of the first inclination sensor and the second detection value of the second inclination sensor. Since the lifting platform is long, the inclination directions of the head and the tail of the lifting platform may not be consistent during lifting, so in order to accurately reflect the inclination state of the lifting platform in the length direction, the second angle includes a head angle and a tail angle. The head angle is the second detection value of the first inclination sensor, and the tail angle is the second detection value of the second inclination sensor. The head angle is the angle corresponding to the deviation of the head of the lifting platform relative to the length direction, and the tail angle is the angle corresponding to the deviation of the tail of the lifting platform relative to the length direction.

[0058] In this embodiment, the bottom of the lifting platform is provided with four pairs of legs in the length direction. The four pairs of legs are respectively the first leg and the second leg in the first pair of legs, the third leg and the fourth leg in the second pair of legs, the fifth leg and the sixth leg in the third pair of legs, and the seventh leg and the eighth leg in the fourth pair of legs. The first pair of legs is located at the head of the lifting platform, and the fourth pair of legs is located at the tail of the lifting platform.

[0059] As shown in the figure, when the inclination sensor is detecting, the first detection value and the second detection value can be determined according to the position of the detection point (the black dot) in the inclination sensor. Figure 4 Figure 4

[0060] ​​​When the detection point in the tilt sensor is located in the first quadrant of the coordinate system in which the tilt sensor is located, that is, both the first detection value and the second detection value are positive values. When the detection point in the tilt sensor is located in the second quadrant of the coordinate system in which the tilt sensor is located, the first detection value is negative and the second detection value is positive. When the detection point in the tilt sensor is located in the third quadrant of the coordinate system in which the tilt sensor is located, both the first detection value and the second detection value are negative. When the detection point in the tilt sensor is located in the fourth quadrant of the coordinate system in which the tilt sensor is located, both the first detection value and the second detection value are positive.

[0061] In the embodiment, when the first detection value is positive, it indicates that the left side of the width direction of the lifting platform is high and the lifting platform tilts to the left. When the first detection value is negative, it indicates that the right side of the width direction of the lifting platform is high and the lifting platform tilts to the right.

[0062] When the second detection value is positive, it indicates that the lifting platform tilts upward. When the first detection value is negative, it indicates that the lifting platform tilts downward. When the second detection value of the first tilt sensor is positive, it indicates that the bow of the lifting platform is high. When the second detection value of the first tilt sensor is negative, it indicates that the bow of the lifting platform is low. When the second detection value of the second tilt sensor is positive, it indicates that the stern of the lifting platform is high. When the second detection value of the second tilt sensor is negative, it indicates that the stern of the lifting platform is low. Therefore, the lifting of the lifting platform in the length direction can be determined according to the second detection values of the first tilt sensor and the second tilt sensor.

[0063] In the embodiment, the tilt in the width direction has only two cases, that is, the left side of the lifting platform is high or the right side of the lifting platform is high.

[0064] In the length direction, the tilt of the lifting platform includes four cases. That is, the whole lifting platform tilts upward (as shown in FIG. 2A), the whole lifting platform tilts downward (as shown in FIG. 2B), the bow and stern of the lifting platform are high and the middle part is low (as shown in FIG. 2C), and the bow and stern of the lifting platform are low and the middle part is high (as shown in FIG. 2D). Figure 6 Figure 8 Figure 10 Figure 12

[0065] S303: According to the horizontal attitude information and the lifting direction of the lifting platform, the controller controls the lifting speed of each pile leg.

[0066] Step S303 can be implemented according to the following three cases:

[0067] The first case 3031 is that the lifting platform only tilts in the width direction.

[0068] ​​​​That is, the first included angle is greater than the first threshold value and the second included angle is less than or equal to the second threshold value, the tilting direction is the width direction, and the at least three pairs of pile legs include two pile leg groups arranged at intervals in the width direction.

[0069] At this time, step 3031 can be implemented in the following manner:

[0070] When the lifting platform is ascending, the ascending speed of the pile legs in the first pile leg group is controlled to be the rated speed, and the ascending speed of the pile legs in the second pile leg group is controlled to be N times of the rated speed, until the first included angle is less than or equal to the first threshold value, wherein N is greater than 0 and less than 1.

[0071] Alternatively, when the lifting platform is descending, the descending speed of the pile legs in the second pile leg group is controlled to be the rated speed, and the descending speed of the pile legs in the first pile leg group is controlled to be N times of the rated speed, until the first included angle is less than or equal to the first threshold value, wherein N is greater than 0 and less than 1.

[0072] When the lifting platform only tilts in the width direction, since the lifting platform has only two pile legs in each pair of pile legs in the width direction, and the span of the two pile legs in each pair of pile legs in the width direction (i.e., the port / starboard direction of the lifting platform) is small, the lifting platform is not prone to deformation, and there is no mutual constraint problem between the pile legs, so when the lifting platform is leveled, the multiple pairs of pile legs are divided into two pile leg groups, and only the speeds of the two pile leg groups need to be different. That is, when the platform is ascending, the speed of the pile legs connected to the side of the lifting platform with a lower height is greater than the speed of the pile legs connected to the side of the lifting platform with a higher height. When the platform is descending, the speed of the pile legs connected to the side of the lifting platform with a higher height is less than the speed of the pile legs connected to the side of the lifting platform with a lower height.

[0073] The second case 3032 is that the lifting platform only tilts in the length direction.

[0074] That is, the first included angle is less than or equal to the first threshold value, and the second included angle is greater than the second threshold value, the tilting direction is the length direction. The at least three pairs of pile legs include at least three pile leg groups arranged at intervals in the length direction, and each of the at least three pile leg groups includes a pair of pile legs.

