Hoisting construction method for basket-shaped structure of deepwater jacket

Abstract

The invention discloses a hoisting construction method for a basket-shaped structure of a deepwater jacket, and relates to the related technical field of hoisting devices, the method comprises the following steps: reading a preset hoisting scheme; dynamically monitoring the hoisting construction process to obtain first dynamic monitoring information; matching a first monitoring data set of the first monitoring point position; judging whether the first monitoring data set conforms to a first predetermined constraint of a first-stage scheme or not; if yes, whether the first monitoring data set meets a preset final assembly constraint or not is judged; if yes, a second-stage scheme is started to conduct assembly fine adjustment construction control on the target jacket, and hoisting construction of the target jacket is achieved. The technical problems that in existing jacket construction, various parameter changes in the hoisting process are difficult to accurately master in real time, large potential safety hazards and precision errors exist, then the hoisting construction efficiency and safety are poor, and the jacket final assembly precision is insufficient are solved. The technical effect of improving the hoisting construction efficiency, safety and construction quality is achieved.

Description

Technical Field

[0001] The present application relates to the technical field related to hanging devices, and in particular to a method for hanging and constructing a basket structure of a deepwater conductor rack. Background Art

[0002] In the field of marine engineering, as the exploration and development of oil and gas resources continues to extend to deep sea areas, the safe and efficient installation technology of deepwater jackets, as key structures supporting submarine oil and gas production facilities, is particularly important. Deepwater jackets, especially basket-shaped structures, have extremely high technical requirements for hoisting construction due to their unique geometric shape and large volume. Traditional hoisting devices often find it difficult to ensure the safety and accuracy of construction when facing challenges such as complex deep-sea environments, strong currents, and high winds and waves. Traditional hoisting operations mainly rely on experience judgment and on-site command, and it is difficult to monitor the hoisting process in all directions and dynamically in real time and accurately, and to grasp the changes in various parameters during the hoisting process. There are large safety hazards and accuracy errors, and the assembly accuracy of the basket-shaped structure of deepwater jackets is difficult to ensure during the hoisting process.

[0003] Therefore, in the current technologies related to the hoisting construction of deepwater jacket basket structures, it is difficult to grasp the changes in various parameters during the hoisting process in real time and accurately, and there are major safety hazards and precision errors, which in turn lead to poor hoisting construction efficiency and safety, and technical problems such as insufficient accuracy in the overall assembly of the jacket. Summary of the invention

[0004] The present application provides a method for hoisting and constructing a basket structure of a deepwater jacket, thereby solving the technical problems existing in the existing deepwater jacket construction, such as difficulty in real-time and accurately grasping the changes in various parameters during the hoisting process, the existence of large safety hazards and precision errors, which in turn lead to poor hoisting construction efficiency and safety, and insufficient precision of the jacket assembly, thereby achieving the technical effect of improving the hoisting construction efficiency, safety and construction quality.

[0005] The present application provides a method for hoisting and constructing a basket-shaped structure of a deepwater jacket, the method comprising: reading a predetermined hoisting scheme, the predetermined hoisting scheme comprising a first-stage scheme and a second-stage scheme for hoisting and constructing a target jacket by a target crane; dynamically monitoring the hoisting and construction process of the target jacket according to the first-stage scheme to obtain first dynamic monitoring information, the first dynamic monitoring information comprising multiple groups of monitoring data sets at multiple monitoring points; matching a first monitoring data set at a first monitoring point in the multiple groups of monitoring data sets, the first monitoring point being any one of the multiple monitoring points; judging whether the first monitoring data set meets a first predetermined constraint of the first-stage scheme; if so, judging whether the first monitoring data set meets a predetermined assembly constraint; if so, starting the second-stage scheme to perform assembly fine-tuning construction control on the target jacket, so as to realize the hoisting and construction of the target jacket by the target crane.

