Intelligent load adjusting system of semi-submersible barge

Abstract

The invention relates to a semi-submersible barge intelligent load adjustment system, a load adjustment scheme calculation module can calculate a load adjustment scheme of a diving or floating working condition by using initial state information and seawater density, a stability safety risk assessment module assesses real-time safety risks, when no safety risk exists, load adjustment is carried out according to an original load adjustment scheme, and when no safety risk exists, load adjustment is carried out according to the original load adjustment scheme. The diving or floating operation is completed; when the security risk exists, the regulation and control decision module guides the initial state remaking module to obtain new initial state information again according to the real-time monitoring data, and transmits the new initial state information to the load regulation scheme calculation module; and the load adjustment scheme calculation module reformulates the load adjustment scheme of the diving or floating working condition according to the new initial state information, so that the control system can perform load adjustment by using the recustomized load adjustment scheme, and the safety of diving or floating operation is ensured. Even if new risks possibly occur in the diving process, the adjusting scheme can still be customized again in real time, the operation safety is guaranteed, and automatic control is completed.

Description

Technical Field

[0001] The invention relates to the technical field of semi-submersible barge load adjustment during the diving and floating of a submerged tube segment, and in particular to an intelligent load adjustment system for a semi-submersible barge. Background Art

[0002] At present, the transportation of immersed tube tunnel segments mainly adopts the floating transportation technology of tugboat towing, which has the disadvantages of occupying a large number of tugboats and a long time, occupying a large area of ​​water, slow towing speed, great impact on navigation, deep waterway, high risk of coordination and linkage in the towing process, and poor ability to resist wind and waves. With the rapid development of cross-sea immersed tube tunnel and semi-submersible barge transportation technology, and the development trend of factory prefabrication of immersed tube segments, the use of semi-submersible barges to transport immersed tube segments has broad prospects. Semi-submersible barge transportation includes processes such as barge-on, barge-off and dive. During the diving process of the semi-submersible barge, it may face the action of diving and floating. The existing semi-submersible barge can control the action of diving and floating to meet the safety of diving and floating. That is, the semi-submersible barge has a corresponding control system. The control system can control the switch of the ballast tank valve and the ballast pump, thereby realizing the adjustment of ballast water, meeting the diving and floating and ensuring the safety of diving and floating, and avoiding the capsizing of the semi-submersible barge. However, this control system requires manual control and cannot be automatically controlled. Manual control has a slow response and the operator needs high professional ability. Summary of the invention

[0003] The purpose of the present invention is to provide an intelligent loading adjustment system for a semi-submersible barge in view of the problem that there is no method for automatically controlling a semi-submersible barge control system in the prior art.

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

[0005] A semi-submersible barge intelligent load adjustment system, comprising a load adjustment scheme calculation module, a control decision module, a stability safety risk assessment module and an initial state re-making module;

[0006] The load adjustment scheme calculation module can calculate the load adjustment scheme for diving or floating conditions using the initial state information and seawater density;

[0007] The control decision module guides the operation behavior of the initial state remaking module, the load adjustment scheme calculation module and the control system by receiving and sending instructions;

[0008] The stability safety risk assessment module can call the real-time monitoring data of the monitoring system to assess the stability safety risk of the semi-submersible barge during diving or floating. When there is no safety risk, the control decision module sends a control instruction to the control system, and the control system adjusts the load according to the original load adjustment plan;

[0009] When there is a safety risk: the stability safety risk assessment module issues an early warning and issues a control demand instruction to the control decision module;

[0010] After receiving the instruction of the control demand, the control decision module sends a reset instruction to the initial state remaking module, and at the same time sends an instruction to receive the initial state information and recalculate to the load adjustment scheme calculation module;

[0011] After receiving the reset instruction, the initial state remaking module calls the real-time monitoring data of the monitoring system to reset the initial state information. After receiving the new initial state information, the load adjustment scheme calculation module recalculates the new load adjustment scheme for the diving or floating condition and sends it to the control decision module.

[0012] After receiving the new load adjustment plan, the control decision module sends an instruction to the control system to execute the new load adjustment plan, and the control system adjusts the load according to the new load adjustment plan.

[0013] The semi-submersible barge intelligent load adjustment system of the present invention can use the initial state information and seawater density to calculate the load adjustment plan for the diving or floating condition, and the stability safety risk assessment module can evaluate the real-time safety risk. When there is no safety risk, the load adjustment is carried out according to the original load adjustment plan to complete the diving or floating operation; when there is a safety risk, the control decision module instructs the initial state remaking module to re-acquire new initial state information according to the real-time monitoring data, and pass the new initial state information to the load adjustment plan calculation module. The load adjustment plan calculation module re-formulates the load adjustment plan for the diving or floating condition according to the new initial state information, so that the control system can use the re-customized load adjustment plan to adjust the load, and ensure the safety of the diving or floating operation. Even if new risks may arise during the diving process, the adjustment plan can still be re-customized in real time to ensure the safety of subsequent diving or floating operations and complete automatic control.

