Intelligent load adjusting method and system for buoyancy body barge

Abstract

The invention relates to the technical field of intelligent load adjustment of buoyancy body barging, in particular to an intelligent load adjustment method and system of buoyancy body barging. An intelligent load adjusting method for buoyancy body barging comprises the steps that a barging operation scheme of a buoyancy body is automatically calculated according to the calculated length, the calculated step length d, the operation time, the operation duration and buoyancy body information, then the zero step to the Nth step are automatically and gradually executed according to the barging operation scheme, and ballast water of a barging barge is correspondingly adjusted according to each step of the barging operation scheme. According to the method, the barge loading operation schemes of all steps are completed through automatic calculation, then the barge loading operation schemes of all steps are continuously and automatically executed according to the barge loading operation schemes of all steps, the calculation amount is small, the process is continuous, ballast water of the barge is mainly controlled, control is more visual, and the barge loading period is shortened.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent loading adjustment for a buoyancy barge, and in particular to an intelligent loading adjustment method and system for a buoyancy barge. Background Art

[0002] In the process of transferring buoyant bodies such as submerged tube segments to a transfer barge (such as a semi-submersible barge and other transport transfer barges), the bottom transfer method is generally adopted, and the ballast water of the transfer barge is manually calculated and adjusted during the transfer. As the weight and volume of existing buoyant bodies increase, the difficulty of manually calculating the transfer of buoyant bodies increases, the amount of calculation is large, and because the manual operation method is relatively cumbersome and the manual adjustment is delayed, the ballast water control of the semi-submersible barge during the transfer of buoyant bodies is not intuitive enough, and the transfer cycle of the buoyant bodies is affected. Summary of the invention

[0003] The purpose of the present invention is to provide an intelligent loading adjustment method and system for buoyancy barge to solve the problem that there is an urgent need to adopt an intelligent loading adjustment method to control the ballast water of the barge to reduce the amount of calculation, make the process control more intuitive and shorten the barge cycle.

[0004] In order to achieve the above object, the technical solution adopted by the present invention is:

[0005] In a first aspect, the present invention provides an intelligent loading method for a buoyancy body barge, comprising the following steps:

[0006] S1. Create a new operation process: input calculation length, calculation step d, operation time, operation duration and buoyancy body information;

[0007] S2. Generate a barge loading operation plan: automatically calculate the barge loading operation plan of the buoyancy body according to the calculation length, calculation step length d, operation time, operation duration and buoyancy body information. The barge loading operation plan includes steps 0 to N, and each step includes the step operation duration and the ballast water distribution result of the barge loading;

[0008] S3, execute the barge operation plan: automatically and step by step execute step 0 to step N according to the barge operation plan, when executing step 0: adjust the ballast water of the barge according to the ballast water distribution result of the barge so that the deck surface of the barge is flush with the dock surface; when executing step 1: use the lifting vehicle at the bottom of the buoyancy body to barge the buoyancy body according to the operation time and the step operation time of step 1, and adjust the ballast water of the barge according to the step operation time of step 1 and the ballast water distribution result of the barge; when executing step 2 to step N: use the lifting vehicle at the bottom of the buoyancy body to barge the buoyancy body according to the step operation time of each step, and adjust the ballast water of the barge according to the step operation time of each step and the ballast water distribution result of the barge;

[0009] S4. After the Nth step is completed, the intelligent adjustment of the ballast water loading of the transfer barge is completed.

[0010] The intelligent loading adjustment method for the barge of a buoyant body described in the present invention automatically calculates the barge operation plan of the buoyant body according to the calculated length, the calculated step length d, the operation time, the operation duration and the buoyant body information, and then automatically and step by step executes the 0th step to the Nth step according to the barge operation plan, and adjusts the ballast water of the barge according to each step of the barge operation plan. After the barge operation plan of all steps is automatically calculated, the barge operation plan is continuously and automatically executed according to each step. The method has a small amount of calculation and a continuous process. The method mainly controls the ballast water of the barge, and the control is more intuitive and the barge operation cycle is shortened.

[0011] As a preferred solution of the present invention, the buoyancy body information includes the weight of the front end of the buoyancy body corresponding to different longitudinal cross sections of the buoyancy body;

[0012] When the lifting vehicle at the bottom of the buoyancy body is a separate structure from the buoyancy body, the calculated length is the horizontal distance from the head end of the buoyancy body to the rear end of the deck surface of the barge on board; when the lifting vehicle and the buoyancy body are integrated, the calculated length is the horizontal distance from the first axle point of the lifting vehicle to the rear end of the deck surface of the barge on board;

[0013] The calculation step length d is the distance the buoyancy body is lifted in each step;

[0014] The operation time is the start time of the buoyancy barge operation;

[0015] The operation time is the total operation time of the barge operation.

[0016] As a preferred embodiment of the present invention, in step S2, the ballast water volume of the cabin of the barge is distributed according to the principle of symmetry and moment balance to obtain the ballast water distribution result of the barge;

[0017] Among them, the principle of symmetry and moment balance is that the moment of the bow relative to the overall center of gravity is equal to the moment of the stern relative to the overall center of gravity. The overall center of gravity is the overall center of gravity of the barge, the barge-up buoyant body, the lifting vehicle corresponding to the barge-up buoyant body, and the ballast water.

[0018] The overall center of gravity determined in this way is more accurate, making the obtained ballast water plan more accurate and precise.

[0019] As a preferred embodiment of the present invention, the moment of the bow relative to the overall center of gravity includes the moment of the bow of the barge relative to the overall center of gravity, the moment of the ballast water at the bow relative to the overall center of gravity, the moment of the buoyant body at the bow relative to the overall center of gravity, and the moment of the lifting vehicle at the bow relative to the overall center of gravity.

[0020] The moment of the stern relative to the overall center of gravity includes the moment of the stern of the barge relative to the overall center of gravity, the moment of the ballast water at the stern relative to the overall center of gravity, the moment of the buoyant body at the stern relative to the overall center of gravity, and the moment of the lifting vehicle at the stern relative to the overall center of gravity.

[0021] As a preferred solution of the present invention, the overall center of gravity is replaced by the center of the upper barge;

[0022] The moment of the bow relative to the center of the barge only considers the moment of the bow ballast water relative to the center of the barge, the moment of the bow buoyant body relative to the center of the barge, and the moment of the bow lifting vehicle relative to the center of the barge.

[0023] The moment of the stern relative to the center of the barge only considers the moment of the ballast water at the stern relative to the center of the barge, the moment of the buoyant body at the stern relative to the center of the barge, and the moment of the lifting vehicle at the stern relative to the center of the barge.

[0024] The stern is the end of the barge that is close to the dock, and the bow is the end of the barge that is far from the dock.

[0025] The overall center of gravity is replaced by the center of the barge, which can reduce the amount of calculation while ensuring that the load adjustment of the barge operation plan can meet the needs.

