Autonomous operation platform and method for offshore sand transportation and hydraulic reclamation

Abstract

The invention discloses an autonomous operation platform for offshore sand transportation and hydraulic reclamation, which is characterized in that a platform main body is arranged on a double-floating-body structure, a sand transportation pipe assembly part is arranged in a cabin body of the platform main body, and a plurality of groups of autonomous anchor retracting and releasing assemblies are uniformly distributed at the bow part and the stern part of the platform main body; the propelling systems are distributed on the periphery of the platform body and the double-floating-body structure. The power system is installed in a cabin of the platform body and used for driving the propelling system and the automatic anchor retracting and releasing assembly to work. The shipborne autonomous control system and the anchoring positioning monitoring system are installed in a cabin of the platform body, and the shipborne autonomous control system is in control connection with the anchoring positioning monitoring system, the sand conveying pipe assembly, the autonomous anchor winding and unwinding assembly, the propelling system and the power system and conducts data interaction with the shore-based control system through the communication module. According to the invention, high-precision self-positioning operation of the platform can be realized; meanwhile, remote monitoring and control over the sand conveying hydraulic reclamation operation platform can be achieved in a shore-based control center, the preparation time before operation is shortened, meanwhile, the operation precision and the production time rate are improved, and the operation cost is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of offshore sand transport and filling, and in particular to an autonomous operation platform and method for offshore sand transport and filling. Background Art

[0002] In the current sand transport and filling operations, due to the lack of autonomous operating platforms, offshore sand transport and filling projects all use manually operated sand dredging ships to operate in the target area. During the operation, they need to constantly observe the positioning and move back and forth to transport sand. The operation process is cumbersome and inefficient, and it is easily affected by bad weather, which seriously affects the timeliness and effect of sand transport and filling. Summary of the invention

[0003] In order to overcome the above-mentioned shortcomings, the present invention provides an autonomous operation platform and method for offshore sand transport and filling, which can realize high-precision autonomous positioning operation of the platform; at the same time, it can also realize remote monitoring and control of the sand transport and filling operation platform at the shore-based control center, while shortening the pre-operation preparation time, it also improves the operation accuracy and production time rate, and reduces the operation cost.

[0004] The main technical solutions adopted in the present invention are: An autonomous operation platform for offshore sand transport and filling, comprising a double buoy structure, a platform body, a sand transport pipe assembly, several groups of autonomous anchor retracting and releasing assemblies, a propulsion system, a power system, a shore-based control system, a ship-borne autonomous control system and an anchor positioning monitoring system; wherein, The platform body is arranged on the double floating structure, the sand transport pipe assembly is partially arranged in the cabin of the platform body and moves with the platform body, and a plurality of groups of autonomous retractable anchor assemblies are evenly arranged at the bow and stern of the platform body for anchoring the working platform; the propulsion system is distributed and installed around the platform body and the double floating structure for fine-tuning the position and bow direction of the working platform; The power system is installed in the cabin of the platform body and is used to drive the propulsion system and the autonomous retractable anchor assembly; The shipborne autonomous control system and anchor positioning monitoring system are installed in the cabin of the platform body, and are used to control the operation platform to autonomously complete the sand transport pipe movement operation and positioning. The shipborne autonomous control system is respectively connected to the anchor positioning monitoring system, the sand transport pipe assembly, the autonomous anchor retracting and releasing assembly, the propulsion system and the power system control, and exchanges data with the shore-based control system through the communication module; The shore-based control system is arranged on the shore-based platform. The shore-based control system plans task information based on the operating platform information fed back by the ship-borne autonomous control system, and transmits the information to the ship-borne autonomous control system through the communication module to control the operation of the operating platform.

[0005] Preferably, the double buoy structure comprises two buoys, a left buoy and a right buoy, and the two buoys are reinforced and connected by an equipment mounting steel frame.

[0006] Preferably, the sand transport pipe assembly includes a sand transport pipe head replacement bracket, an internal sand transport pipe, an external sand transport pipe and a sand transport pipe head. One end of the sand transport pipe head replacement bracket is connected to the platform body, and the other end is locked and connected to the sand transport pipe head. The sand transport pipe head is installed at the outlet end of the internal sand transport pipe, and the inlet end of the internal sand transport pipe is connected to the external sand transport pipe through a sand transport switch valve. The internal sand transport pipe is arranged throughout the platform body and supported by the equipment installation steel frame.