[0075] Step 3032 can be implemented in the following manner:

[0076] When the lifting platform is ascending, the ascending speed of the pile legs in the low-position reference pile leg group is controlled to be the rated speed, and the ascending speed of the pile legs in the other pile leg groups is controlled to be N times of the rated speed, and the ascending speed of the pile legs in the other pile leg groups is inversely proportional to the distance between the low-position reference pile leg group and the other pile leg groups in the length direction, until the second included angle is less than or equal to the second threshold value, wherein the low-position reference pile leg group is the pile leg group with the smallest height of the lifting platform.

[0077] or,

[0078] When the lifting platform descends, the descent speed of the legs in the high-level reference leg group is controlled to be the rated speed, and the descent speed of the legs in other leg groups is controlled to be N times the rated speed. The descent speed of the legs in other leg groups is inversely proportional to the distance between them and the high-level reference leg group in the length direction, until the second included angle is less than or equal to the second threshold. The high-level reference leg group is the leg group with the largest height on the lifting platform.

[0079] Because the lifting platform is very long, when it tilts along its length, the head and tail of the lifting platform may be in the same or opposite direction. Therefore, the speed of different leg groups in each leg group unit can be adjusted according to the tilt direction.

[0080] As described above, the tilt of the eight-leg lifting platform provided in this embodiment can be controlled in the length direction according to four tilting methods:

[0081] (1.1) The lifting platform is tilted upward.

[0082] Figure 5 This is a schematic diagram of the tilt sensor detecting the first posture of a multi-legged lifting platform, as shown below. Figure 5 As shown, when the lifting platform tilts upward, both the head angle (the second detection value of the first tilt sensor) and the tail angle (the second detection value of the second tilt sensor) are negative, and their absolute values ​​are both greater than the second threshold.

[0083] Figure 6 This is a schematic diagram of the first posture of the multi-leg lifting platform provided in the embodiments of this disclosure, as shown below. Figure 6 As shown, the horizontal orientation of the lifting platform is upward. The low-position reference leg assembly is located at the head of the lifting platform (i.e.,... Figure 6 The first pair of pile legs on the far right). The high-position reference pile leg group is located at the rear of the lifting platform (that is...). Figure 6 (The fourth pair of pile legs from the far left).

[0084] If the lifting platform rises, during adjustment, the rising speeds of at least three leg groups should be controlled to decrease in an arithmetic progression along the direction from the front to the rear of the lifting platform. For example, the rising speed of the first pair of legs is controlled at the rated speed V1. The rising speeds of the second pair of legs (V2) are then set sequentially: the rising speed of the third pair of legs (V3) is less than the rising speed of the second pair (V2); and the rising speed of the fourth pair of legs (V4) is less than the rising speed of the third pair of legs (V3 times). Here, V1, V2, V3, and V4 form an arithmetic progression of decreasing speed.

[0085] In this embodiment, the first pile leg and the second pile leg at the head portion lift the platform at the rated speed, the seventh pile leg and the eighth pile leg at the tail portion and the third pile leg, the fourth pile leg, the fifth pile leg and the sixth pile leg at the middle portion operate at a reduced speed. Among them, the third pile leg and the fourth pile leg lift the platform at 0.9 times the rated speed. The fourth pile leg and the fifth pile leg lift the platform at 0.8 times the speed, and the seventh pile leg and the eighth pile leg lift the platform at 0.7 times the speed, so that the inclination of the entire lifting platform is ≤0.1° (the second threshold is set to 0.1) to automatically stop adjustment.

[0086] Conversely, if the lifting platform is lowered, the lowering speed of different pile leg groups in the at least three pile leg groups is controlled to be an arithmetic progression in increasing order along the direction from the head portion to the tail portion of the lifting platform during adjustment.

[0087] In this embodiment, the seventh pile leg and the eighth pile leg at the tail portion lower the platform at the rated speed, the first pile leg and the second pile leg at the head portion and the third pile leg, the fourth pile leg, the fifth pile leg and the sixth pile leg at the middle portion operate at a reduced speed. Among them, the seventh pile leg and the eighth pile leg lower the platform at 0.9 times the rated speed, the fifth pile leg and the sixth pile leg lower the platform at 0.8 times the speed, and the third pile leg and the fourth pile leg lower the platform at 0.7 times the rated speed, so that the inclination of the entire lifting platform is ≤0.1° (the second threshold is set to 0.1) to automatically stop adjustment.

[0088] (1.2) The lifting platform as a whole is inclined downward.

[0089] Figure 7 FIG. 6 is a detection schematic diagram of the inclination sensor of the multi-pile leg lifting platform in the second posture, as shown in FIG. 6, that is, the head portion included angle (the second detection value of the first inclination sensor) and the tail portion included angle (the second detection value of the second inclination sensor) are both positive values, and are both greater than the second threshold. Figure 7

[0090] FIG. 5 is a schematic diagram of the second posture of the multi-pile leg lifting platform provided by the embodiment of the present disclosure, as shown in FIG. 5, the horizontal posture of the lifting platform is inclined downward as a whole. The low-position reference pile leg group is located at the tail portion of the lifting platform (that is, the fourth pair of pile legs on the left in FIG. 5). The high-position reference pile leg group is located at the head portion of the lifting platform (that is, the first pair of pile legs on the right in FIG. 5). Figure 8 Figure 8 Figure 8 Figure 8

[0091] ​​​​If the lifting platform is ascending, during the adjustment, the ascending speeds of different pile leg groups in the at least three pile leg groups are controlled to be in an arithmetic increasing sequence along a direction from the head to the tail of the lifting platform. For example, the ascending speed of the fourth pair of pile legs is a rated speed V4, and the ascending speed of the third pair of pile legs V3 is less than the ascending speed V4 of the fourth pair of pile legs. The V4, V3, V2 and V1 are in an arithmetic decreasing sequence.