[0014] As a preferred solution of the present invention, the calculation of the load adjustment solution calculation module includes the following steps:

[0015] First, several load adjustment scheme calculation conditions are automatically allocated according to the draft depth in the initial state, and each load adjustment scheme calculation condition corresponds to a predetermined draft depth;

[0016] Then, based on the predetermined draft depth to be reached for each calculation condition, the initial state information and seawater density are used to calculate the amount of ballast water that needs to be added to each ballast tank. Then, based on the amount of ballast water that needs to be added, a loading adjustment plan corresponding to each calculation condition is formulated.

[0017] Each load adjustment scheme for diving or floating conditions includes several load adjustment scheme calculation conditions corresponding to different predetermined drafts.

[0018] As a preferred solution of the present invention, formulating a load adjustment plan includes the following steps of formulating a load adjustment plan for each calculation condition:

[0019] S1. According to the design principles of the semi-submersible barge ballast tank pipelines, ballast pumps and valves, formulate a load adjustment plan with high load adjustment efficiency under the current calculation conditions;

[0020] S2. Calculate and determine whether the loading adjustment plan for the current calculation condition can control the heel and trim of the semi-submersible barge at the current stage to be zero; when the loading adjustment plan for the current calculation condition can control the heel and trim of the semi-submersible barge at the current stage to be zero, the loading adjustment plan for the current calculation condition is completed; when the loading adjustment plan for the current calculation condition cannot control the heel and trim of the semi-submersible barge at the current stage to be zero, the loading adjustment plan for the current calculation condition is re-formulated, and steps S1 and S2 are repeated until a loading adjustment plan for the current calculation condition that meets the conditions is obtained.

[0021] An iterative approach is used to obtain a load adjustment solution that meets the requirements of each calculation condition.

[0022] As a preferred solution of the present invention, after step S2, there is further step S3, performing safety verification of the semi-submersible barge to determine whether it is safe; if it is safe, proceeding to specifying the loading adjustment plan for the next calculation condition; if it is not safe, repeating steps S1-S3 until the loading adjustment plan for the current calculation condition satisfies the safety verification of the semi-submersible barge.

[0023] It can further ensure the load adjustment safety of the load adjustment scheme for each calculation condition.

[0024] As a preferred solution of the present invention, it also includes a load adjustment solution library, and the load adjustment solutions calculated by the load adjustment solution calculation module are stored in the load adjustment solution library;

[0025] After receiving the new initial state information, the load adjustment scheme calculation module first retrieves data from the load adjustment scheme library for matching to obtain an adapted load adjustment scheme in step S1;

[0026] When the load adjustment scheme calculation module cannot obtain an adapted load adjustment scheme in the load adjustment scheme library, the load adjustment scheme calculation module recalculates a new load adjustment scheme for the diving or floating condition through new initial state information and sends it to the control decision module.

[0027] The load adjustment scheme library can collect feasible load adjustment schemes for each calculation condition. In subsequent use, the appropriate load adjustment scheme can be selected in the load adjustment scheme library in advance for verification, which can obtain the load adjustment scheme that meets the needs more quickly, which is conducive to reducing the number of iterations and improving computing efficiency.

[0028] As a preferred embodiment of the present invention, in step S1, the selection method of the load adjustment scheme with high load adjustment efficiency includes: a. selecting a load adjustment scheme with a small number of ballast tanks to be adjusted; b. selecting a load adjustment scheme in which the load adjustment method is to transfer water between ballast tanks.

[0029] Selecting a suitable load adjustment scheme from the load adjustment scheme library according to the above principles can more effectively obtain a load adjustment scheme that meets the needs, which is conducive to reducing the number of iterations and improving computing efficiency.

[0030] As a preferred embodiment of the present invention, the initial state information includes the empty ship weight distribution, cargo weight distribution, current ballast water weight distribution and current draft, and the empty ship weight distribution, cargo weight distribution and current ballast water weight distribution are all distributed along the longitudinal direction of the semi-submersible barge.

[0031] As a preferred solution of the present invention, the initial state re-creation module calls the ballast tank water level monitoring of the monitoring system to obtain the current ballast water weight distribution; the initial state re-creation module calls the four-corner draft monitoring of the monitoring system to obtain the current draft depth.

[0032] The data reset by the initial state remake module are the current ballast water weight distribution and the current draft depth.

[0033] As a preferred embodiment of the present invention, the cargo weight distribution includes the distribution of loading objects, transportation equipment and piers on board.

[0034] As a preferred solution of the present invention, the evaluation method of the stability safety risk evaluation module is:

[0035] The draft depth of the semi-submersible barge is calculated by using the four-corner draft monitoring data. Combined with the size of the semi-submersible barge, the buoyancy center of the semi-submersible barge-cargo system can be calculated. The ballast tank water level monitoring data is used to calculate the ballast water weight analysis of the semi-submersible barge. Combined with the empty ship weight distribution and cargo weight distribution, the center of gravity of the semi-submersible barge-cargo system can be calculated.