[0007] Preferably, the autonomous anchor retracting and releasing assembly comprises an anchor, an anchor windlass and a cable winch, the cable winch is mounted on the platform body, and a plurality of strain gauges are arranged in a ring on the mounting base of the cable winch for real-time monitoring of the tension of the cable winch, the anchor windlass is drive-connected to the cable winch, the cable winch is connected to the anchor via an anchor chain, and the anchor windlass is respectively connected to the ship-borne autonomous control system and power system.

[0008] Preferably, the propulsion system includes 13 propeller assemblies, among which 3 propeller assemblies are arranged in a straight line at the bow of the platform body, 4 propeller assemblies are evenly distributed on both sides of the platform body, 4 propeller assemblies are arranged in a rectangular manner at the stern of the platform body, and 2 propeller assemblies are symmetrically arranged at the tail of the floating body of the double floating body structure, and each of the propeller assemblies is respectively connected to the ship-borne autonomous control system and the power system.

[0009] Preferably, the power system includes a fuel power system and a clean energy power system, and the fuel power system and the clean energy power system are symmetrically arranged in the cabins on both sides of the platform, respectively, to provide power for the working platform, wherein the clean energy power system is the main power system and the fuel power system is the backup power system.

[0010] Preferably, the anchoring positioning monitoring system comprises: Shipboard GPS, installed on the platform body, is used to collect the location information of the working platform in real time; Sensor components are arranged around the double floating structure to monitor the working environment and working status of the working platform; The shore-based monitoring module is installed on the platform body and is used to monitor the platform's autonomous operation in real time.

[0011] An autonomous operation method for offshore sand transport and filling, the specific method is as follows: S1: The shore-based control system obtains a task list of the filling platform based on the range information, depth information, wind and wave current load information of the operating sea area, and sends the task list to the ship-borne autonomous control system in the autonomous operating platform through the communication module; S2: Based on the operation task information in the task list, the shipborne autonomous control system controls the operation platform to reach the target area. At the same time, the anchor positioning monitoring system measures the location information, operation environment, operation status, motion posture and main operation status of the operation platform in real time, and feeds back the real-time collected operation platform information to the shipborne autonomous control system, which is then transmitted back to the shore-based control system through the communication module; S3: According to the position data of the operating platform and the operating task information in the task list, the onboard autonomous control system controls the autonomous anchor retracting and releasing assembly to start, extends the cable to sink the anchor to the seabed first, and then controls the cables of the autonomous anchor retracting and releasing assembly in different directions according to the real-time position of the platform to move the operating platform to the target position, and controls the propulsion system to work, thereby fine-tuning the position and operating status of the operating platform; S4: After the operation platform is adjusted to the target operation position, the onboard autonomous control system controls the sand transport switch valve of the sand transport pipe assembly to operate according to the preset filling time in the task list; S5: After the sand transport and filling operation is completed, the ship's autonomous control system controls the sand transport switch valve and propulsion system to close, and all cables are retracted to their original length.

[0012] Beneficial effects: The present invention provides an autonomous operation platform and method for offshore sand transport and filling, which has the following advantages: (1) The present invention adopts an autonomous retractable anchor assembly to realize multi-point anchoring positioning of the working platform. At the same time, it cooperates with the propulsion system to provide auxiliary power and fine-tune the position and bow direction of the working platform, thereby realizing precise positioning control of the platform and ensuring the stability and safety of the platform during operation.

[0013] (2) The present invention utilizes the interaction between the shore-based control system, the ship-borne autonomous control system and the anchor positioning monitoring system to enable the operating platform to carry out autonomous operations in offshore sand transport and filling projects under shore-based monitoring, making the operation process more flexible, efficient and safe, and reducing dependence on manpower.