[0026] As a preferred embodiment of the present invention, in step S2, the steps of obtaining the ballast water distribution result of the barge for each step of the barge operation plan are as follows:

[0027] Calculate the draft of the barge Ap at each step 吃水 According to Ap 吃水 Calculate the displacement weight w corresponding to the draft of the barge 排总 ; Get the total weight w of the buoyancy body and the lifting vehicle 货驳 According to w 排总 、w 货驳 and the barge's own weight b to calculate the ballast water volume W required for the current barge's corresponding draft 压载水 ;

[0028] Taking the buoyancy body and the bottom lifting vehicle as a whole, the moment of the bow relative to the center of gravity of the whole is: the sum of the moment of the bow ballast water relative to the center of the barge and the moment of the bow buoyancy body and the bottom lifting vehicle relative to the center of the barge; the moment of the stern relative to the center of gravity is: the sum of the moment of the stern ballast water relative to the center of the barge and the moment of the stern buoyancy body and the bottom lifting vehicle relative to the center of the barge; the formula of symmetry and moment balance principle is as follows:

[0029] F1*L1+F W1 *L3=F2*L2+F W2 *L4;

[0030] W 压载水 =F W1 +F W2 ;

[0031] W 货驳 =F1+F2;

[0032] Among them, F1 is the weight of the buoyancy body and the lifting vehicle on the bow, L1 is the distance from the center of gravity of the buoyancy body and the lifting vehicle on the bow to the center of the barge, F W1 is the ballast water volume in the bow cabin of the barge, L3 is the distance from the center of gravity of the ballast water in the bow of the barge to the center of the barge; F2 is the weight of the buoyancy body and the lifting vehicle at the stern, L2 is the distance from the center of gravity of the buoyancy body and the lifting vehicle at the stern to the center of the barge, F W2 is the ballast water volume in the stern compartment of the barge, and L4 is the distance from the center of gravity of the ballast water at the stern of the barge to the center of the barge.

[0033] As a preferred embodiment of the present invention, according to the mold depth D of the barge 型深 、Wharf elevation H 码头 and the current tidal elevation H 潮位 Calculate the draft of the barge Ap at the current step 吃水 , Ap 吃水 The calculation formula is: Ap 吃水 =D 型深 -(H 码头 -H 潮位 );

[0034] Ap 吃水 and w 排总 There is a slope a, w between 排总 The calculation formula is: 排总 =Ap 吃水 / a;

[0035] W 货驳 The calculation formula is w 货驳 =d*n*c, where d is the calculation step length, n is the nth step of the barge operation plan, n∈N, and c is the weight of the buoyancy body and the lifting vehicle per meter in the longitudinal direction; or the barge section of the buoyancy body is obtained through d*n, the weight of the front end of the buoyancy body that has been barged is obtained according to the buoyancy body information read from the barge section of the buoyancy body, and the weight of the lifting vehicle that has been barged is obtained according to the barge section of the buoyancy body; W 货驳 It is the sum of the weight of the barge on the front end of the buoyancy body and the weight of the lifting vehicle on the barge;

[0036] W 压载水The calculation formula is: 压载水 =W 排总 -bW 货驳 ;

[0037] Obtain the length of the buoyancy body that has been lifted up according to d*n, determine the length of the buoyancy body at the bow and the length of the buoyancy body at the stern according to the length of the buoyancy body that has been lifted up and the center of the lifting barge; determine the center of gravity of the buoyancy body and the lifting vehicle at the bow according to the length of the buoyancy body that has been lifted up, and determine L1 according to the center of gravity of the buoyancy body and the lifting vehicle at the bow and the center of the lifting barge; determine the center of gravity of the buoyancy body and the lifting vehicle at the stern according to the length of the buoyancy body that has been lifted up, and determine L2 according to the center of gravity of the buoyancy body and the lifting vehicle at the stern and the center of the lifting barge;

[0038] Determine F based on the symmetry and moment balance principle formula W1 、F W2 , L3 and L4, and then obtain the ballast water distribution result of the loading barge in the current step.

[0039] By using the above formula, the required distribution weight of ballast water at the bow and stern of each step can be obtained quickly and accurately.

[0040] As a preferred embodiment of the present invention, in step S2, after calculating each step of the barge loading operation plan, the stability of the barge loading barge, the longitudinal inclination and transverse inclination of the barge loading barge deck surface, the deflection of the barge loading barge, the bending moment and shear force of the barge loading barge of the barge loading operation plan are calculated to achieve verification;

[0041] If the stability, tilt angle, deflection, bending moment and shear force of the current barge operation plan meet the requirements, the next barge operation plan is calculated;

[0042] If the stability, tilt angle, deflection, bending moment or shear force of the current barge operation plan does not meet the requirements, the current barge operation plan is recalculated, and then the stability of the barge, the longitudinal and transverse inclination of the barge deck, the deflection of the barge, the bending moment and shear force of the barge are calculated, and the verification is re-implemented until the requirements are met, and then the next barge operation plan is calculated;

[0043] Calculate each step of the barge operation plan in sequence until the Nth step of the barge operation plan is verified and the barge operation plan is generated;

[0044] In step S3, after each step is executed, it is determined whether the stability of the barge, the longitudinal and transverse inclination of the deck surface of the barge, the deflection of the barge, the bending moment and shear force of the barge meet the control requirements, and it is determined whether the ballast water distribution result of the barge meets the barge operation plan. If so, the next step is executed. If not, the ballast water is adjusted according to the current barge operation plan.

[0045] In the above method, after calculating each step of the barge operation plan, the stability of the barge, the longitudinal and transverse inclination of the barge deck, the deflection of the barge, the bending moment and shear force of the barge of the barge operation plan are checked, and then the calculation of the next step of the barge operation plan is carried out, which reduces the superposition error of the subsequent barge operation plan, can ensure that each step of the barge operation plan can meet the requirements, and reduce the problems of construction safety and affecting the construction period in the subsequent execution of the barge operation plan; after each step is executed, it is judged whether the stability of the barge, the longitudinal and transverse inclination of the barge deck, the deflection of the barge, the bending moment and shear force of the barge meet the control requirements, and it can be determined whether the load adjustment is in place, thereby avoiding the danger of barge construction.

[0046] As a preferred solution of the present invention, before step S1, it also includes creating a new buoyancy body: defining the name of the buoyancy body and importing the buoyancy body information.

[0047] In a second aspect, the present invention provides an intelligent loading adjustment system for a buoyant barge, which is used to execute the intelligent loading adjustment method for a buoyant barge, and includes a monitoring module, a loading adjustment module for a barge, a loading calculation module, and a hydraulic valve control system;

[0048] The loading calculation module is used to generate a barge operation plan;

[0049] The monitoring module collects the bending moment, shear force and deflection data of the barge during the process of the buoyancy body being transferred, as well as the ballast water volume of each ballast tank of the barge in real time, and compares the bending moment, shear force and deflection data of the barge with the safety setting values ​​respectively;

[0050] The loading and unloading barge adjustment module executes the loading and unloading operation plan calculated by the loading and unloading calculation module according to the real-time data collected by the monitoring module, and automatically controls the adjustment of ballast water through the hydraulic valve control system;

[0051] If any of the bending moment, shear force and deflection of the barge exceeds the safety setting value, the barge loading of the buoyancy body will stop, and then the automatic control of the ballast water adjustment of the barge loading adjustment module will be switched to manual operation intervention. After the intervention, the barge loading operation plan will be regenerated through the loading calculation module, and then the manual operation will be switched to automatic control of the ballast water adjustment, and the buoyancy body will continue to load.

[0052] The intelligent load adjustment system for the buoyancy barge of the present invention can quickly and accurately calculate each step of the buoyancy barge operation plan, and can safely and efficiently execute each step of the barge operation plan.

[0053] In summary, due to the adoption of the above technical solution, the beneficial effects of the present invention are:

[0054] 1. The intelligent loading adjustment method for the barge of a buoyant body described in the present invention automatically calculates the barge operation plan of the buoyant body according to the calculation length, the calculation step length d, the operation time, the operation duration and the buoyant body information, and then automatically and step by step executes the steps 0 to N according to the barge operation plan, and adjusts the ballast water of the barge according to each step of the barge operation plan. After the barge operation plan of all steps is automatically calculated, it is continuously and automatically executed according to each step of the barge operation plan. The calculation amount is small and the process is continuous. The main purpose is to control the ballast water of the barge, the control is more intuitive, and the barge cycle is shortened.