[0092] In the embodiment, the seventh and eighth pile legs ascend the platform at the rated speed, and the fifth, sixth, third, fourth, first and second pile legs descend the platform at a speed less than the rated speed. The fifth and sixth pile legs ascend the platform at 0.8 times the rated speed, the third and fourth pile legs ascend the platform at 0.6 times the rated speed, and the first and second pile legs ascend the platform at 0.4 times the rated speed, so that the adjustment is automatically stopped when the inclination of the entire platform is less than or equal to 0.1°.

[0093] Conversely, if the lifting platform is descending, during the adjustment, the descending speeds of different pile leg groups in the at least three pile leg groups are controlled to be in an arithmetic increasing sequence along a direction from the head to the tail of the lifting platform.

[0094] In the embodiment, the first and second pile legs at the head descend the platform at the rated speed, and the seventh and eighth pile legs at the tail and the third, fourth, fifth and sixth pile legs at the middle descend the platform at a speed less than the rated speed. The third and fourth pile legs descend the platform at 0.9 times the rated speed, the fifth and sixth pile legs descend the platform at 0.8 times the rated speed, and the seventh and eighth pile legs descend the platform at 0.7 times the rated speed, so that the adjustment is automatically stopped when the inclination of the entire lifting platform is less than or equal to 0.1° (the second threshold is set to 0.1).

[0095] (1.3) The horizontal posture of the lifting platform is high at both ends and low in the middle.

[0096] Figure 9 is a schematic diagram of detection of the third posture of the multi-pile-leg lifting platform, as shown in Figure 9 that is, the head included angle (the second detection value of the first inclination sensor) is a positive value and greater than the second threshold, and the tail included angle (the second detection value of the second inclination sensor) is a negative value and the absolute value is greater than the second threshold.

[0097] Figure 10 is a schematic diagram of the third posture of the multi-pile-leg lifting platform provided by the embodiment of the present disclosure, as shown in Figure 10 the low-position reference pile leg group (that is, Figure 10 the second pair of pile legs and the third pair of pile legs in the middle) is located in the middle of the lifting platform. The high-position reference pile leg group is Figure 10 the first pair of pile legs and the fourth pair of pile legs on the left and right sides.

[0098] If the lifting platform rises, during adjustment, along the direction from the head to the tail of the lifting platform, control the lifting speed of different leg groups located between the head of the lifting platform and the position of the low reference leg group to form an arithmetic progression, and control the lifting speed of different leg groups located between the tail of the lifting platform and the position of the low reference leg group to form an arithmetic progression.

[0099] In this embodiment, the lifting speed V2 of the second and third pairs of pile legs is controlled to be the rated speed V. This is sequentially set so that the lifting speed V1 of the first pair of pile legs is less than V, and the lifting speed V4 of the fourth pair of pile legs is less than V. For example, the middle third and fourth pile legs, and the fifth and sixth pile legs lift the lifting platform at the rated speed, while the first and second pile legs at both ends, as well as the seventh and eighth pile legs, reduce their speed to 0.5 times the rated speed to lift the lifting platform, so that the entire platform tilt angle is ≤0.1° and automatically stops adjusting.

[0100] Conversely, if the lifting platform descends, during adjustment, along the direction from the head to the tail of the lifting platform, the descent speed of different leg groups located between the head and the middle of the lifting platform is controlled to be in an arithmetic progression of decreasing speed, and the descent speed of different leg groups located between the tail of the lifting platform and the position of the low-level reference leg group is controlled to be in an arithmetic progression of increasing speed.

[0101] In this embodiment, the descent speed V1 of the first pair of pile legs and the fourth pair of pile legs is controlled to be the rated speed V. This is followed by sequentially setting the descent speed V2 of the second pair of pile legs to be less than V, and the descent speed V3 of the third pair of pile legs to be less than V. For example, the first and second pile legs at both ends, as well as the seventh and eighth pile legs, lower the lifting platform at the rated speed, while the third and fourth, fifth and sixth pile legs in the middle lower the lifting platform at 0.5 times the rated speed, automatically stopping adjustment when the tilt angle of the entire platform is ≤0.1°.

[0102] (1.4) The horizontal posture of the lifting platform is low at both ends and high in the middle.

[0103] Figure 11 This is a schematic diagram of the tilt sensor detecting the fourth posture of the multi-legged lifting platform, as shown below. Figure 11 As shown, the head angle (the second detection value of the first tilt sensor) is positive and greater than the second threshold, and the tail angle (the second detection value of the second tilt sensor) is negative and its absolute value is greater than the second threshold.

[0104] Figure 12 This is a schematic diagram of the fourth posture of the multi-leg lifting platform provided in the embodiments of this disclosure, as shown below. Figure 12 As shown, the horizontal orientation of the lifting platform is low at both ends and high in the middle. The low-position reference legs are located at the front and rear of the lifting platform (i.e.,...).Figure 12 The first pair of pile legs and the fourth pair of pile legs are located at the left and right ends of the lifting platform. The high reference pile leg group is located in the middle of the lifting platform (i.e. Figure 12 The second pair of pile legs and the third pair of pile legs are located in the middle of the lifting platform.

[0105] During the adjustment, the lifting speed of different pile leg groups is arranged in an arithmetic decreasing sequence from the front end of the lifting platform to the middle of the lifting platform, and the lifting speed of different pile leg groups is arranged in an arithmetic increasing sequence from the rear end of the lifting platform to the position where the low reference pile leg group is located.