[0014] (3) The present invention adopts a hybrid power system that uses clean energy to generate electricity, which reduces the impact on the environment while ensuring power supply, and is green, low-carbon and environmentally friendly. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 is a schematic diagram of the overall structure of the autonomous operation platform of Example 1; Figure 2 is a schematic diagram of the internal structure of the autonomous operation platform of Example 1; Figure 3 is a partial cross-sectional view of the autonomous working platform of Example 1; In the figure: double buoy structure 1, platform body 2, sand transport pipe head replacement bracket 3-1, internal sand transport pipe 3-2, external sand transport pipe 3-3, sand transport pipe head 3-4, autonomous retractable anchor assembly 4, anchor 4-1, anchor windlass 4-2, cable winch 4-3, propulsion system 5, propeller assembly 5-1, equipment installation steel frame 6, shipboard GPS 7, communication module 8. DETAILED DESCRIPTION

[0016] In order to enable those skilled in the art to better understand the technical solutions in this application, the technical solutions in the embodiments of this application are clearly and completely described below. Obviously, the described embodiments are only part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of this application. Example 1

[0017] An autonomous operation platform for offshore sand transport and filling, comprising a double floating structure 1, a platform body 2, a sand transport pipe assembly, a plurality of autonomous anchor retracting and releasing assemblies 4, a propulsion system 5, a power system, a shore-based control system, a ship-borne autonomous control system and an anchor positioning monitoring system; wherein: The platform body 2 is arranged on the double floating structure, the sand transport pipe assembly is partially arranged in the cabin of the platform body 2 and moves with the platform body, and a plurality of groups of autonomous retractable anchor assemblies 4 are evenly arranged at the bow and stern of the platform body 2 for anchoring the working platform; the propulsion system 5 is distributed and installed around the platform body 2 and the double floating structure 1 for fine-tuning the position and bow direction of the working platform and balancing some average environmental forces and moments; The power system is installed in the cabin of the platform body and is used to drive the propulsion system and the autonomous retractable anchor assembly; The shipborne autonomous control system and anchor positioning monitoring system are installed in the cabin of the platform body, and are used to control the work platform to autonomously complete the sand transport pipe movement operation and positioning. The shipborne autonomous control system is respectively connected to the anchor positioning monitoring system, the sand transport pipe assembly, the autonomous anchor retracting and releasing assembly, the propulsion system and the power system control, and exchanges data with the shore-based control system through the communication module 8; The shore-based control system is arranged on the shore-based platform. The shore-based control system plans task information based on the operating platform information fed back by the anchor positioning monitoring system, and transmits the task information to the ship-borne autonomous control system through the communication module to control the operation of the operating platform.

[0018] In this embodiment 1, the double buoy structure 1 includes two buoys, left and right, and the two buoys are connected by a steel frame 6 for equipment installation. The buoys are mainly used to provide buoyancy and reserve buoyancy for the working platform, and to provide sufficient restoring torque when rolling occurs under the action of waves. The equipment cabin of the platform body 2 is arranged on the two buoys of the double buoy structure in a left-right symmetrical form to provide space for equipment installation. According to actual operation requirements, the upper part of the cabin of the equipment cabin is also provided with an opening for maintenance, and the opening is heightened by a steel plate fence and a watertight hatch cover is used to ensure the sealing of the cabin.

[0019] In this embodiment 1, the sand transport pipe assembly includes a sand transport pipe head replacement bracket 3-1, an internal sand transport pipe 3-2, an external sand transport pipe 3-3 and a sand transport pipe head 3-4. One end of the sand transport pipe head replacement bracket 3-1 is connected to the platform body 1, and the other end is locked and connected to the sand transport pipe head 3-4. The sand transport pipe head 3-4 is installed at the outlet end of the internal sand transport pipe 3-2, and the inlet end of the internal sand transport pipe 3-2 is connected to the external sand transport pipe 3-3 through a sand transport switch valve. The internal sand transport 3-3 pipe is arranged throughout the platform body 1 and is supported by the equipment installation steel frame 6.

[0020] Furthermore, the external sand transport pipe is a combination of a hose and a hard pipe. When the platform moves laterally, a sufficiently long sand transport pipe can be provided and the pipe bending moment of the platform during the lateral movement can be reduced. The sand transport pipe head is a conical joint used for locking and sealing the pipe. The internal sand transport pipe is made of ultra-high molecular weight polyethylene material. The sand transport pipe head and the internal sand transport pipe are connected by a self-locking mechanism (the self-locking mechanism belongs to the prior art, so it is not described in detail), and the sand is sprayed out by a hydraulic pump.