[0006] In a possible implementation, the deepwater jacket basket structure hoisting construction method also performs the following processing: a first monitoring component is deployed at the first monitoring point, and the first monitoring component includes a first center of gravity measuring instrument, a first distance sensor, a first image acquisition device and a first speed sensor; the first predetermined constraint includes a first predetermined posture constraint, a first predetermined position constraint and a first predetermined speed constraint; the first center of gravity monitored by the first center of gravity measuring instrument and the first distance monitored by the first distance sensor are matched in sequence in the first monitoring data set; the first posture of the target jacket at the first monitoring point is obtained according to the first center of gravity and the first distance; the first jacket image of the first image acquisition device matched in the first monitoring data set is analyzed to obtain the first position; the first speed monitored by the first speed sensor is matched in the first monitoring data set; when the first posture meets the first predetermined posture constraint, the first position meets the first predetermined position constraint, and the first speed meets the first predetermined speed constraint, then the first monitoring data set meets the first predetermined constraint.

[0007] In a possible implementation, the deepwater jacket basket structure hoisting construction method further performs the following processing: grid-dividing the first jacket image based on a predetermined unit grid to obtain a first image grid result; obtaining a first placeholder grid block of the target jacket in the first image grid result, and collecting a first longest diameter grid number of the first placeholder grid block; reading a preview grid number, and drawing a first target circle with the center of the first longest diameter grid number as the center and the preview grid number as the radius; taking the intersection of the first target circle and the first predetermined lifting translation path in the first stage plan as the preview grid number; and taking the intersection of the first target circle and the first predetermined lifting translation path in the first stage plan as the preview grid number. point; obtaining a first actual lifting translation direction of the first placeholder grid block, and taking the angle between the first actual lifting translation direction and the preview point as a first deviation angle; introducing a rotation angle calculation formula to calculate the first longest diameter grid number, the preview grid number and the first deviation angle to obtain a first actual rotation angle of the target conductor rack; generating a first actual lifting translation path of the target conductor rack based on the first actual rotation angle and the first position; and dynamically regulating the hoisting construction of the first monitoring point according to a first comparison result of the first actual lifting translation path and the first predetermined lifting translation path.

[0008] In a possible implementation, the deepwater jacket basket structure hoisting construction method further performs the following processing: the rotation angle calculation formula is expressed as follows:

[0009] δ=arctan(KL)

[0010]

[0011] Wherein, δ refers to the first actual turning angle, K refers to the rear end running curvature of the target jacket, the rear end running curvature is the inverse of the rear end turning radius, L refers to the first longest diameter grid number, l refers to the preview grid number, and θ refers to the first deviation angle.

[0012] In a possible implementation, the deepwater jacket basket structure hoisting construction method further performs the following processing: the predetermined assembly constraint refers to a position constraint of a predetermined assembly point of the target jacket.

[0013] In a possible implementation, the deepwater jacket basket structure hoisting construction method further performs the following processing: obtaining an environmental monitoring equipment group; dynamically monitoring the first environmental information at a first time through the environmental monitoring equipment group, and analyzing the first environmental information to obtain a first air density; performing spectral density prediction analysis on an air density time series constructed based on a first corresponding relationship between the first time and the first air density, to obtain a prediction time period corresponding to a spectral density valley value; and starting the second stage plan in the prediction time period.

[0014] In a possible implementation, the deepwater jacket basket structure hoisting construction method further performs the following processing: reading a predetermined stability factor; traversing and matching the predetermined stability factor in the first environmental information to obtain a first factor parameter; and weighting the first factor parameter to obtain the first air density.

[0015] In a possible implementation, the deepwater jacket basket structure hoisting construction method further performs the following processing: obtaining the air density spectral density of the air density time series based on Fourier transform; analyzing the air density spectral density to obtain the spectral density valley value; and reversely matching the time range corresponding to the spectral density valley value, recorded as the prediction time period.

[0016] It is intended to read the predetermined lifting plan through the deepwater conductor frame basket structure lifting construction method proposed in this application; dynamically monitor the lifting construction process to obtain the first dynamic monitoring information; match the first monitoring data set of the first monitoring point; determine whether the first monitoring data set meets the first predetermined constraint of the first phase plan; if it does, determine whether the first monitoring data set meets the predetermined assembly constraint; if it does, start the second phase plan to fine-tune the construction control of the target conductor frame to achieve the lifting construction of the target conductor frame. It solves the technical problems of the existing conductor frame construction, such as the difficulty in real-time and accurate grasp of the changes in various parameters during the lifting process, the existence of large safety hazards and precision errors, which leads to poor lifting construction efficiency and safety, and insufficient conductor frame assembly accuracy, and achieves the technical effect of improving lifting construction efficiency, safety and construction quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solution of the embodiment of the present disclosure, the accompanying drawings of the embodiment of the present disclosure will be briefly introduced below. A flow chart is used in the present application to illustrate the operations performed by the system according to the embodiment of the present application. It should be understood that the preceding or following operations are not necessarily performed accurately in order. On the contrary, various steps can be processed in reverse order or simultaneously as needed. At the same time, other operations can also be added to these processes, or one or more operations can be removed from these processes.