[0106] For example, in the embodiment, the lifting speed of the first pair of pile legs and the fourth pair of pile legs is the rated speed V, and the lifting speed of the second pair of pile legs is V2, which is less than the lifting speed V1 of the first pair of pile legs. The lifting speed V3 of the third pair of pile legs is less than the lifting speed V4 of the fourth pair of pile legs. For example, the first pile leg and the second pile leg at the two ends, and the seventh pile leg and the eighth pile leg are lifted at the rated speed, and the third pile leg and the fourth pile leg, the fifth pile leg and the sixth pile leg in the middle are simultaneously lowered to 0.5 times the rated speed to lift the lifting platform, and the whole platform is automatically stopped when the inclination is ≤0.1°.

[0107] Conversely, if the lifting platform is lowered, during the adjustment, the descending speed of different pile leg groups is arranged in an arithmetic increasing sequence from the front end of the lifting platform to the position where the high reference pile leg group is located, and the descending speed of different pile leg groups is arranged in an arithmetic decreasing sequence from the rear end of the lifting platform to the position where the low reference pile leg group is located.

[0108] For example, in the embodiment, the descending speed of the second pair of pile legs and the third pair of pile legs is the rated speed V, and the descending speed V1 of the first pair of pile legs is 0.5V. The descending speed of the fourth pair of pile legs is V3, which is 0.5V. That is, the first pile leg and the second pile leg at the two ends, and the seventh pile leg and the eighth pile leg are lowered at 0.5 times the rated speed, and the third pile leg and the fourth pile leg, the fifth pile leg and the sixth pile leg in the middle are simultaneously lowered at the rated speed to lift the lifting platform, and the whole platform is automatically stopped when the inclination is ≤0.1°.

[0109] The third case 3033 is that the lifting platform has both the inclination in the width direction and the inclination in the length direction.

[0110] Since the pile leg span in the width direction of the lifting platform (i.e. the port and starboard direction of the lifting platform) is small and not easy to deform, and there are only two columns of pile legs in the port and starboard direction, there is no mutual constraint problem between the pile legs, so the horizontal degree of the port and starboard is adjusted first and then the length direction of the lifting platform is adjusted.

[0111] Step 3033 comprises: when the lifting platform is ascending, controlling the ascending speed of the pile legs in the first pile leg group among the two pile leg groups in the width direction to be the rated speed, and controlling the ascending speed of the pile legs in the second pile leg group among the two pile leg groups in the width direction to be N times of the rated speed, until the first included angle is less than or equal to the first threshold, wherein N is greater than 0 and less than 1;

[0112] Controlling the ascending speed of the pile legs in the low-position reference pile leg group among the at least three pile leg groups in the length direction to be the rated speed, and controlling the ascending speed of the pile legs in the other pile leg groups in the length direction to be N times of the rated speed, and the ascending speed of the pile legs in the other pile leg groups is inversely proportional to the distance between the low-position reference pile leg group in the length direction, until the second included angle is less than or equal to the second threshold, wherein the low-position reference pile leg group is the pile leg group with the smallest height of the lifting platform.

[0113] Or,

[0114] When the lifting platform is descending, controlling the descending speed of the pile legs in the second pile leg group among the two pile leg groups in the width direction to be the rated speed, and controlling the descending speed of the pile legs in the first pile leg group among the two pile leg groups in the width direction to be N times of the rated speed, until the first included angle is less than or equal to the first threshold, wherein N is greater than 0 and less than 1;

[0115] Controlling the descending speed of the pile legs in the high-position reference pile leg group among the at least three pile leg groups in the length direction to be the rated speed, and controlling the descending speed of the pile legs in the other pile leg groups in the length direction to be N times of the rated speed, and the descending speed of the pile legs in the other pile leg groups is inversely proportional to the distance between the high-position reference pile leg group in the length direction, until the second included angle is less than or equal to the second threshold, wherein the high-position reference pile leg group is the pile leg group with the largest height of the lifting platform.

[0116] That is, during the adjustment, first adjust according to the aforementioned step 3031, and then adjust according to step 3032.

[0117] The specific adjustment can be seen from the foregoing, which will not be described here again.

[0118] Figure 13 is a logical control diagram of the leveling method provided by the embodiments of the present disclosure, in combination with Figure 13 The above is when adjusting the speed of the pile legs, which is automatically controlled by the controller.

[0119] The controller is connected with the frequency converter in the driving motor unit of each pile leg. After the controller detects that all the pile legs touch the bottom, the input signal of the corresponding frequency converter of the pile leg is controlled according to the horizontal posture of the lifting platform at this time in the above-mentioned manner, so that the ascending and descending speed of the pile leg can be adjusted.

[0120] In other words, the controller is electrically connected to the first tilt sensor, the second tilt sensor, and the torque sensor, respectively. After receiving the detection information from the torque sensor, the first tilt sensor, and the second tilt sensor, the controller determines that all the pile legs have touched the bottom and that the lifting platform is tilted. In this case, the controller automatically levels the platform and controls the input signal of the frequency converter corresponding to the pile leg to control the speed of the pile leg until the horizontal posture of the lifting platform meets the requirements.

[0121] In this embodiment, the first threshold is 0.05° and the second threshold is 0.1°.

[0122] On the other hand, embodiments of this disclosure also provide a leveling system for a multi-leg lifting platform, such as... Figure 14 As shown, the leveling system includes a pile leg contact detection module 1401, a detection module 1402, and an adjustment module 1403.

[0123] The pile leg contact detection module 1401 is used to detect the load value of each pile leg.