[0055] 2. The intelligent loading adjustment system for the buoyancy barge of the present invention can quickly and accurately calculate the operation plan of each step of the buoyancy barge through the loading calculation module, and can safely and efficiently execute each step of the barge barge operation plan through the cooperation of the monitoring module, the barge loading adjustment module and the hydraulic valve control system. BRIEF DESCRIPTION OF THE DRAWINGS

[0056] Figure 1 It is a flow chart of the intelligent loading adjustment method for the buoyancy body barge of the present invention;

[0057] Figure 2 It is a flowchart for calculating the overall barge operation plan;

[0058] Figure 3 It is a flowchart for calculating each step of the barge operation plan;

[0059] Figure 4 It is a schematic diagram of the principle of the intelligent load adjustment system for the buoyancy barge;

[0060] Figure 5 It is a schematic diagram of buoyancy body information segmentation;

[0061] Figure 6 is a schematic diagram of moment distribution of the buoyancy body and the loading barge;

[0062] Figure 7 It is a schematic diagram of the structure of the loading barge;

[0063] Figure 8 This is the schematic diagram of the barge loading at step 0;

[0064] Fig. 9 This is the schematic diagram of the first step of barge loading;

[0065] Fig.10 It is a schematic diagram of the ballast tank arrangement of the transfer barge;

[0066] Fig.11 It is a schematic diagram of the arrangement of the longitudinal main pipes and transverse branch pipes of the loading barge;

[0067] Fig.12 It is a schematic diagram of the arrangement for measuring the draft at the four corners and the ballast water level in the ballast tanks;

[0068] Fig.13 It is a schematic diagram of the measurement of the draft at the four corners of the corner;

[0069] Fig.14 It is a schematic diagram of the measurement of the draft at the four corners of the middle part;

[0070] Fig.15 It is a schematic diagram of ballast water level measurement in ballast tanks;

[0071] Fig.16 is the deflection measurement arrangement diagram;

[0072] Fig.17 This is a diagram showing the deflection measurement. DETAILED DESCRIPTION

[0073] The present invention is further described in detail below in conjunction with test examples and specific implementation methods. However, this should not be understood as the scope of the above subject matter of the present invention being limited to the following embodiments, and all technologies realized based on the content of the present invention belong to the scope of the present invention.

[0074] Unless otherwise specified, in the description of the specific embodiments of the present invention, the terms indicating the orientation or position relationship such as "up", "down", "left", "right", "center", "inside", "outside", etc. are all expressions based on the orientation or position relationship shown in the drawings, or are the orientation or position relationship when the invented product / equipment / device is usually used. These terms of orientation or position relationship are only for the convenience of describing the scheme of the present invention or simplifying the description in the specific embodiments, so as to facilitate the technicians to quickly understand the scheme, and do not indicate or imply that a specific device / component / element must have a specific orientation, or be constructed and operated in a specific position relationship, and therefore cannot be understood as a limitation on the present invention.

[0075] In addition, if the terms "horizontal", "vertical", "overhanging", "parallel" and the like appear, it does not mean that the corresponding devices / components / elements are required to be absolutely horizontal or vertical or overhanging or parallel, but may be slightly tilted or have deviations. For example, "horizontal" only means that its direction is more horizontal than "vertical", and does not mean that the structure must be completely horizontal, but may be slightly tilted. Alternatively, it can be simplified to mean that the corresponding devices / components / elements are set in directions such as "horizontal", "vertical", "overhanging", "parallel", etc., and can have an error / deviation of ±10% relative to the corresponding direction setting, more preferably an error / deviation within ±8%, more preferably an error / deviation within ±6%, more preferably an error / deviation within ±5%, and more preferably an error / deviation within ±4%. As long as the corresponding device / component / element is within the error / deviation range, it can still achieve its role in the scheme of the present invention.

[0076] In addition, the expressions “first”, “second”, “third”, etc. that appear in the terms are merely descriptions used to distinguish the same or similar components and should not be understood as emphasizing or implying the relative importance of specific components.

[0077] In addition, in the description of the embodiments of the present invention, "several", "plurality" and "a number" represent at least 2. It can be any number such as 2, 3, 4, 5, 6, 7, 8, 9, and even more than 9.

[0078] In addition, in the description of the technical solution of the present invention, unless otherwise clearly specified / defined / restricted, the terms "set", "install", "connect", "connected", "provided with", "laid", and "arranged" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection, and can be welding, riveting, bolting, threading, and other commonly used connection means in the field. This connection can be a mechanical connection, an electrical connection, or a communication connection; it can be a direct connection, or an indirect connection through an intermediate medium, and it can be the internal connection of two elements.

[0079] Example 1

[0080] This embodiment provides an intelligent loading method for a buoyant barge. Figure 1 As shown, the following steps are included:

[0081] S1. Create a new operation process: input calculation length, calculation step d, operation time, operation duration and buoyancy body information;

[0082] The buoyancy body information includes the weight of the front end of the buoyancy body corresponding to different longitudinal sections of the buoyancy body; the weight of the buoyancy body entering the semi-submersible barge can be determined according to the cross section of the buoyancy body currently entering the barge and the buoyancy body information, such as Figure 5 As shown, it is used to calculate the ballast water distribution; the buoyancy body can be as follows Figure 5 The submerged tube segment, wind power generation platform, etc. shown in the figure; the loading barge can be a semi-submersible barge, such as Figure 7 As shown;

[0083] When the lifting vehicle at the bottom of the buoyancy body is a separate structure from the buoyancy body, the calculated length is the horizontal distance from the head end of the buoyancy body to the rear end of the deck surface of the barge on which the barge is mounted; when the lifting vehicle and the buoyancy body are integrated, the calculated length is the horizontal distance from the first axle point of the lifting vehicle to the rear end of the deck surface of the barge on which the barge is mounted; the first axle point of the lifting vehicle refers to the longitudinal point where the first axle closest to the front end of the buoyancy body is located.

[0084] The calculation step length d is the barge-up distance of the buoyancy body in each step, which indicates the relationship between the roll-on / roll-off distance and the calculation frequency of the scheme. For each calculation step length d, the software calculates and generates a barge-up operation scheme (mainly the ballasting scheme of this step);

[0085] The operation time is the start time of the buoyancy barge operation, and the definition of this time is to determine the tidal information;

[0086] The operation time is the total operation time of the barge loading operation, which indicates the specific operation time of the ro-ro operation. The definition of this time is to determine the impact of tidal changes on the draft of the semi-submersible barge within the operation time;

[0087] Assume that the calculation length is 140m, the calculation step is 40m, the operation time is 2 hours, and the operation time is 2024 / 3 / 28, 14:43. Then there are step 0 (0m), step 1 (barge to 40m), step 2 (barge to 80m), step 3 (barge to 120m) and step 4 (barge to 140m), and the fourth step is completed at 2024 / 3 / 28, 16:43.

[0088] S2. Generate a barge operation plan, such as Figure 2 As shown: the barge loading operation plan of the buoyancy body is automatically calculated according to the calculation length, calculation step length d, operation time, operation duration and buoyancy body information. The barge loading operation plan includes step 0 to step N, and each step includes the step operation duration and the ballast water distribution result of the barge loading;

[0089] In step S2, the ballast water volume of the cabin of the transfer barge is distributed according to the principle of symmetry and moment balance to obtain the ballast water distribution result of the transfer barge;

[0090] Among them, the principle of symmetry and moment balance is that the moment of the bow relative to the overall center of gravity is equal to the moment of the stern relative to the overall center of gravity. The overall center of gravity is the overall center of gravity of the barge, the barge-up buoyant body, the lifting vehicle corresponding to the barge-up buoyant body, and the ballast water.