[0018] Figure 1 A schematic diagram of a process flow of a deepwater jacket basket structure hoisting construction method provided in an embodiment of the present application;

[0019] Figure 2 A schematic diagram of a flow chart of determining whether a first predetermined constraint is met in a deepwater jacket basket structure hoisting construction method provided in an embodiment of the present application. DETAILED DESCRIPTION

[0020] The above description is only an overview of the technical solution of the present application. In order to more clearly understand the technical means of the present application, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are listed below.

[0021] In order to make the purpose, technical solutions and advantages of the present application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings. The described embodiments should not be regarded as limiting the present application. All other embodiments obtained by ordinary technicians in the field without making creative work are within the scope of protection of this application.

[0022] In the following description, reference is made to "some embodiments", which describe a subset of all possible embodiments, but it is understood that "some embodiments" may be the same subset or different subsets of all possible embodiments, and may be combined with each other without conflict, and the terms "first\second" involved are merely to distinguish similar objects and do not represent a specific ordering of objects. The terms "including" and "having" and any variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product, or server that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or modules that are not clearly listed or inherent to these processes, methods, products, or devices. Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those generally understood by technicians in the technical field of this application. The terms used herein are for the purpose of describing the embodiments of the present application only.

[0023] The present application provides a method for hoisting and constructing a deepwater jacket basket structure, such as Figure 1 As shown, the method includes:

[0024] Step S100, read the predetermined lifting plan, which includes the first-stage plan and the second-stage plan for lifting the target conductor frame by the target crane. In the lifting construction of the basket structure of the deepwater conductor frame, the predetermined lifting plan is a document that details the construction steps, methods, safety requirements and expected results. The plan usually includes multiple stages to cope with different challenges and needs that may be encountered during the lifting process, specifically including the first-stage plan and the second-stage plan for the target conductor frame to be lifted by the target crane. In the first stage, the conductor frame is roughly moved to the assembly position, that is, the general assembly point. Specifically, this stage includes selecting a suitable target crane (considering its lifting capacity, operating radius, stability and other factors), determining the lifting point position (structural analysis and calculation are required to ensure that the lifting point strength meets the requirements), and preparing necessary lifting equipment and tools (such as wire ropes, slings, pulley blocks, etc.); performing the lifting operation, that is, strictly controlling the lifting speed, angle and stability of the crane to ensure that the conductor frame is smoothly lifted off the ground and begins to move to the predetermined position The first stage is to move the jacket of the basket structure to the vicinity of the predetermined position, and make preliminary adjustments and fix it. In the second stage, the jacket at the assembly position (final installation point) is finely adjusted. This stage includes the use of professional measuring and positioning equipment (such as total stations, laser rangefinders, etc.) to assist in fine-tuning the position, posture, height and other parameters of the jacket to ensure that it can be accurately connected to the predetermined installation position. After the jacket is accurately adjusted into place, assembly and fixation work is carried out, including connecting and tightening the various parts of the jacket (such as legs, beams, etc.) according to the design requirements, and installing the necessary support and reinforcement structures. Finally, the whole process capacity assessment (crane, slings, lifting points, inclination adjustment), strength assessment (unhooking welding ratio, strength of the finished product), interference inspection (such as weld quality inspection, structural strength test, etc.) are carried out to ensure the stability and safety of the entire structure.

[0025] Step S200, dynamically monitor the hoisting construction process of the target jacket according to the first phase plan to obtain first dynamic monitoring information, which includes multiple groups of monitoring data sets at multiple monitoring points. The first dynamic monitoring information obtained by dynamically monitoring the hoisting construction process of the target jacket according to the first phase plan specifically refers to a data set collected in real time by sensors arranged at multiple key monitoring points during the hoisting construction process. These data sets reflect the state changes of the jacket at different time points, including but not limited to stress, displacement, inclination, vibration and other parameters. Specifically, the monitoring points usually include the jacket's crane, slings, hanging points, key connection parts, stress-prone deformation areas, etc., as well as predetermined assembly points. Each monitoring point represents a specific type or degree of change that may occur in the jacket during the hoisting process; each monitoring point will generate multiple groups of monitoring data sets during the hoisting construction process, including monitoring data of the point at different time points, such as stress value, displacement, inclination angle, etc. These monitoring data are usually presented in the form of time series, intuitively reflecting the dynamic change process of the jacket during the hoisting process.