[0124] The acquisition module 1402 is used to acquire the horizontal attitude information of the lifting platform when the load values ​​of each pile leg are greater than the load threshold. The horizontal attitude information is used to indicate the tilt direction of the lifting platform, and the tilt direction includes the length direction and / or the width direction.

[0125] The adjustment module 1403 is used to control the speed of each leg according to the horizontal attitude information and the lifting direction of the lifting platform. The at least three pairs of legs include at least two leg groups arranged along the tilt direction of the lifting platform. When the lifting platform rises, the rising speed of the legs in the first leg group is greater than that of the legs in the second leg group. When the lifting platform falls, the falling speed of the legs in the first leg group is less than that of the legs in the second leg group. The first leg group and the second leg group are any two adjacent leg groups in the tilt direction among the at least two leg groups, and the height of the lifting platform where the first leg group is located is less than the height of the lifting platform where the second leg group is located.

[0126] The above leveling system has the same beneficial effects as the aforementioned leveling method, and will not be repeated here.

[0127] Optionally, the adjusting module 1403 is further configured to control the first group of pile legs to ascend at the rated speed and the second group of pile legs to ascend at N times of the rated speed until the first angle is less than or equal to the first threshold, when the lifting platform is ascending, or control the second group of pile legs to descend at the rated speed and the first group of pile legs to descend at N times of the rated speed until the first angle is less than or equal to the first threshold, when the lifting platform is descending, wherein N is greater than 0 and less than 1.

[0128] Optionally, the adjusting module 1403 is further configured to control the low reference group of pile legs to ascend at the rated speed and the other groups of pile legs to ascend at N times of the rated speed, and the ascending speed of the pile legs in the other groups of pile legs is inversely proportional to the distance between the low reference group of pile legs and the other groups of pile legs in the length direction, until the second angle is less than or equal to the second threshold, when the lifting platform is ascending, or control the high reference group of pile legs to descend at the rated speed and the other groups of pile legs to descend at N times of the rated speed, and the descending speed of the pile legs in the other groups of pile legs is inversely proportional to the distance between the high reference group of pile legs and the other groups of pile legs in the length direction, until the second angle is less than or equal to the second threshold, when the lifting platform is descending, wherein the low reference group of pile legs is the group of pile legs with the smallest height of the lifting platform, and the high reference group of pile legs is the group of pile legs with the largest height of the lifting platform.

[0129] Optionally, the adjusting module 1003 is further configured to control the raising speed of the piles in the first pile group among the two pile groups in the width direction to be the rated speed, and control the raising speed of the piles in the second pile group among the two pile groups in the width direction to be N times of the rated speed, until the first included angle is less than or equal to the first threshold, wherein N is greater than 0 and less than 1, when the lifting platform is rising; control the raising speed of the piles in the low reference pile group among the at least three pile groups in the length direction to be the rated speed, and control the raising speed of the piles in the other pile groups in the length direction to be N times of the rated speed, and the raising speed of the piles in the other pile groups is inversely proportional to the distance between the low reference pile group in the length direction, until the second included angle is less than or equal to the second threshold, wherein the low reference pile group is the pile group with the smallest height of the lifting platform; or control the lowering speed of the piles in the second pile group among the two pile groups in the width direction to be the rated speed, and control the lowering speed of the piles in the first pile group among the two pile groups in the width direction to be N times of the rated speed, until the first included angle is less than or equal to the first threshold, wherein N is greater than 0 and less than 1, when the lifting platform is descending; control the lowering speed of the piles in the high reference pile group among the at least three pile groups in the length direction to be the rated speed, and control the lowering speed of the piles in the other pile groups in the length direction to be N times of the rated speed, and the lowering speed of the piles in the other pile groups is inversely proportional to the distance between the high reference pile group in the length direction, until the second included angle is less than or equal to the second threshold, wherein the high reference pile group is the pile group with the largest height of the lifting platform.

[0130] Optionally, the adjusting module 1403 is further configured to control the raising speed of different pile groups among the at least three pile groups to form an arithmetic decreasing sequence along the direction from the head to the tail of the lifting platform, if the low reference pile group is located at the head of the lifting platform; control the raising speed of different pile groups among the at least three pile groups to form an arithmetic increasing sequence along the direction from the head to the tail of the lifting platform, if the low reference pile group is located at the tail of the lifting platform; control the raising speed of different pile groups among the pile groups located between the head of the lifting platform and the position where the low reference pile group is located to form an arithmetic increasing sequence along the direction from the head to the tail of the lifting platform, and control the raising speed of different pile groups among the pile groups located between the tail of the lifting platform and the position where the low reference pile group is located to form an arithmetic decreasing sequence along the direction from the head to the tail of the lifting platform, if the low reference pile group is located at the middle of the lifting platform; control the raising speed of different pile groups among the pile groups located between the head of the lifting platform and the middle of the lifting platform to form an arithmetic decreasing sequence along the direction from the head to the tail of the lifting platform, and control the raising speed of different pile groups among the pile groups located between the tail of the lifting platform and the position where the low reference pile group is located to form an arithmetic increasing sequence along the direction from the head to the tail of the lifting platform, if the low reference pile group is located at the head and the tail of the lifting platform, respectively.