[0091] Further, the moment of the bow relative to the overall center of gravity includes the moment of the bow of the barge relative to the overall center of gravity, the moment of the ballast water at the bow relative to the overall center of gravity, the moment of the buoyant body at the bow relative to the overall center of gravity, and the moment of the lifting vehicle at the bow relative to the overall center of gravity;

[0092] The moment of the stern relative to the overall center of gravity includes the moment of the stern of the barge relative to the overall center of gravity, the moment of the ballast water at the stern relative to the overall center of gravity, the moment of the buoyant body at the stern relative to the overall center of gravity, and the moment of the lifting vehicle at the stern relative to the overall center of gravity.

[0093] When the barge is horizontal, the center of gravity coincides with the center. As an optional implementation, the overall center of gravity is replaced by the center of the barge; that is, the moment of the bow relative to the center of the barge only considers the moment of the bow ballast water relative to the center of the barge, the moment of the bow buoyant body relative to the center of the barge, and the moment of the bow lift relative to the center of the barge; the moment of the stern relative to the center of the barge only considers the moment of the stern ballast water relative to the center of the barge, the moment of the stern buoyant body relative to the center of the barge, and the moment of the stern lift relative to the center of the barge; wherein, the stern is the end of the barge center close to the dock, and the bow is the end of the barge center away from the dock.

[0094] Optionally, in step S2, the steps of obtaining the ballast water distribution result of the transfer barge in each step of the transfer operation plan are as follows:

[0095] like Figure 3 As shown, calculate the draft of the barge Ap at each step 吃水 ; According to the model depth D of the barge 型深 、Wharf elevation H 码头 and the current tidal elevation H 潮位 Calculate the draft of the barge Ap at the current step 吃水 , Ap 吃水 The calculation formula is: Ap 吃水 =D 型深 -(H 码头 -H 潮位 );

[0096] According to Ap 吃水 Calculate the displacement weight w corresponding to the draft of the barge 排总 ;Ap 吃水 and w 排总 There is a slope a, w between 排总 The calculation formula is: 排总 =Ap 吃水 / a;

[0097] Get the total weight w of the buoyancy body and the lifting vehicle on board 货驳 ; W 货驳 The calculation formula is w 货驳 =d*n*c, where d is the calculation step length, n is the nth step of the barge operation plan, n∈N, and c is the weight of the buoyancy body and the lifting vehicle per meter in the longitudinal direction; or the barge section of the buoyancy body is obtained through d*n, the weight of the front end of the buoyancy body that has been barged is obtained according to the buoyancy body information read from the barge section of the buoyancy body, and the weight of the lifting vehicle that has been barged is obtained according to the barge section of the buoyancy body; W 货驳 It is the sum of the weight of the barge on the front end of the buoyancy body and the weight of the lifting vehicle on the barge;

[0098] According to w 排总 、w 货驳 and the barge's own weight b to calculate the ballast water volume W required for the current barge's corresponding draft 压载水 ; W 压载水 The calculation formula is: 压载水 =W 排总 -bW 货驳 ;

[0099] Taking the buoyancy body and the bottom lifting vehicle as a whole, the moment of the bow relative to the center of gravity of the whole is: the sum of the moment of the bow ballast water relative to the center of the barge and the moment of the bow buoyancy body and the bottom lifting vehicle relative to the center of the barge; the moment of the stern relative to the center of gravity is: the sum of the moment of the stern ballast water relative to the center of the barge and the moment of the stern buoyancy body and the bottom lifting vehicle relative to the center of the barge; the formula of symmetry and moment balance principle is as follows:

[0100] F1*L1+F W1 *L3=F2*L2+F W2 *L4;

[0101] W 压载水 =F W1 +F W2 ;

[0102] W 货驳 =F1+F2;

[0103] Among them, F1 is the weight of the buoyancy body and the lifting vehicle on the bow, and L1 is the distance from the center of gravity of the buoyancy body and the lifting vehicle on the bow to the center of the barge. Figure 6 As shown; F W1 is the ballast water volume in the bow cabin of the barge, L3 is the distance from the center of gravity of the ballast water in the bow of the barge to the center of the barge; F2 is the weight of the buoyancy body and the lifting vehicle at the stern, L2 is the distance from the center of gravity of the buoyancy body and the lifting vehicle at the stern to the center of the barge, F W2 is the ballast water volume in the stern compartment of the barge, L4 is the distance from the center of gravity of the ballast water at the stern of the barge to the center of the barge;

[0104] Among them, the length of the buoyancy body that has been barged is obtained according to d*n, and the length of the buoyancy body that has been barged at the bow and the length of the buoyancy body that has been barged are determined according to the length of the buoyancy body that has been barged and the center of the barge for barge-up; the center of gravity of the buoyancy body and the lifting vehicle that have been barged at the bow is determined according to the length of the buoyancy body that has been barged, and L1 is determined according to the center of gravity of the buoyancy body and the lifting vehicle that have been barged at the bow and the center of the barge for barge-up; the center of gravity of the buoyancy body and the lifting vehicle that have been barged at the stern is determined according to the length of the buoyancy body that has been barged at the stern, and L2 is determined according to the center of gravity of the buoyancy body and the lifting vehicle that have been barged at the stern and the center of the barge for barge-up;

[0105] Determine F based on the symmetry and moment balance principle formula W1 、F W2 , L3 and L4, and then obtain the ballast water distribution result of the current barge, that is, obtain the current barge operation plan.

[0106] In step S2, after calculating each step of the barge operation plan, the stability of the barge, the longitudinal inclination and transverse inclination of the deck surface of the barge, the deflection of the barge, the bending moment and shear force of the barge are calculated for verification;

[0107] If the stability, tilt angle, deflection, bending moment and shear force of the current barge operation plan meet the requirements, the next barge operation plan is calculated;

[0108] If the stability, inclination angle, deflection, bending moment or shear force of the current barge operation plan does not meet the requirements, the current barge operation plan is recalculated, and then the stability of the barge, the longitudinal and transverse inclination of the barge deck surface, the deflection of the barge, the bending moment and shear force of the barge are calculated, and re-checked until the requirements are met, and then the next barge operation plan is calculated; in the above implementation mode, there are n choices for the barge operation plan calculated by the formula of symmetry and moment balance principle, and the check is achieved by traversal, and the calculation is re-performed to obtain the current barge operation plan that meets the principle of symmetry and moment balance, stability, inclination angle, deflection, bending moment and shear force to ensure the safety of the operation, such as Figure 4 As shown;

[0109] The loading and unloading operation plan for each step is calculated sequentially until the Nth step loading and unloading operation plan is verified and the generation of the loading and unloading operation plan is completed.

[0110] Take a 20,000-ton buoyancy body as an example. The buoyancy body is 130m long, 50m wide, 10m high, weighs 19,424 tons, and has a roll-on / roll-off weight of about 22,000 tons. The time for the barge operation is about 2 hours, with a step length of 10 steps and 12 minutes per step. Step 0 is the initial state, and the buoyancy body has not yet been barged.