[0026] Step S300, matching the first monitoring data set of the first monitoring point in the multiple groups of monitoring data sets, wherein the first monitoring point refers to any one of the multiple monitoring points. The first monitoring point refers to any one selected from the multiple monitoring points. Specifically, each monitoring point will generate a series of monitoring data that change over time during the hoisting process, and these data are organized into multiple groups of monitoring data sets. Then, the monitoring data set corresponding to the first monitoring point is found and matched from the multiple groups of monitoring data sets, i.e., the first monitoring data set, which contains the monitoring data of the corresponding point at each time point during the hoisting process, such as stress value, displacement, inclination, etc. By matching and extracting the first monitoring data set, a more in-depth and detailed analysis can be performed on the point, such as trend prediction, anomaly detection, etc., so as to timely discover and deal with possible problems. At the same time, the first monitoring data set can also be compared and analyzed with the data sets of other monitoring points to comprehensively evaluate the state changes and safety performance of the entire conductor rack during the hoisting process.

[0027] Step S400: determining whether the first monitoring data set meets the first predetermined constraint of the first stage solution.

[0028] Further, such as Figure 2As shown, step S400 also includes step S410, the first monitoring point is equipped with a first monitoring component, the first monitoring component includes a first center of gravity measuring instrument, a first distance sensor, a first image acquisition device and a first speed sensor; step S420, the first predetermined constraint includes a first predetermined posture constraint, a first predetermined position constraint and a first predetermined speed constraint; step S430, sequentially matching the first center of gravity monitored by the first center of gravity measuring instrument and the first distance monitored by the first distance sensor in the first monitoring data set; step S440, obtaining the first posture of the target conductor frame at the first monitoring point according to the first center of gravity and the first distance; step S450, analyzing the first conductor frame image of the first image acquisition device matched in the first monitoring data set to obtain the first position; step S460, matching the first speed monitored by the first speed sensor in the first monitoring data set; step S470, when the first posture meets the first predetermined posture constraint and the first position meets the first predetermined position constraint and the first speed meets the first predetermined speed constraint, then the first monitoring data set meets the first predetermined constraint.

[0029] Preferably, during the hoisting construction of the target conductor rack, the first monitoring component includes a first center of gravity measuring instrument, a first distance sensor, a first image acquisition device and a first speed sensor, and these monitoring devices are respectively arranged at the first monitoring point to monitor the center of gravity change, distance change, image information and speed information of the conductor rack at the point; the first predetermined constraint includes a first predetermined posture constraint, a first predetermined position constraint and a first predetermined speed constraint. Specifically, the first predetermined posture constraint refers to a constraint on a specific posture (such as angle, inclination, etc.) that the conductor rack should reach or maintain at the first monitoring point, and the first predetermined position constraint refers to a constraint on a specific position that the conductor rack should reach or maintain at the first monitoring point, which is usually defined by position parameters such as coordinates and distance. The fixed speed constraint refers to the constraint on the speed of movement or change of the conductor frame at the first monitoring point, which helps to ensure the stability and safety of the lifting process; the data monitored by the first center of gravity measuring instrument and the first distance sensor, namely the first center of gravity and the first distance, are extracted from the first monitoring data set, reflecting the center of gravity position and distance change of the conductor frame at this point. Among them, the monitoring center of gravity takes into account the morphological characteristics of the conductor frame and cannot simply locate the position change of a point. The first distance refers to the distance between the two end points of the conductor frame and a predetermined object at the first monitoring point. The predetermined object is fixed. According to the distance between the first end point and the predetermined object, it is judged whether the lifting is offset. In fact, it is to monitor the safe distance during the lifting of the conductor frame to avoid collision damage during the lifting process.