[0021] In this embodiment 1, there are 4 groups of autonomous retractable anchor assemblies 4, which are evenly distributed at the bow and stern of the platform body. Each group of autonomous retractable anchor assemblies 4 includes an anchor 4-1, an anchor winch 4-2 and a cable winch 4-3. Among them, the anchor is preferably a large-holding anchor, and is connected to the cable of the cable winch 4-3 through an anchor chain to reduce the possibility of the anchor winch getting stuck or overloaded during the process of retracting and releasing the anchor chain. The cable is mainly used to correct the offset caused by the ocean load on the platform, and at the same time provide the drag force required for positioning. The cable winch is installed on the platform body, and a number of strain gauges are also arranged in a ring on the mounting base of the cable winch, which are used to monitor the tension of the cable winch in real time to prevent the winch from overloading. The anchor winch 4-2 is driven and connected to the cable winch 4-3, and the anchor winch 4-2 is respectively connected to the ship-borne autonomous control system and power system.

[0022] Furthermore, an overload protection device may be connected between the anchor winch 4-2 and the cable winch 4-3 to reduce the problems of the anchor winch getting stuck or overloaded during the process of retracting and releasing the anchor chain.

[0023] In this embodiment 1, the propulsion system 5 includes 13 propeller assemblies 5-1, of which 3 propeller assemblies 5-1 are arranged in a straight line at the bow of the platform body, 4 propeller assemblies 5-1 are evenly distributed on both sides of the platform body, 4 propeller assemblies 5-1 are arranged in a rectangular shape at the stern of the platform body, and 2 propeller assemblies 5-1 are symmetrically arranged at the tail of the floating body of the double floating body structure 1, and each of the propeller assemblies 5-1 is respectively connected to the ship-borne autonomous control system and the power system. In the present invention, the propeller located at the tail of the floating body is used to provide propulsion for the working platform, and the propeller assemblies 5-1 located around the platform body 2 are used to fine-tune the attitude and position of the working platform. In the present invention, the propellers in each propeller assembly 5-1 are independently driven and adjusted by a propeller motor.

[0024] In the specific operation process, the bow cable 5 on the left and right sides of the platform body 1 provides tension F1 and F2, the stern cable 5 provides tension F3 and F4, the propeller of the propulsion system 5 provides thrust T and forms a torque M, F1, F2, F3, and F4 form four directional constraints to position the working platform, and the thrust T is used to balance the reverse thrust generated by the jet at the outlet of the sand transport pipeline and the torque M' generated by the bending of the sand transport pipeline. The entire force system adjusts the tension and torque by adjusting the length of the cable and the speed of the propeller to achieve the purpose of precise positioning and fine-tuning according to real-time environmental changes.

[0025] In this embodiment 1, the power system includes a fuel power system and a clean energy power system, and the fuel power system and the clean energy power system are symmetrically arranged in the cabins on both sides of the platform, respectively, to provide power for the working platform, wherein the clean energy power system is the main power system, used for daily operation of the platform, and the fuel power system is a backup power system, used for sudden and emergency situations.

[0026] In this embodiment 1, the fuel power system includes a fuel generator. The clean energy power system includes a solar generator. The fuel generator is arranged on the axle motor shaft, uses the wake energy to convert kinetic energy into electrical energy, and stores the electrical energy in the lithium battery through the transmission line to power the platform; the solar generator includes four small single crystal solar photovoltaic panels, which are respectively installed on the platform deck, and store the energy in the lithium battery through the transmission line to power the platform.

[0027] In this embodiment 1, the anchoring positioning monitoring system includes: The ship-borne GPS7 is installed on the platform body and is used to collect the location information of the operating platform in real time. The ship-borne GPS feeds the collected information back to the ship-borne control system, which then transmits it to the shore-based control system through the communication module. The sensor assembly is arranged around the double floating structure and is used to monitor the working environment and working state (including motion posture) of the working platform. In the present invention, the sensor assembly includes a displacement sensor and / or a displacement sensor. The pressure sensor can monitor the water pressure and monitor the floating state of the working platform according to whether there is water pressure. The displacement sensor can monitor the motion displacement of the working platform, thereby monitoring the working state of the working platform. The sensor assembly in the present invention can be but is not limited to the above-mentioned sensors. Existing sensors that can realize the working state monitoring of the working platform can be selectively designed by those skilled in the art according to actual needs.