[0111] When the dock is always level with the deck, the draft formula for the barge is:

[0112] Barge Draft Ap 吃水 (Flush) = Barge type depth D 型深 -(pier elevation H 码头 - Tidal height H 潮位 );

[0113] Barge Draft Ap 吃水 (actual) = monitoring module collects data;

[0114] Draft and inclination of the barge (calculated) = (barge weight b of the barge + distribution of buoyancy weight on the barge + distribution of ballast weight in the barge cabin); where the distribution of buoyancy weight on the barge refers to the weight of the buoyancy on the barge. The weight of the lifting vehicle on the barge is removed from this formula, mainly because the weight of the lifting vehicle is much different from the weight of the buoyancy, so it can be omitted and the calculation is smaller; the distribution of ballast weight in the barge cabin is the ballast water volume W required for the corresponding draft of the barge 压载水 ;

[0115] To meet the requirements of roll-on / roll-off barge:

[0116] The ballast weight distribution of the barge cabin is shown in the following table:

[0117]

[0118] The ballast tanks are divided into four load-adjusting tank groups. According to the symmetrical load-adjusting principle, the cabin where the buoyancy body is transferred is drained and the stern is pressurized to maintain torque balance.

[0119] Regarding the changes in tide elevation at each step, based on the tidal datum of the Maritime Safety Administration and by querying the official website of the State Marine Information Service, we obtained the following table of tide changes during the operating time.

[0120]

[0121] Regarding the calculation step length d, if the barge is completed in 10 steps, the calculation step length d is obtained by dividing the distance the buoyancy body travels on the barge by 10 steps;

[0122] Regarding the buoyancy information, the buoyancy platform is 110m long and is moved into place in 10 steps. From right to left, the first cross section corresponds to a buoyancy barge weight of 0t (indicating that it has not been barged yet), the second cross section corresponds to a buoyancy barge weight of 2200t (indicating the buoyancy barge weight after the first step of barge), the third cross section corresponds to a buoyancy barge weight of 2200t+2200=4400t (indicating the buoyancy barge weight after the second step of barge), and so on...

[0123] The main principle of moment balance is to divide the ballast tank into three parts: front, middle and rear. Through moment calculation and combined with the floating state of the barge, the main load distribution of the front, middle and rear parts is obtained, and then combined with the load adjustment characteristics of the barge pipeline, the specific load adjustment sequence is planned. Combined with the design data of the barge and the stability data of typical working conditions, the calculation results are generated.

[0124] Among them, the weight of the barge is b = 25000, which includes the weight of the barge plus the initial oil storage capacity inside.

[0125] Step 0 calculation, such as Figure 8 As shown:

[0126] Control conditions: 1. The dock is flush with the stern of the lifting deck, and the height difference between the dock and the deck surface is controlled at -10cm-0; 2. The floating inclination of the barge is as close to 0 as possible, and the inclination is controlled at ±20cm; 3. The barge maintains a certain stern inclination, and the longitudinal inclination is controlled at -30cm-0; 4. The longitudinal centerline of the barge is aligned with the centerline of the buoyancy body; 5. The total adjustable ballast water of the barge should be able to replace the weight of the barge platform.

[0127] Ready to board, Ap 吃水 =D 型深 -(H 码头 -H 潮位 )=10.2-(8.15-2.05)=4.1m, the tide level of the Maritime Safety Administration is 205cm at 12:07.

[0128] The corresponding displacement slope a = 2.299 / 24029.3; the corresponding displacement slope a represents the displacement weight w corresponding to the draft of the barge 排总 With Ap 吃水 The relationship between the two forms a rise and fall curve. 吃水 After that, w can be obtained according to the sinking and floating curve 排总 ;

[0129] The displacement weight w corresponding to the draft of the barge 排总 =Ap 吃水 / a=4.1 / (2.299 / 24029.3)=42853.5;

[0130] Ballast water volume W required for the barge corresponding to the draft 压载水 =W 排总 -bW 货驳 =42853.5-25000-0=17853.5;

[0131] Determine F based on the symmetry and moment balance principle formula W1 、F W2 , L3 and L4, and then obtain the ballast water distribution result of the loading barge at the current step;

[0132] F1*L1+F W1 *L3=F2*L2+F W2 *L4; ie 0+F W1 *L3=0+F W2 *L4;

[0133] W 压载水 =F W1 +F W2 ; That is, 17853.5 = F W1 +F W2 ;

[0134] W 货驳 =F1+F2; that is, 0=0+0;

[0135] Step 1: Calculate, Fig. 9 As shown:

[0136] Control conditions: 1. The dock is flush with the stern of the lifting deck, and the height difference between the dock and the deck surface is controlled at -10cm-0; 2. The floating inclination of the barge is as close to 0 as possible, and the inclination is controlled at ±20cm; 3. The barge maintains a certain stern inclination, and the longitudinal inclination is controlled at -30cm-0; 4. The longitudinal centerline of the barge is aligned with the centerline of the buoyancy body; 5. The total adjustable amount of ballast water of the barge should be able to replace the weight of the buoyancy body.

[0137] Lift truck 8th axle barge, barge 11m, W 货驳 =2200t; the tide level of the Maritime Safety Administration at 12:34 is 235cm.

[0138] Ap 吃水 =D 型深 -(H 码头 -H 潮位 )=10.2-(8.15-2.35)=4.4m;

[0139] The corresponding displacement slope a = 2.299 / 24029.3; the corresponding displacement slope a represents the displacement weight w corresponding to the draft of the barge 排总 With Ap 吃水 The relationship between the two forms a rise and fall curve. 吃水 After that, w can be obtained according to the sinking and floating curve 排总 ;

[0140] The displacement weight w corresponding to the draft of the barge 排总 =Ap 吃水 / a=4.4 / (2.299 / 24029.3)=45989.1;

[0141] Ballast water volume W required for the barge corresponding to the draft 压载水 =W排总 -bW 货驳 =45989.1-25000-2200=18789.1;

[0142] Determine F based on the symmetry and moment balance principle formula W1 、F W2 , L3 and L4, and then obtain the ballast water distribution result of the loading barge at the current step;

[0143] That is, use the following calculation F W1 、F W2 , L3 and L4;

[0144] F1*L1+F W1 *L3=F2*L2+F W2 *L4; i.e. 2200*L1+F W1 *L3=0+F W2 *L4; L1 is determined based on the center of gravity of the barge and lifting vehicle on the bow and the center of the barge;

[0145] W 压载水 =F W1 +F W2 ; That is, 18789.1 = F W1 +F W2 ;

[0146] W 货驳 =F1+F2; that is, 2200=2200+0.

[0147] Calculate F from step 3 to step 11 in the same way as above W1 、F W2 , L3 and L4, the calculation principle is the same, and then the ballast water distribution result of the barge on each step is obtained. According to the ballast water distribution result of each step, the load is adjusted in S3 for each step of the barge on each step.

[0148] S3, execute the barge operation plan: automatically and step by step execute step 0 to step N according to the barge operation plan, when executing step 0: adjust the ballast water of the barge according to the ballast water distribution result of the barge so that the deck surface of the barge is flush with the dock surface; when executing step 1: use the lifting vehicle at the bottom of the buoyancy body to barge the buoyancy body according to the operation time and the step operation time of step 1, and adjust the ballast water of the barge according to the step operation time of step 1 and the ballast water distribution result of the barge; when executing step 2 to step N: use the lifting vehicle at the bottom of the buoyancy body to barge the buoyancy body according to the step operation time of each step, and adjust the ballast water of the barge according to the step operation time of each step and the ballast water distribution result of the barge;

[0149] In step S3, after each step is executed, it is determined whether the stability of the barge, the longitudinal and transverse inclination of the deck surface of the barge, the deflection of the barge, the bending moment and shear force of the barge meet the control requirements, and it is determined whether the ballast water distribution result of the barge meets the barge operation plan. If so, the next step is executed. If not, the ballast water is adjusted according to the current barge operation plan.