[0030] Preferably, the first posture of the target jacket at the first monitoring point is obtained according to the data of the first center of gravity and the first distance, that is, the first posture of the jacket at the point is calculated. For example, assuming that the monitoring point coordinates (x p ,y p , z p ), the first barycentric coordinate (x c ,y c , z c ), calculate the attitude angle: pitch angle (θ), which describes the inclination of the jacket relative to the horizontal plane. The calculation formula is:

[0031]

[0032] The yaw angle (φ) describes the rotation angle of the jacket in the horizontal plane and is calculated as:

[0033] φ=arctan2(y c -y p ,x c -x p );

[0034] in, is the magnitude of the vector, that is: Using the image of the conductor rack captured by the first image acquisition device, the first position information of the conductor rack at this point, i.e., the first position, is extracted through image processing technology (such as image recognition, edge detection, etc.); the data monitored by the first speed sensor, i.e., the moving speed of the conductor rack at this point, i.e., the first speed, is extracted from the first monitoring data set. The first speed adopts a slow and steady lifting speed to avoid sudden movements causing structural vibrations; the first monitoring data set is judged to meet the first predetermined constraint when and only when the first posture meets the first predetermined posture constraint, the first position meets the first predetermined position constraint, and the first speed meets the first predetermined speed constraint, which means that the state of the conductor rack at the first monitoring point is safe, stable and as expected, thereby helping to ensure the quality and safety of the lifting construction.

[0035] In a possible implementation, step S450 further includes step S451, grid-dividing the first jacket image based on a predetermined unit grid to obtain a first image grid result; step S452, obtaining a first placeholder grid block of the target jacket in the first image grid result, and collecting a first longest diameter grid number of the first placeholder grid block; step S453, reading a preview grid number, and drawing a first target circle with the center of the first longest diameter grid number as the center and the preview grid number as the radius; step S454, taking the intersection of the first target circle and the first predetermined lifting translation path in the first stage plan as a preview point; step S455 55, obtaining the first actual lifting translation direction of the first occupying grid block, and taking the angle between the first actual lifting translation direction and the preview point as the first deviation angle; step S456, introducing the angle calculation formula to calculate the first longest diameter grid number, the preview grid number and the first deviation angle to obtain the first actual rotation angle of the target conductor rack; step S457, generating the first actual lifting translation path of the target conductor rack based on the first actual rotation angle and the first position; step S458, dynamically adjusting the hoisting construction of the first monitoring point according to the first comparison result of the first actual lifting translation path and the first predetermined lifting translation path.

[0036] Preferably, a unit grid of a predetermined size, i.e., a predetermined unit grid, is set as a basic unit for image analysis and processing, and then the image of the catheter rack is divided according to the predetermined unit grid to obtain a first image grid result. This rasterization process helps to convert the catheter rack in the image into a plurality of quantifiable data points. In the rasterized catheter rack image, a grid block occupied by the target catheter rack in the first image grid result, i.e., a first placeholder grid block, is identified, and the first longest diameter grid number of the first placeholder grid block is collected, i.e., the catheter rack is found and calculated. The longest diameter (such as length, width, diagonal, etc.), the grid number corresponding to this longest diameter is the first longest diameter grid number; a preview grid number is preset to determine the scope and accuracy of the preview, and then a circle is drawn on the rasterized image with the center of the first longest diameter grid number as the center and the preview grid number as the radius, that is, the first target circle, which represents the scope of the preview; the intersection of the first target circle and the lifting translation path predetermined in the first stage plan (that is, the first predetermined lifting translation path) is taken as the preview point, which represents the position of the jacket under the current control strategy. At a position that may intersect with the predetermined path at a certain point in the future, wherein the first predetermined lifting translation path is the trajectory that the jacket should follow during the lifting process; the actual lifting translation direction (first actual lifting translation direction) of the first placeholder grid block is obtained, and the angle between the actual lifting translation direction and the preview point, that is, the first deviation angle, is calculated, and the deviation angle reflects the deviation between the actual path and the predetermined path; then the angle calculation formula is introduced, and the first longest diameter grid number, the preview grid number and the first deviation angle are used as input to calculate the actual angle (first actual angle) that the target jacket needs to adjust; finally, based on the first actual angle and the first position (which may be the current position or initial position of the jacket), the adjusted actual lifting translation path (first actual lifting translation path) is generated, and the first actual lifting translation path is compared with the first predetermined lifting translation path to obtain a first comparison result, and the lifting construction is dynamically regulated according to the comparison result. If there is a large deviation between the two, it is necessary to adjust the operating parameters of the lifting equipment (such as the crane) to ensure that the jacket can move according to the actual lifting translation path.