[0131] Optionally, the adjusting module 1403 is further configured to: if the high reference pile leg group is located at the head of the lifting platform, control the descending speeds of different pile leg groups in the at least three pile leg groups to form an arithmetic decreasing sequence along a direction from the head of the lifting platform to the tail of the lifting platform; if the high reference pile leg group is located at the tail of the lifting platform, control the descending speeds of different pile leg groups in the at least three pile leg groups to form an arithmetic increasing sequence along the direction from the head of the lifting platform to the tail of the lifting platform; if the high reference pile leg group is located at the middle of the lifting platform, control the descending speeds of different pile leg groups in the pile leg groups located between the head of the lifting platform and the position where the high reference pile leg group is located to form an arithmetic increasing sequence along the direction from the head of the lifting platform to the tail of the lifting platform, and control the descending speeds of different pile leg groups in the pile leg groups located between the tail of the lifting platform and the position where the low reference pile leg group is located to form an arithmetic decreasing sequence along the direction from the head of the lifting platform to the tail of the lifting platform; and if the high reference pile leg group is located at the head and the tail of the lifting platform respectively, control the descending speeds of different pile leg groups in the pile leg groups located between the head of the lifting platform and the middle of the lifting platform to form an arithmetic decreasing sequence along the direction from the head of the lifting platform to the tail of the lifting platform, and control the descending speeds of different pile leg groups in the pile leg groups located between the tail of the lifting platform and the position where the low reference pile leg group is located to form an arithmetic increasing sequence along the direction from the head of the lifting platform to the tail of the lifting platform.

[0132] It should be noted that the leveling system of the multi-pile leg lifting platform provided in the above embodiments is used to adjust the multi-pile leg lifting platform, and only the above division of modules is used as an example for illustration, and in actual application, the above functions can be completed by different functional modules according to needs, that is, the internal structure of the device is divided into different functional parts to complete all or part of the functions described above. In addition, the leveling system of the multi-pile leg lifting platform and the leveling method of the multi-pile leg lifting platform provided in the above embodiments belong to the same concept, and the specific implementation process is detailed in the method embodiments, which will not be described in detail here.

[0133] Figure 15 is a structural schematic diagram of a computer device provided by the embodiments of the present disclosure, in combination with Figure 15 The computer device 1500 can include one or more of the following modules: a processor 1501, a memory 1502, a communication interface 1503, and a bus 1504.

[0134] The processor 1501 includes one or more processing cores, and the processor 1501 performs various functional applications and information processing by running software programs and modules. The memory 1502 and the communication interface 1503 are connected to the processor 1501 through the bus 1504. The memory 1502 can be used to store at least one instruction, and the processor 1501 is used to execute the at least one instruction to implement each step in the above method.

[0135] Furthermore, the memory 1502 can be implemented by any type of volatile or nonvolatile storage devices or a combination thereof, including but not limited to a magnetic disk or a optical disk, an electrically erasable programmable read-only memory (EEPROM), an erasable programmable read-only memory (EPROM), a static random access memory (SRAM), a read-only memory (ROM), a magnetic memory, a flash memory, a programmable read-only memory (PROM).

[0136] The embodiment of the present disclosure further provides a computer readable storage medium, which stores computer instructions, and when the computer instructions stored in the computer readable storage medium are executed by an electronic device, the electronic device executes the leveling method of the multi-leg lifting platform provided by the above method embodiment.

[0137] The embodiment of the present disclosure further provides a computer program product, which comprises one or more computer program instructions, and when the computer program instructions are loaded and run by a computer, the computer executes the leveling method of the multi-leg lifting platform provided by the above method embodiment.

[0138] The above description is merely optional embodiments of the present disclosure, and is not intended to limit the present disclosure. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present disclosure shall be included in the protection scope of the present disclosure.

Claims

1. A method of leveling a multi-leg jackup platform, the method comprising: The leveling method is used for horizontal adjustment of a multi-leg jack-up platform, the multi-leg jack-up platform comprising a jack-up platform and at least three pairs of legs, the at least three pairs of legs being arranged along a length direction of the jack-up platform, and each pair of legs being arranged along a width direction of the jack-up platform; The leveling method comprises: detecting a load value of each leg; in a case where the load value of each leg is greater than a load threshold, obtaining horizontal posture information of the jack-up platform, the horizontal posture information being used for indicating a tilt direction of the jack-up platform, the tilt direction comprising the length direction and / or the width direction, and the horizontal posture information comprising a first included angle between the jack-up platform and a horizontal plane in the width direction and a second included angle between the jack-up platform and the horizontal plane in the length direction; controlling a speed of each leg according to the horizontal posture information and a lifting direction of the jack-up platform, wherein the at least three pairs of legs comprise at least two leg groups arranged along the tilt direction of the jack-up platform, when the jack-up platform is lifted, an ascending speed of a leg in a first leg group is greater than an ascending speed of a leg in a second leg group, when the jack-up platform is lowered, a descending speed of the leg in the first leg group is less than a descending speed of the leg in the second leg group, the first leg group and the second leg group are any two adjacent leg groups in the at least two leg groups in the tilt direction, and a height of a jack-up platform where the first leg group is located is less than a height of a jack-up platform where the second leg group is located; the first included angle is greater than a first threshold, the second included angle is greater than a second threshold, the tilt direction comprises the width direction and the length direction, and the controlling of the ascending speed of each leg according to the horizontal posture information and the lifting direction of the jack-up platform comprises: when the jack-up platform is lifted, the ascending speed of the leg in the first leg group in the two leg groups in the width direction is controlled to be a rated speed, and the ascending speed of the leg in the second leg group in the two leg groups in the width direction is controlled to be N times of the rated speed, until the first included angle is less than or equal to the first threshold, wherein N is greater than 0 and less than 1; in the at least three leg groups in the length direction, the ascending speed of a leg in a low-position reference leg group is controlled to be the rated speed, and the ascending speed of a leg in another leg group is controlled to be N times of the rated speed, and the ascending speed of the leg in the another leg group is inversely proportional to a distance between the another leg group and the low-position reference leg group in the length direction, until the second included angle is less than or equal to the second threshold, wherein the low-position reference leg group is a leg group with the minimum height of the jack-up platform; or controlling the lowering speed of the piles in the second pile group in the width direction to be a rated speed, and controlling the lowering speed of the piles in the first pile group in the width direction to be N times of the rated speed until the first included angle is less than or equal to the first threshold value, wherein N is greater than 0 and less than 1; controlling the lowering speed of the piles in the high reference pile group in the length direction to be a rated speed, and controlling the lowering speed of the piles in other pile groups in the length direction to be N times of the rated speed, and the lowering speed of the piles in the other pile groups in the length direction is inversely proportional to the distance between the high reference pile group and the other pile groups in the length direction until the second included angle is less than or equal to the second threshold value, wherein the high reference pile group is the pile group with the maximum height of the lifting platform; controlling the lowering speed of the piles in the high reference pile group in the length direction to be a rated speed, and controlling the lowering speed of the piles in other pile groups in the length direction to be N times of the rated speed, and the lowering speed of the piles in the other pile groups in the length direction is inversely proportional to the distance between the high reference pile group and the other pile groups in the length direction until the second included angle is less than or equal to the second threshold value, wherein the high reference pile group is the pile group with the maximum height of the lifting platform; if the low reference pile group is located at the head of the lifting platform, controlling the ascending speed of different pile groups in the at least three pile groups to be an arithmetic decreasing sequence along the direction from the head to the tail of the lifting platform; if the low reference pile group is located at the tail of the lifting platform, controlling the ascending speed of different pile groups in the at least three pile groups to be an arithmetic increasing sequence along the direction from the head to the tail of the lifting platform; if the low reference pile group is located in the middle of the lifting platform, controlling the ascending speed of different pile groups in the at least three pile groups to be an arithmetic increasing sequence along the direction from the head to the low reference pile group, and controlling the ascending speed of different pile groups in the at least three pile groups to be an arithmetic decreasing sequence along the direction from the tail to the low reference pile group; if the low reference pile group is located at the head and the tail of the lifting platform respectively, controlling the ascending speed of different pile groups in the at least three pile groups to be an arithmetic decreasing sequence along the direction from the head to the tail of the lifting platform.