[0028] The shore-based monitoring module is installed on the platform body and is used to monitor the platform's autonomous operation in real time and transmit it back to the shore-based control system.

[0029] The communication module in this embodiment 1 can be but is not limited to a 4G communication module (such as a 4G antenna), which is used to transmit data to the shore-based control system and receive shore-based instructions. Any existing device that can realize wireless data communication can be applicable.

[0030] In this embodiment 1, the shore-based control system runs on the remote control computer of the shore-based platform, and may include but is not limited to a human-computer interaction module, a monitoring data analysis module, a control instruction transmission module, a multi-channel data communication module and a task scheduling module. Existing shore-based control modules that can perform data analysis, task planning, path planning and navigation planning based on the range information, depth information and wind, wave and current load information of the operating sea area and the operating platform information can be applied, which belongs to the prior art and is therefore not described in detail.

[0031] In this embodiment 1, the shipborne autonomous control system can but is not limited to including a CAN interface industrial computer, a propeller motor controller, an anchor motor controller, a power supply controller and a switch valve controller. In this embodiment 1, the task information received by the CAN interface industrial computer from the shore-based control system controls the propulsion system, the automatic anchor retracting and releasing assembly, the power system and the sand transport switch valve through the propeller motor controller, the anchor motor controller, the power supply controller and the switch valve controller.

[0032] An autonomous operation method for offshore sand transport and filling, the specific method is as follows: S1: When an offshore sand transport and filling project requires an autonomous sand transport and filling process, the shore-based control system obtains a task list of the filling platform based on the range information, depth information, wind and wave load information of the operating sea area, and sends the task list to the ship-borne autonomous control system in the autonomous operating platform through the communication module; S2: Based on the operation task information in the task list (including information such as the filling position and filling angle), the shipborne autonomous control system controls the operation platform to reach the target area. At the same time, the anchor positioning monitoring system measures the position information, operation environment, operation status, motion posture and operation status of the operation platform in real time, and feeds back the real-time collected operation platform information to the shipborne autonomous control system, which then transmits it back to the shore-based control system through the communication module; S3: According to the position data of the operating platform and the operating task information in the task list, the onboard autonomous control system first controls the autonomous anchor retracting and releasing assembly to start, extends the cable to make the anchor sink to the seabed first, and then controls the cable retraction and release of the autonomous anchor retracting and releasing assembly in different directions according to the real-time position of the platform to move the operating platform to the target position, and controls the propulsion system to work, thereby fine-tuning the position and operating status of the operating platform; S4: After the operation platform is adjusted to the target operation position, the onboard autonomous control system controls the sand transport switch valve of the sand transport pipe assembly to operate according to the preset filling time in the task list; S5: After the sand transport and filling operation is completed, the ship's autonomous control system controls the sand transport switch valve and propulsion system to close, and all cables are retracted to their original length.

[0033] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. An autonomous operation platform for offshore sand transport and filling, characterized in that: It includes a double buoy structure, a platform body, a sand transport pipe assembly, several sets of autonomous anchor retracting and releasing assemblies, a propulsion system, a power system, a shore-based control system, a ship-borne autonomous control system and an anchor positioning monitoring system; among which, The platform body is arranged on the double floating structure, the sand transport pipe assembly is partially arranged in the cabin of the platform body and moves with the platform body, and a plurality of groups of autonomous retractable anchor assemblies are evenly arranged at the bow and stern of the platform body for anchoring the working platform; the propulsion system is distributed and installed around the platform body and the double floating structure for fine-tuning the position and bow direction of the working platform; The power system is installed in the cabin of the platform body and is used to drive the propulsion system and the autonomous retractable anchor assembly; The shipborne autonomous control system and anchor positioning monitoring system are installed in the cabin of the platform body, and are used to control the operation platform to autonomously complete the sand transport pipe movement operation and positioning. The shipborne autonomous control system is respectively connected to the anchor positioning monitoring system, the sand transport pipe assembly, the autonomous anchor retracting and releasing assembly, the propulsion system and the power system control, and exchanges data with the shore-based control system through the communication module; The shore-based control system is arranged on the shore-based platform. The shore-based control system plans task information based on the operating platform information fed back by the ship-borne autonomous control system, and transmits the information to the ship-borne autonomous control system through the communication module to control the operation of the operating platform.