[0150] S4. After the Nth step is completed, the intelligent adjustment of the ballast water loading of the transfer barge is completed.

[0151] The intelligent loading adjustment method for barge loading of a buoyant body described in this embodiment automatically calculates the barge loading operation plan of the buoyant body according to the calculated length, the calculation step length d, the operation time, the operation duration and the buoyant body information, and then automatically and step by step executes steps 0 to N according to the barge loading operation plan, and adjusts the ballast water of the barge loading according to each step of the barge loading operation plan. It automatically calculates the barge loading operation plan for all steps and then automatically and continuously executes each step of the barge loading operation plan. It has a small amount of calculation and a continuous process. It mainly controls the ballast water of the barge loading, and the control is more intuitive and shortens the barge loading cycle.

[0152] Example 2

[0153] An intelligent loading system for buoyancy barge, such as Figure 4 As shown, the intelligent loading adjustment method for the buoyancy barge described in Example 1 includes a monitoring module, a loading adjustment module for the barge, a loading calculation module and a hydraulic valve control system;

[0154] The stowage calculation module is used to generate a barge operation plan; the method of generating the barge operation plan is step S2 in embodiment 1;

[0155] The monitoring module collects in real time the bending moment, shear force and deflection data of the barge during the process of the buoyancy body being transferred, as well as the ballast water volume of each ballast tank of the barge, and compares the bending moment, shear force and deflection data of the barge with the safety setting values ​​respectively; wherein the bending moment and shear force are obtained by calculation; the deflection is obtained by measurement; and the safety setting value refers to the safety boundary value of the barge when it is designed.

[0156] Specifically, the monitoring module includes the draft measurement of the four corners of the transfer barge, ballast tank level telemetry and deflection measurement, etc.

[0157] like Fig.12 As shown in FIG. 1 , corner drafts are set at the four corners of the bow and stern of the upper barge, and a middle draft is set at the longitudinal middle of the upper barge. Fig.13As shown, it includes a sensor junction box, a random cable for the sensor, a sensor, a mounting flange, a ball valve, a vent pipe, a sea shut-off valve, a single-sided seat flange and a side pipe. The sensor junction box is connected to the sensor through the random cable for the sensor. The sensor is connected to the ball valve through the mounting flange. The ball valve is connected to the vent pipe and the sea shut-off valve through a three-way connection. The sea shut-off valve is connected to the side pipe through the single-sided seat flange. The side pipe passes through the empty compartment to connect to the outside world. The empty compartment is not used for ballast and is stabilized by the vent pipe. The draft of the four corners in the middle is as follows Fig.14 As shown, it includes a sensor junction box, a random cable of the sensor, a sensor, a mounting flange, a ball valve, a sea shut-off valve, a single-sided seat plate flange, an oblique tee and a side pipe. The connections of the sensor junction box, the random cable of the sensor, the sensor, the mounting flange and the ball valve are the same as the draft of the four corners of the corner. The ball valve is directly connected to the sea shut-off valve, the sea shut-off valve is connected to the oblique tee through the single-sided seat plate flange, the oblique tee is connected to the side pipe, and the side pipe passes through the ballast tank to communicate with the outside world.

[0158] Four corners draft description:

[0159] 1. Basic principle: Sea-going pipelines are arranged at the bow, midship and stern of the left and right sides of the barge, and piezoelectric sensors are set behind the pipelines. By measuring the draft water pressure, the corresponding pressure value is converted into the corresponding draft depth in the system, thereby obtaining the four-corner draft value, and then the longitudinal and transverse inclination angles of the barge are obtained through calculation, thereby monitoring the floating changes of the barge.

[0160] 2. Features: A sea shut-off valve is provided to close the connection with seawater, making it convenient to clean and repair the vent pipe when it is blocked.

[0161] A separate ball valve is provided in front of the sensor to facilitate the maintenance and replacement of the sensor.

[0162] 3. Equipped with blowing function: The sea-going pipeline in the middle of the ship (the draft of the four corners in the middle) is long, which is easy to grow oysters and backflow mud and sand. The blowing function is set. When it is blocked, high-pressure gas pulse can be used to clear the pipeline, reducing the maintenance of pipe removal and improving the measurement accuracy. That is, the inclined tee is connected to the inclined pipe with compressed air, and the compressed air is suddenly added to form a pulse to flush the pipeline and clean up the debris.

[0163] Ballast tank level telemetry Fig.12 and Fig.15 As shown, it includes measuring boxes arranged at four corners, which are connected to the atmosphere; sensors are arranged in the measuring boxes, which are connected to each ballast tank through copper pipes. Fig.15 As shown, one end of the copper tube is connected to the sensor in the measuring box, and the other end is connected to the ferrule-type ball valve, which is connected to the reducing joint. The reducing joint enters the ballast tank through the sounding pipe and extends to the bottom of the ballast tank.

[0164] Liquid level telemetry description:

[0165] 1. Basic principle: Use copper tubes to set measuring ports in each ballast water tank of the barge. By blowing air into the copper tubes, a back pressure is formed. The sensor measures the back pressure value and converts the back pressure value into the corresponding liquid level height and liquid level capacity in the system, thereby displaying the liquid level height and capacity value of the tank to the operator.

[0166] 2. Features: It uses the air-blowing measurement principle, and the sensor is arranged in the top measurement box. The sensor has a good use environment, which not only increases its service life, but also facilitates replacement and debugging.

[0167] It is equipped with a ferrule-type ball valve, a check valve and a discharge pipe to facilitate maintenance, prevent the backflow of ballast tank water, and discharge impurities in time.

[0168] 3. Friendly operation interface: can display measurement data values, cabin proportions, image cabin diagrams, and 3D liquid level display in real time.

[0169] 4. With external interface: data can be transmitted to the loading system in real time to calculate the stability, service strength and shear force of the loading barge.

[0170] Deflection measurement Fig.12 and Fig.16 As shown, measuring tubes are arranged along the longitudinal intervals in the longitudinal pipe lanes, and the measuring tubes are interconnected. The longitudinal pipe lanes on the port and starboard sides of the barge are arranged in a row respectively. There are magnetostrictive displacement sensors in the measuring tubes, that is, the deflection measurement is measured by magnetostrictive displacement sensors, and the sensor accuracy is: ≤0.05% FS. The measurement results can be referred to Fig.17 .

[0171] Deflection measurement arrangement features:

[0172] 1. Different layout positions. They are arranged near the strong frame, longitudinal bulkhead, and transverse bulkhead. They are arranged on the bottom plate of the upper barge.

[0173] 2. The structure of the measuring tube is different. It is composed of 9 separate measuring tubes, each of which is equipped with a vent, connecting flange interfaces on the left and right, injection ports and valves, drain ports and valves, and the top can be disassembled to facilitate the installation and removal of sensors.

[0174] 3. The connecting pipe has a different structure. The connecting pipe is made of steel pipes with multiple metal corrugated expansion joints in the middle, which is more durable and can withstand higher pressure. It is arranged at the bottom for easier maintenance.

[0175] 4. The sensor is different. It uses a magnetic level sensor with a float inside, which is more durable.

[0176] 5. The main measurement parameter is liquid level, which is more intuitive and accurate.

[0177] 6. With an external transparent hose, the liquid level can be directly observed.