[0037] In a possible implementation, step S456 further includes: the rotation angle calculation formula is expressed as follows:

[0038] δ=arctan(KL)

[0039]

[0040] Wherein, δ refers to the first actual turning angle, K refers to the rear end running curvature of the target jacket, the rear end running curvature is the inverse of the rear end turning radius, L refers to the first longest diameter grid number, l refers to the preview grid number, and θ refers to the first deviation angle.

[0041] Step S500: If yes, determine whether the first monitoring data set meets the predetermined assembly constraints.

[0042] Furthermore, step S500 further includes that the predetermined assembly constraint refers to a position constraint of a predetermined assembly point of the target jacket.

[0043] Preferably, if the first monitoring data set meets the first predetermined constraint, that is, meets the first attitude constraint, the first position constraint and the first speed constraint, it is further determined whether the first monitoring data set meets the predetermined assembly constraint, wherein the predetermined assembly constraint generally refers to the position constraint set for the predetermined assembly point of the target jacket after the entire jacket hoisting construction is completed, to ensure that the jacket can meet the predetermined design requirements, safety standards and functional performance during the hoisting, installation and final positioning process, such as the overall attitude (such as horizontality, inclination, etc.) and position (such as coordinate position, relative position relationship, etc.), structural stability (the structure should remain stable without abnormal deformation or damage, and be evaluated by monitoring parameters such as stress, strain, vibration, etc.), connection quality (the connection between various parts of the jacket, such as legs, beams, etc., should be firm and reliable), safety spacing (safety spacing requirements between the jacket and surrounding obstacles, such as other offshore facilities, submarine pipelines, etc.), etc.; comprehensively considering the above multiple aspects, it is determined whether the first monitoring data set meets the predetermined assembly constraint, and if the jacket state reflected by the first monitoring data set meets the requirements of the predetermined assembly constraint in all aspects, it can be considered that the data set meets the predetermined assembly constraint.

[0044] Step S600: If the conditions are met, the second phase plan is initiated to perform assembly and fine-tuning construction control on the target jacket, so as to achieve the hoisting construction of the target jacket by the target crane. If the first monitoring data set meets the predetermined assembly constraints, it means that the first stage of the lifting construction of the target jacket has been successfully completed and the conditions for the next step of construction have been met. At this time, the second stage plan is started to perform group fine-tuning construction control on the target jacket to achieve the complete lifting construction of the target jacket by the target crane. Specifically, the various parts of the target jacket are accurately docked according to the design requirements using lifting equipment and measuring instruments, and the docking accuracy is strictly controlled. After the docking is completed, the jacket is temporarily fixed using temporary supports or clamps to ensure that it remains stable during the subsequent fine-tuning process. The posture of the jacket is fine-tuned by adjusting the lifting point position of the lifting equipment or using tools such as jacks to meet the predetermined posture constraints. The position of the jacket is accurately adjusted to ensure that it meets the predetermined position constraints. The lifting and moving speed of the lifting equipment is strictly controlled to ensure that the movement of the jacket is stable and meets the predetermined speed constraints. Finally, the lifting construction of the target jacket by the target crane is achieved, and the safety, stability and high-quality construction effect of the jacket during the lifting process are ensured.

[0045] In a possible implementation, step S600 further includes step S610, obtaining an environmental monitoring device group; step S620, dynamically monitoring the environmental monitoring device group to obtain first environmental information at a first time, and analyzing the first environmental information to obtain a first air density; step S630, performing spectral density prediction analysis on an air density time series constructed based on a first corresponding relationship between the first time and the first air density, to obtain a predicted time period corresponding to a spectral density valley value; and step S640, starting the second stage plan in the predicted time period.