2. Levelling method according to claim 1, characterized in that the first included angle is greater than the first threshold value and the second included angle is less than or equal to the second threshold value, the inclination direction is the width direction, and the at least three pairs of piles include two pile groups arranged at intervals in the width direction; controlling the lowering speed of each pile according to the horizontal posture information and the lifting direction of the lifting platform, including: controlling the ascending speed of the pile legs in the first pile leg group to be a rated speed and controlling the ascending speed of the pile legs in the second pile leg group to be N times of the rated speed until the first included angle is less than or equal to the first threshold value, wherein N is greater than 0 and less than 1; or, controlling the descending speed of the pile legs in the second pile leg group to be a rated speed and controlling the descending speed of the pile legs in the first pile leg group to be N times of the rated speed until the first included angle is less than or equal to the first threshold value, wherein N is greater than 0 and less than 1.

3. The method of leveling according to claim 1, wherein, the first included angle is less than or equal to a first threshold value and the second included angle is greater than a second threshold value, the tilting direction is the length direction, the at least three pairs of pile legs comprise at least three pile leg groups arranged at intervals in the length direction, and each of the at least three pile leg groups comprises a pair of pile legs; the controlling the ascending / descending speed of each of the pile legs according to the horizontal posture information and the ascending / descending direction of the lifting platform comprises: controlling the ascending speed of the pile legs in a low-position reference pile leg group to be a rated speed and controlling the ascending speed of the pile legs in other pile leg groups to be N times of the rated speed, and the ascending speed of the pile legs in the other pile leg groups is inversely proportional to the distance between the low-position reference pile leg group and the other pile leg groups in the length direction until the second included angle is less than or equal to the second threshold value, wherein the low-position reference pile leg group is the pile leg group with the smallest height of the lifting platform; or, controlling the descending speed of the pile legs in a high-position reference pile leg group to be a rated speed and controlling the descending speed of the pile legs in other pile leg groups to be N times of the rated speed, and the descending speed of the pile legs in the other pile leg groups is inversely proportional to the distance between the high-position reference pile leg group and the other pile leg groups in the length direction until the second included angle is less than or equal to the second threshold value, wherein the high-position reference pile leg group is the pile leg group with the largest height of the lifting platform.

4. The method of leveling according to claim 1, wherein, the controlling the descending speed of the pile legs in the high-position reference pile leg group to be a rated speed and controlling the descending speed of the pile legs in the other pile leg groups to be N times of the rated speed comprises: if the high-position reference pile leg group is located at the head of the lifting platform, controlling the descending speed of different pile leg groups in the at least three pile leg groups to be an arithmetic decreasing sequence along the direction from the head to the tail of the lifting platform; if the high-position reference pile leg group is located at the tail of the lifting platform, controlling the descending speed of different pile leg groups in the at least three pile leg groups to be an arithmetic increasing sequence along the direction from the head to the tail of the lifting platform; If the high reference pile leg group is located in the middle of the lifting platform, the descending speeds of different pile leg groups located between the front end of the lifting platform and the position where the high reference pile leg group is located are in an arithmetic increasing sequence, and the descending speeds of different pile leg groups located between the tail end of the lifting platform and the position where the low reference pile leg group is located are in an arithmetic decreasing sequence along the direction from the front end to the tail end of the lifting platform. If the high reference pile leg group is located at the front end and the tail end of the lifting platform respectively, the descending speeds of different pile leg groups located between the front end of the lifting platform and the middle of the lifting platform are in an arithmetic decreasing sequence, and the descending speeds of different pile leg groups located between the tail end of the lifting platform and the position where the low reference pile leg group is located are in an arithmetic increasing sequence along the direction from the front end to the tail end of the lifting platform.