[0178] Deflection measurement design reasons:

[0179] 1. The submerged pipe (buoyancy body) is transported by barge, and the rigidity of the submerged pipe is different from that of the semi-submersible barge (barge). The deflection and deformation control requirements of the submerged pipe must be controlled within the range of the cracking of the submerged pipe. When using a semi-submersible barge to transport the submerged pipe, the hull will produce deflection and deformation, which needs to be monitored and controlled to prevent the deformation from exceeding the control range. 2. The requirements of the hull itself. Since the ship is 164 meters long, the hull deformation needs to be monitored during the operation of the barge. 3. The magnetic level sensor is used, which has higher measurement accuracy, and the sensor accuracy is: <0.05% FS. 4. Measuring the liquid level height is more sensitive than measuring the water column pressure, and the sensitivity is high. 5. The barge is a longitudinal frame type, and the measuring tube is placed near the strong frame, longitudinal bulkhead, and transverse bulkhead. The deck and bottom plate are deformed synchronously with higher accuracy. 6. The deflection deformation of the barge corresponds to the calculation of the bending moment and shear force of the barge. By monitoring the deflection deformation of the barge, the stress condition of the hull can be further obtained. 7. The measuring tube is equipped with a filling and discharging port to adjust the measuring range when the barge is severely tilted. 8. A transparent hose is set to observe the liquid level of the measuring tube, which is convenient for calibrating the sensor and checking device failure. 9. Steel pipelines are used, which have a long service life and are more stable. 10. The connecting pipe is equipped with a metal corrugated expansion joint to consider the impact of the hull deflection change on the pipeline and adapt to various working conditions.

[0180] The loading and unloading barge adjustment module executes the loading and unloading operation plan calculated by the loading and unloading calculation module according to the real-time data collected by the monitoring module, and automatically controls the adjustment of ballast water through the hydraulic valve control system; wherein the hydraulic valve control system cooperates with the pipeline layout, specifically as follows:

[0181] like Fig.10 and Fig.11 As shown, there are 4 dry pump rooms on both sides, which are evenly distributed along the length of the ship. Ballast pump groups, valve boxes, etc. are arranged in the pump rooms. The pump rooms are connected by longitudinal and transverse pipes. The displacement of each pump is about 3000m when the discharge pressure head is about 10m 3 / h, a total of 8 units on the ship.

[0182] The ballast longitudinal main pipe is arranged longitudinally in 2 longitudinal pipe lanes, and the longitudinal pipeline is equipped with front and rear separation isolation valves. The ballast longitudinal main pipe is made of PE material, with an outer diameter*wall thickness of The design pressure is 2.5 bar, and the design pressure of the ballast stripping pipe is 0.17 bar. Two transverse branches are arranged transversely, located in the transverse pipe lane, and left and right separation valves are set. A valve compartment is set at the bow, and the control valves of the four compartments at the bow are placed in the valve compartment. 8 low-level seabed doors, 8 overboard outlets, 4 high-level seabed doors and 1 mid-level seabed door are arranged. Fig.11As shown, each ballast tank is connected to the longitudinal main pipe through the ballast tank water inlet and outlet mechanism, and the longitudinal main pipe is connected to 8 low-position seabed doors through 8 main pipe water inlet and outlet mechanisms to communicate with the outside world. Both the ballast tank water inlet and outlet mechanism and the main pipe water inlet and outlet mechanism are equipped with valve control and can be automatically controlled.

[0183] Valve control performance of hydraulic valve control system: remote computer mouse operation. Manual mode can control the opening and closing of a single valve. Automatic mode can control the opening and closing of multiple valves at the same time. Local operation of valve control cabinet to control valve. Valve: DN125~DN800 butterfly valve; drive head: Pleiger electro-hydraulic drive head imported from Germany. Proportional valve, opening can be adjusted, single valve full opening time is about 1min. The seabed door and the outboard discharge port can be controlled to be freely filled with water at the same time.

[0184] If any of the bending moment, shear force and deflection of the barge exceeds the safety setting value, the barge loading of the buoyancy body will stop, and then the automatic control of the ballast water adjustment of the barge loading adjustment module will be switched to manual operation intervention. After the intervention, the barge loading operation plan will be regenerated through the loading calculation module, and then the manual operation will be switched to automatic control of the ballast water adjustment, and the buoyancy body will continue to load.

[0185] The intelligent loading adjustment system for the buoyancy barge described in this embodiment can quickly and accurately calculate the operation plan for each step of the buoyancy barge loading through the loading calculation module, and can safely and efficiently execute each step of the barge loading plan through the cooperation of the monitoring module, the loading barge loading adjustment module and the hydraulic valve control system.

[0186] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. An intelligent loading method for a buoyant barge, characterized in that: The following steps are involved: S1. Create a new operation process: input calculation length, calculation step d, operation time, operation duration and buoyancy body information; S2. Generate a barge loading operation plan: automatically calculate the barge loading operation plan of the buoyancy body according to the calculation length, calculation step length d, operation time, operation duration and buoyancy body information. The barge loading operation plan includes steps 0 to N, and each step includes the step operation duration and the ballast water distribution result of the barge loading; S3, execute the barge operation plan: automatically and step by step execute step 0 to step N according to the barge operation plan, when executing step 0: adjust the ballast water of the barge according to the ballast water distribution result of the barge so that the deck surface of the barge is flush with the dock surface; when executing step 1: use the lifting vehicle at the bottom of the buoyancy body to barge the buoyancy body according to the operation time and the step operation time of step 1, and adjust the ballast water of the barge according to the step operation time of step 1 and the ballast water distribution result of the barge; when executing step 2 to step N: use the lifting vehicle at the bottom of the buoyancy body to barge the buoyancy body according to the step operation time of each step, and adjust the ballast water of the barge according to the step operation time of each step and the ballast water distribution result of the barge; S4. After the Nth step is completed, the intelligent adjustment of the ballast water loading of the transfer barge is completed.

2. The intelligent loading method for buoyancy barge according to claim 1 is characterized in that: The buoyancy body information includes the weight of the front end of the buoyancy body corresponding to different longitudinal cross sections of the buoyancy body; When the lifting vehicle at the bottom of the buoyancy body is a separate structure from the buoyancy body, the calculated length is the horizontal distance from the head end of the buoyancy body to the rear end of the deck surface of the barge on board; when the lifting vehicle and the buoyancy body are integrated, the calculated length is the horizontal distance from the first axle point of the lifting vehicle to the rear end of the deck surface of the barge on board; The calculation step length d is the distance the buoyancy body is lifted in each step; The operation time is the start time of the buoyancy barge operation; The operation time is the total operation time of the barge operation.

3. The intelligent loading method for buoyancy barge according to claim 2 is characterized in that: In step S2, the ballast water volume of the cabin of the transfer barge is distributed according to the principle of symmetry and moment balance to obtain the ballast water distribution result of the transfer barge; Among them, the principle of symmetry and moment balance is that the moment of the bow relative to the overall center of gravity is equal to the moment of the stern relative to the overall center of gravity. The overall center of gravity is the overall center of gravity of the barge, the barge-up buoyant body, the lifting vehicle corresponding to the barge-up buoyant body, and the ballast water.

4. The intelligent loading method for buoyancy barge according to claim 3 is characterized in that: The moment of the bow relative to the overall center of gravity includes the moment of the bow of the barge relative to the overall center of gravity, the moment of the ballast water at the bow relative to the overall center of gravity, the moment of the buoyant body at the bow relative to the overall center of gravity, and the moment of the lifting vehicle at the bow relative to the overall center of gravity. The moment of the stern relative to the overall center of gravity includes the moment of the stern of the barge relative to the overall center of gravity, the moment of the ballast water at the stern relative to the overall center of gravity, the moment of the buoyant body at the stern relative to the overall center of gravity, and the moment of the lifting vehicle at the stern relative to the overall center of gravity.