[0046] Preferably, before starting the second phase plan to fine-tune the construction of the target jacket, the impact of the wind and wave environment must be considered. For example, it is necessary to predict the minimum wind and wave moment, select the appropriate time for pairing, and select the period of time with good environmental conditions for lifting, etc., to reduce the impact of the wind and wave environment on the lifting construction. First, an environmental monitoring equipment group is obtained, including but not limited to air quality monitoring equipment, thermometers, barometers, etc. Through the environmental monitoring equipment group, the environment of the target jacket construction area is dynamically monitored. At a specific time (i.e., the first time), the equipment group will collect multiple environmental information. These data are called first environmental information. These information may include temperature, humidity, wind direction, wind speed, air quality, etc., which will directly affect the fine-tune construction of the jacket. After obtaining the first environmental information, the data are analyzed using the principles of meteorology and physics. Analyze and process the air quality data, calculate the air density, that is, obtain the first air density, arrange the air density data of multiple time points (including the first air density at the first time) in chronological order, and construct an air density time series. Then, use the spectral density prediction analysis method to process the air density time series. Spectral density prediction analysis is a prediction technology based on time series data. It predicts the data value at a certain time point in the future by analyzing factors such as periodicity, trend and randomness in the data. In this process, find the prediction time period corresponding to the spectral density valley value. This prediction time period may represent a construction period with relatively low air density and more favorable climatic conditions. Finally, according to the needs of construction control, start the second phase plan in the prediction time period, conduct fine-tuning of the target conductor rack, and ensure the construction quality and safety.

[0047] In a possible implementation, step S620 further includes step S621, reading a predetermined stability factor; step S622, traversing and matching the predetermined stability factor in the first environmental information to obtain a first factor parameter; and step S623, weighting the first factor parameter to obtain the first air density.

[0048] Preferably, the predetermined stability factor is a set of coefficients pre-set based on historical data, experimental results, etc., which are used to evaluate or adjust the impact of environmental information on specific physical quantities (such as air density), and are used to adjust the calculation of air density, aiming to improve the accuracy and reliability of environmental information analysis; the predetermined stability factor is compared with each parameter in the first environmental information to find the specific value or state in the first environmental information corresponding to each stability factor, which is called the first factor parameter, and may include temperature, humidity, air pressure, wind speed, etc. For example, if wind speed is a stability factor, then the first factor parameter is the wind speed value monitored and recorded in the current environmental information; different factors are assigned different weights according to their degree of influence on air density. For example, the influence of temperature on air density may be greater than humidity, and the weight of temperature is higher when calculating air density. Then the first factor parameter is weighted calculated to obtain the first air density.

[0049] In a possible implementation, step S630 further includes step S631, obtaining the air density spectral density of the air density time series based on Fourier transform; step S632, analyzing the air density spectral density to obtain the spectral density valley; step S633, reverse matching the time range corresponding to the spectral density valley, recorded as the predicted time period.

[0050] Preferably, Fourier transform is a mathematical tool for converting a signal from a time domain to a frequency domain. Specifically, the time series data of air density (i.e., the air density value that changes with time) is input into Fourier transform to obtain a frequency spectrum of air density, i.e., spectral density, which represents the intensity of different frequency components in the change of air density. Each point in the spectral density corresponds to a specific frequency and the amplitude of the change of air density at the frequency. After obtaining the spectral density of air density, the spectral density is analyzed to find the valley value therein. The valley value refers to a relatively low or lowest point in the spectral density. They may correspond to the frequency components that are relatively stable or lack significant fluctuations in the change of air density, reflecting the relatively stable characteristics of air density in certain time periods. The lower the valley value, the weaker the energy of the signal in the frequency range. Then, the time range corresponding to the valley value of the spectral density is reversely matched, usually using inverse Fourier transform to map to the time domain, that is, by reversely mapping these frequency ranges back to the time domain, the time period corresponding to these low-energy frequencies in the time series data is determined. Finally, the time range determined by reverse matching is recorded as the prediction time period, wherein the prediction time period may correspond to a relatively stable air density condition.

[0051] The above specific implementations do not constitute a limitation on the protection scope of this application. It should be understood by those skilled in the art that various modifications, combinations and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of this application should be included in the protection scope of this application.