2. The autonomous operation platform for offshore sand transport and filling according to claim 1 is characterized in that: The double buoy structure comprises a left buoy and a right buoy, and the two buoys are connected by a reinforced equipment mounting steel frame.

3. The autonomous operation platform for offshore sand transport and filling according to claim 1 is characterized in that: The sand transport pipe assembly includes a sand transport pipe head replacement bracket, an internal sand transport pipe, an external sand transport pipe and a sand transport pipe head. One end of the sand transport pipe head replacement bracket is connected to the platform body, and the other end is locked and connected to the sand transport pipe head. The sand transport pipe head is installed at the outlet end of the internal sand transport pipe, and the inlet end of the internal sand transport pipe is connected to the external sand transport pipe through a sand transport switch valve. The internal sand transport pipe is arranged throughout the platform body and supported by the equipment installation steel frame.

4. The autonomous operation platform for offshore sand transport and filling according to claim 1 is characterized in that: The autonomous anchor retracting and releasing assembly includes an anchor, an anchor windlass and a cable winch. The cable winch is installed on the platform body, and a plurality of strain gauges are arranged in a ring on the mounting base of the cable winch for real-time monitoring of the tension of the cable winch. The anchor windlass is drive-connected to the cable winch, and the cable winch is connected to the anchor through an anchor chain. The anchor windlass is respectively connected to the ship-borne autonomous control system and power system.

5. The autonomous operation platform for offshore sand transport and filling according to claim 1 is characterized in that: The propulsion system includes 13 propeller assemblies, among which 3 propeller assemblies are arranged in a straight line at the bow of the platform body, 4 propeller assemblies are evenly distributed on both sides of the platform body, 4 propeller assemblies are arranged in a rectangular shape at the stern of the platform body, and 2 propeller assemblies are symmetrically arranged at the tail of the floating body of the double floating body structure. Each of the propeller assemblies is respectively connected to the ship-borne autonomous control system and power system.

6. The autonomous operation platform for offshore sand transport and filling according to claim 1 is characterized in that: The power system includes a fuel power system and a clean energy power system, and the fuel power system and the clean energy power system are symmetrically arranged in the cabins on both sides of the platform, respectively, to provide power for the working platform, wherein the clean energy power system is the main power system, and the fuel power system is the backup power system.

7. The autonomous operation platform for offshore sand transport and filling according to claim 1 is characterized in that: The anchor positioning monitoring system comprises: Shipboard GPS, installed on the platform body, is used to collect the location information of the working platform in real time; Sensor components are arranged around the double floating structure to monitor the working environment and working status of the working platform; The shore-based monitoring module is installed on the platform body and is used to monitor the platform's autonomous operation in real time.

8. An autonomous operation method for offshore sand transport and filling, characterized in that: The autonomous operation platform described in any one of claims 1 to 7 is used to realize offshore sand transport and filling, and the specific method is as follows: S1: The shore-based control system obtains a task list of the filling platform based on the range information, depth information, wind and wave current load information of the operating sea area, and sends the task list to the ship-borne autonomous control system in the autonomous operating platform through the communication module; S2: Based on the operation task information in the task list, the shipborne autonomous control system controls the operation platform to reach the target area. At the same time, the anchor positioning monitoring system measures the location information, operation environment, operation status, motion posture and main operation status of the operation platform in real time, and feeds back the real-time collected operation platform information to the shipborne autonomous control system, which is then transmitted back to the shore-based control system through the communication module; S3: According to the position data of the operating platform and the operating task information in the task list, the onboard autonomous control system controls the autonomous anchor retracting and releasing assembly to start, extends the cable to sink the anchor to the seabed first, and then controls the cables of the autonomous anchor retracting and releasing assembly in different directions according to the real-time position of the platform to move the operating platform to the target position, and controls the propulsion system to work, thereby fine-tuning the position and operating status of the operating platform; S4: After the operation platform is adjusted to the target operation position, the onboard autonomous control system controls the sand transport switch valve of the sand transport pipe assembly to operate according to the preset filling time in the task list; S5: After the sand transport and filling operation is completed, the ship's autonomous control system controls the sand transport switch valve and propulsion system to close, and all cables are retracted to their original length.

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