5. The intelligent loading method for buoyancy barge according to claim 3 is characterized in that: The overall center of gravity is replaced by the center of the upper barge; The moment of the bow relative to the center of the barge only considers the moment of the bow ballast water relative to the center of the barge, the moment of the bow buoyant body relative to the center of the barge, and the moment of the bow lifting vehicle relative to the center of the barge. The moment of the stern relative to the center of the barge only considers the moment of the ballast water at the stern relative to the center of the barge, the moment of the buoyant body at the stern relative to the center of the barge, and the moment of the lifting vehicle at the stern relative to the center of the barge. The stern is the end of the barge that is close to the dock, and the bow is the end of the barge that is far from the dock.

6. The intelligent loading method for buoyancy barge according to claim 5 is characterized in that: In step S2, the steps of obtaining the ballast water distribution result of the transfer barge in each step of the transfer operation plan are as follows: Calculate the draft of the barge Ap at each step 吃水 According to Ap 吃水 Calculate the displacement weight w corresponding to the draft of the barge 排总 ; Get the total weight w of the buoyancy body and the lifting vehicle 货驳 According to w 排总 、w 货驳 and the barge's own weight b to calculate the ballast water volume W required for the current barge's corresponding draft 压载水 ; Taking the buoyancy body and the bottom lifting vehicle as a whole, the moment of the bow relative to the center of gravity of the whole is: the sum of the moment of the bow ballast water relative to the center of the barge and the moment of the bow buoyancy body and the bottom lifting vehicle relative to the center of the barge; the moment of the stern relative to the center of gravity is: the sum of the moment of the stern ballast water relative to the center of the barge and the moment of the stern buoyancy body and the bottom lifting vehicle relative to the center of the barge; the formula of symmetry and moment balance principle is as follows: <h2 style=";text-align:left;direction:ltr">F1*L1+F<h2 style=";text-align:left;direction:ltr"> W1 <h2 style=";text-align:left;direction:ltr"> *L3=F2*L2+F<h2 style=";text-align:left;direction:ltr"> W2 <h2 style=";text-align:left;direction:ltr"> *L4; W 压载水 =F W1 +F W2 ; <h2 style=";text-align:left;direction:ltr">W<h2 style=";text-align:left;direction:ltr"> 货驳 <h2 style=";text-align:left;direction:ltr"> (F1+F2) Among them, F1 is the weight of the buoyancy body and the lifting vehicle on the bow, L1 is the distance from the center of gravity of the buoyancy body and the lifting vehicle on the bow to the center of the barge, F W1 is the ballast water volume in the bow cabin of the barge, L3 is the distance from the center of gravity of the ballast water in the bow of the barge to the center of the barge; F2 is the weight of the buoyancy body and the lifting vehicle at the stern, L2 is the distance from the center of gravity of the buoyancy body and the lifting vehicle at the stern to the center of the barge, F W2 is the ballast water volume in the stern compartment of the barge, and L4 is the distance from the center of gravity of the ballast water at the stern of the barge to the center of the barge.

7. The intelligent loading method for buoyancy barge according to claim 6 is characterized in that: According to the model depth D of the barge 型深 、Wharf elevation H 码头 and the current tidal elevation H 潮位 Calculate the draft of the barge Ap at the current step 吃水 , Ap 吃水 The calculation formula is: Ap 吃水 =D 型深 -(H 码头 -H 潮位 ); Ap 吃水 and w 排总 There is a slope a, w between 排总 The calculation formula is: 排总 =Ap 吃水 / a; W 货驳 The calculation formula is w 货驳 =d*n*c, where d is the calculation step length, n is the nth step of the barge operation plan, n∈N, and c is the weight of the buoyancy body and the lifting vehicle per meter in the longitudinal direction; or the barge section of the buoyancy body is obtained through d*n, the weight of the front end of the buoyancy body that has been barged is obtained according to the buoyancy body information read from the barge section of the buoyancy body, and the weight of the lifting vehicle that has been barged is obtained according to the barge section of the buoyancy body; W 货驳 It is the sum of the weight of the barge on the front end of the buoyancy body and the weight of the lifting vehicle on the barge; W 压载水 The calculation formula is: 压载水 =W 排总 -bW 货驳 ; Obtain the length of the buoyancy body that has been lifted up according to d*n, determine the length of the buoyancy body at the bow and the length of the buoyancy body at the stern according to the length of the buoyancy body that has been lifted up and the center of the lifting barge; determine the center of gravity of the buoyancy body and the lifting vehicle at the bow according to the length of the buoyancy body that has been lifted up, and determine L1 according to the center of gravity of the buoyancy body and the lifting vehicle at the bow and the center of the lifting barge; determine the center of gravity of the buoyancy body and the lifting vehicle at the stern according to the length of the buoyancy body that has been lifted up, and determine L2 according to the center of gravity of the buoyancy body and the lifting vehicle at the stern and the center of the lifting barge; Determine F based on the symmetry and moment balance principle formula W1 、F W2 , L3 and L4, and then obtain the ballast water distribution result of the loading barge in the current step.

8. The intelligent loading adjustment method for a buoyancy barge according to any one of claims 1 to 7, characterized in that: In step S2, after calculating each step of the barge operation plan, the stability of the barge, the longitudinal inclination and transverse inclination of the deck surface of the barge, the deflection of the barge, the bending moment and shear force of the barge are calculated for verification; If the stability, tilt angle, deflection, bending moment and shear force of the current barge operation plan meet the requirements, the next barge operation plan is calculated; If the stability, tilt angle, deflection, bending moment or shear force of the current barge operation plan does not meet the requirements, the current barge operation plan is recalculated, and then the stability of the barge, the longitudinal and transverse inclination of the barge deck, the deflection of the barge, the bending moment and shear force of the barge are calculated, and the verification is re-implemented until the requirements are met, and then the next barge operation plan is calculated; Calculate each step of the barge operation plan in sequence until the Nth step of the barge operation plan is verified and the barge operation plan is generated; In step S3, after each step is executed, it is determined whether the stability of the barge, the longitudinal and transverse inclination of the deck surface of the barge, the deflection of the barge, the bending moment and shear force of the barge meet the control requirements, and it is determined whether the ballast water distribution result of the barge meets the barge operation plan. If so, the next step is executed. If not, the ballast water is adjusted according to the current barge operation plan.

9. The intelligent loading adjustment method for a buoyancy barge according to any one of claims 1 to 7, characterized in that: Before step S1, it also includes creating a new buoyancy body: defining the name of the buoyancy body and importing the buoyancy body information.

10. An intelligent loading system for buoyancy barge, characterized in that: An intelligent loading method for executing the buoyancy barge described in any one of claims 1 to 9, comprising a monitoring module, a loading barge loading module, a loading calculation module and a hydraulic valve control system; The loading calculation module is used to generate a barge operation plan; The monitoring module collects the bending moment, shear force and deflection data of the barge during the process of the buoyancy body being transferred, as well as the ballast water volume of each ballast tank of the barge in real time, and compares the bending moment, shear force and deflection data of the barge with the safety setting values ​​respectively; The loading and unloading barge adjustment module executes the loading and unloading operation plan calculated by the loading and unloading calculation module according to the real-time data collected by the monitoring module, and automatically controls the adjustment of ballast water through the hydraulic valve control system; If any of the bending moment, shear force and deflection of the barge exceeds the safety setting value, the barge loading of the buoyancy body will stop, and then the automatic control of the ballast water adjustment of the barge loading adjustment module will be switched to manual operation intervention. After the intervention, the barge loading operation plan will be regenerated through the loading calculation module, and then the manual operation will be switched to automatic control of the ballast water adjustment, and the buoyancy body will continue to load.

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