Claims

1. A method for hoisting and constructing a deepwater jacket basket structure, characterized in that: include: Reading a predetermined hoisting plan, wherein the predetermined hoisting plan includes a first-stage plan and a second-stage plan for hoisting a target conductor frame by a target crane; Dynamically monitoring the hoisting construction process of the target jacket according to the first phase plan to obtain first dynamic monitoring information, wherein the first dynamic monitoring information includes multiple groups of monitoring data sets at multiple monitoring points; A first monitoring data set matching a first monitoring point in the multiple monitoring data sets, wherein the first monitoring point refers to any one of the multiple monitoring points; Determining whether the first monitoring data set meets a first predetermined constraint of the first phase plan; If yes, determining whether the first monitoring data set satisfies a predetermined assembly constraint; If the conditions are met, the second phase plan is initiated to perform fine-tuning construction control on the target conductor rack, so as to realize the hoisting construction of the target conductor rack by the target crane.

2. The deepwater jacket basket structure hoisting construction method according to claim 1 is characterized in that: include: The first monitoring point is provided with a first monitoring component, which includes a first center of gravity measuring instrument, a first distance sensor, a first image acquisition device and a first speed sensor; The first predetermined constraint includes a first predetermined posture constraint, a first predetermined position constraint and a first predetermined speed constraint; sequentially matching the first center of gravity monitored by the first center of gravity measuring instrument and the first distance monitored by the first distance sensor in the first monitoring data set; Obtaining a first posture of the target conductor rack at the first monitoring point according to the first center of gravity and the first distance; Analyzing the first catheter rack image of the first image acquisition device matched in the first monitoring data set to obtain a first position; matching a first speed monitored by the first speed sensor in the first monitoring data set; When the first posture complies with the first predetermined posture constraint and the first position complies with the first predetermined position constraint and the first speed complies with the first predetermined speed constraint, then the first monitoring data set complies with the first predetermined constraint.

3. The deepwater jacket basket structure hoisting construction method according to claim 2 is characterized in that: Also includes: Performing grid division on the first catheter rack image based on a predetermined unit grid to obtain a first image grid result; Acquire a first place-occupying grid block of the target catheter rack in the first image grid result, and collect a first longest diameter grid number of the first place-occupying grid block; Read the preview grid number, and draw a first target circle with the center of the first longest diameter grid number as the center and the preview grid number as the radius; The intersection of the first target circle and the first predetermined lifting translation path in the first phase plan is used as a preview point; Acquire a first actual lifting translation direction of the first placeholder grid block, and use the angle between the first actual lifting translation direction and the preview point as a first deviation angle; Introducing a rotation angle calculation formula to calculate the first longest diameter grid number, the preview grid number and the first deviation angle to obtain a first actual rotation angle of the target conductor rack; Generate a first actual lifting translation path of the target jacket based on the first actual rotation angle and the first position; Dynamic regulation of the hoisting construction at the first monitoring point is performed according to a first comparison result between the first actual lifting and translational path and the first predetermined lifting and translational path.

4. The deepwater jacket basket structure hoisting construction method according to claim 3 is characterized in that: The expression of the rotation angle calculation formula is as follows: δ=arctan(KL) Wherein, δ refers to the first actual turning angle, K refers to the rear end running curvature of the target jacket, the rear end running curvature is the inverse of the rear end turning radius, L refers to the first longest diameter grid number, l refers to the preview grid number, and θ refers to the first deviation angle.

5. The deepwater jacket basket structure hoisting construction method according to claim 1 is characterized in that: The predetermined assembly constraint refers to a position constraint of a predetermined assembly point of the target jacket.

6. The deepwater jacket basket structure hoisting construction method according to claim 1 is characterized in that: Also includes: Obtain environmental monitoring equipment set; Dynamically monitoring the environment monitoring device group to obtain first environment information at a first time, and analyzing the first environment information to obtain a first air density; Performing spectral density prediction analysis on an air density time series constructed based on a first corresponding relationship between the first time and the first air density to obtain a prediction time period corresponding to a spectral density valley value; The second phase plan is initiated during the predicted time period.

7. The deepwater jacket basket structure hoisting construction method according to claim 6 is characterized in that: include: reading a predetermined stability factor; Traversing and matching the predetermined stability factor in the first environment information to obtain a first factor parameter; The first factor parameter is weighted to obtain the first air density.

8. The deepwater jacket basket structure hoisting construction method according to claim 6 is characterized in that: include: Obtaining the air density spectral density of the air density time series based on Fourier transform; Analyzing the air density spectrum density to obtain the spectrum density valley value; The time range corresponding to the valley value of the spectrum density is reversely matched and recorded as the prediction time period.

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