5. A leveling system for a multi-leg jackup platform, the leveling system comprising: The leveling system is used for horizontal adjustment of a multi-pile leg lifting platform, and the multi-pile leg lifting platform comprises a lifting platform and at least three pairs of pile legs, the at least three pairs of pile legs are arranged along the length direction of the lifting platform, and each pair of pile legs is arranged along the width direction of the lifting platform. The leveling system comprises a pile leg bottom touch detection module, an acquisition module and an adjustment module. The pile leg bottom touch detection module is used for detecting the load value of each pile leg. The acquisition module is used for acquiring the horizontal posture information of the lifting platform when the load value of each pile leg is greater than a load threshold value, the horizontal posture information is used for indicating the inclination direction of the lifting platform, the inclination direction comprises the length direction and / or the width direction, and the horizontal posture information comprises a first included angle between the lifting platform and a horizontal plane in the width direction and a second included angle between the lifting platform and a horizontal plane in the length direction. The adjustment module is used for controlling the speed of each pile leg according to the horizontal posture information and the lifting direction of the lifting platform, wherein the at least three pairs of pile legs comprise at least two pile leg groups arranged along the inclination direction of the lifting platform, the ascending speed of pile legs in a first pile leg group is greater than the ascending speed of pile legs in a second pile leg group when the lifting platform ascends, the descending speed of pile legs in the first pile leg group is less than the descending speed of pile legs in the second pile leg group when the lifting platform descends, the first pile leg group and the second pile leg group are any two adjacent pile leg groups in the at least two pile leg groups in the inclination direction, and the height of the lifting platform where the first pile leg group is located is less than the height of the lifting platform where the second pile leg group is located. the first angle is greater than a first threshold value, and the second angle is greater than a second threshold value, the inclination direction includes the width direction and the length direction, the adjusting module is configured to control the ascending speed of the pile legs in the first pile leg group of the two pile leg groups in the width direction to be a rated speed when the lifting platform is ascending, and control the ascending speed of the pile legs in the second pile leg group of the two pile leg groups in the width direction to be N times of the rated speed, until the first angle is less than or equal to the first threshold value, where N is greater than 0 and less than 1; control the ascending speed of the pile legs in the low-position reference pile leg group of the at least three pile leg groups in the length direction to be the rated speed, and control the ascending speed of the pile legs in the other pile leg groups in the length direction to be N times of the rated speed, and the ascending speed of the pile legs in the other pile leg groups in the length direction is inversely proportional to the distance between the low-position reference pile leg group and the other pile leg groups in the length direction, until the second angle is less than or equal to the second threshold value, where the low-position reference pile leg group is the pile leg group with the smallest height of the lifting platform; or, control the descending speed of the pile legs in the second pile leg group of the two pile leg groups in the width direction to be the rated speed when the lifting platform is descending, and control the descending speed of the pile legs in the first pile leg group of the two pile leg groups in the width direction to be N times of the rated speed, until the first angle is less than or equal to the first threshold value, where N is greater than 0 and less than 1; control the descending speed of the pile legs in the high-position reference pile leg group of the at least three pile leg groups in the length direction to be the rated speed, and control the descending speed of the pile legs in the other pile leg groups in the length direction to be N times of the rated speed, and the descending speed of the pile legs in the other pile leg groups in the length direction is inversely proportional to the distance between the high-position reference pile leg group and the other pile leg groups in the length direction, until the second angle is less than or equal to the second threshold value, where the high-position reference pile leg group is the pile leg group with the largest height of the lifting platform; the control of the ascending speed of the pile legs in the low-position reference pile leg group of the at least three pile leg groups in the length direction to be the rated speed, and the control of the ascending speed of the pile legs in the other pile leg groups in the length direction to be N times of the rated speed, includes: If the low-position reference leg group is located at the head of the lifting platform, the ascending speeds of different leg groups in the at least three leg groups are controlled to be in an arithmetic decreasing sequence along a direction from the head to the tail of the lifting platform; if the low-position reference leg group is located at the tail of the lifting platform, the ascending speeds of different leg groups in the at least three leg groups are controlled to be in an arithmetic increasing sequence along the direction from the head to the tail of the lifting platform; if the low-position reference leg group is located at the middle of the lifting platform, the ascending speeds of different leg groups in the leg groups located between the head of the lifting platform and the position where the low-position reference leg group is located are controlled to be in an arithmetic increasing sequence, and the ascending speeds of different leg groups in the leg groups located between the tail of the lifting platform and the position where the low-position reference leg group is located are controlled to be in an arithmetic decreasing sequence; if the low-position reference leg groups are located at the head and the tail of the lifting platform respectively, the ascending speeds of different leg groups in the leg groups located between the head of the lifting platform and the middle of the lifting platform are controlled to be in an arithmetic decreasing sequence, and the ascending speeds of different leg groups in the leg groups located between the tail of the lifting platform and the position where the low-position reference leg group is located are controlled to be in an arithmetic increasing sequence.

6. A computer device, comprising: The computer device comprises a processor and a memory configured to store instructions executable by the processor; the processor is configured to execute the leveling method of the multi-leg lifting platform according to any one of claims 1 to 4.

7. A computer storage medium having stored thereon computer instructions, wherein the computer instructions, when executed by a computer, cause the computer to perform the method of any one of claims 1-6. The computer instructions, when executed by the processor, implement the leveling method of the multi-leg lifting platform according to any one of claims 1 to 4.

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