[0036] Then, using the stability calculation theory in ship design, the relative positions of the center of buoyancy and the center of gravity, and the weight of the semi-submersible barge-cargo system, the control indexes of heel and trim to ensure the stability of the semi-submersible barge can be calculated;

[0037] The heel and pitch of the semi-submersible barge are calculated by using the four-corner draft monitoring data. The calculated heel and pitch of the semi-submersible barge are compared with the control index to evaluate the stability and safety of the semi-submersible barge. When the monitoring data of the heel and pitch of the semi-submersible barge exceeds 80% of the control index, it is considered that there is a safety risk in the stability of the semi-submersible barge and it needs to be regulated.

[0038] The stability safety risk assessment module uses real-time monitoring data to perform stability analysis, which has higher accuracy and helps improve the safety of surfacing or diving.

[0039] In summary, due to the adoption of the above technical solution, the beneficial effects of the present invention are:

[0040] 1. In the intelligent load adjustment system for a semi-submersible barge described in the present invention, the load adjustment scheme calculation module can use the initial state information and seawater density to calculate the load adjustment scheme for the diving or floating condition, and the stability safety risk assessment module performs real-time safety risk assessment. When there is no safety risk, the load adjustment is performed according to the original load adjustment scheme to complete the diving or floating operation; when there is a safety risk, the control decision module instructs the initial state reconstruction module to re-acquire new initial state information according to the real-time monitoring data, and transmits the new initial state information to the load adjustment scheme calculation module. The load adjustment scheme calculation module re-formulates the load adjustment scheme for the diving or floating condition according to the new initial state information, so that the control system can use the re-customized load adjustment scheme to adjust the load, thereby ensuring the safety of the diving or floating operation. Even if new risks may arise during the diving process, the adjustment scheme can still be re-customized in real time to ensure the safety of subsequent diving or floating operations and complete automatic control.

[0041] 2. The semi-submersible barge intelligent load adjustment system of the present invention includes a number of load adjustment scheme calculation conditions for each diving or floating condition, corresponding to different predetermined drafts, and adopts an iterative method to obtain a load adjustment scheme that meets the requirements of each calculation condition. The semi-submersible barge intelligent load adjustment system also includes a load adjustment scheme library, which can collect feasible load adjustment schemes for each calculation condition. In subsequent use, the appropriate load adjustment scheme is selected in advance from the load adjustment scheme library for verification, which can obtain a load adjustment scheme that meets the requirements more quickly, which is conducive to reducing the number of iterations and improving computing efficiency.

[0042] 3. The semi-submersible barge intelligent load adjustment system of the present invention uses real-time monitoring data to perform stability analysis, and the accuracy of the analysis is better, which is conducive to improving the safety of floating or diving. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 It is a schematic diagram of the principle of the semi-submersible barge intelligent load adjustment system of the present invention;

[0044] Figure 2 It is a schematic diagram of the principle of the initial state reset module and the load adjustment scheme calculation module;

[0045] Figure 3 It is a schematic diagram of the principle of the stability safety risk assessment module;

[0046] Figure 4 It is a schematic diagram of the load adjustment scheme calculation module iteratively formulating the load adjustment scheme for each calculation condition;

[0047] Figure 5It is a side view of the semi-submersible barge;

[0048] Figure 6 It is the bilge plan of the semi-submersible barge;

[0049] Figure 7 It is a schematic diagram of dividing the cabin into the middle cabin and the four corner cabins;

[0050] Figure 8 This is a schematic diagram of the stern trim of a semi-submersible barge (the bottom shadow represents the water pressure in the ballast tank);

[0051] Fig. 9 This is a schematic diagram of reducing trim by pressurizing the bow tank (the bottom shadow represents the amount of water in the ballast tank);

[0052] Fig.10 It is a schematic diagram of the reduced water inflow efficiency of the four corner cabins (the bottom shadow represents the water pressure in the ballast tank);

[0053] Fig.11 This is a schematic diagram of the four corner cabins continuing to be pressurized with water after the middle cabin is filled with ballast water (the bottom shadow represents the amount of water pressurized in the ballast tanks).

[0054] Figure numerals: 1, semi-submersible barge; 2, ballast tank; 9, longitudinal pipe tunnel; 10, transverse pipe tunnel; 20, pump room; 30, water inlet. DETAILED DESCRIPTION

[0055] The present invention will be described in detail below in conjunction with the accompanying drawings.

[0056] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0057] Example 1

[0058] In this solution, the semi-submersible barge intelligent load adjustment system needs to be operated in conjunction with the monitoring system and control system, such as Figure 1 As shown. The monitoring system includes a four-corner draft monitoring system and a ballast tank water level monitoring system. The ballast tank water level monitoring system feeds back the amount of ballast water in each ballast tank, and the four-corner draft monitoring system feeds back the floating state of the semi-submersible barge. The control system can control the ballast tank valves and ballast pump switches to achieve ballast water regulation. The intelligent load adjustment system aims to control the stability and safety of the semi-submersible barge during the diving and floating process. It uses the monitoring system to monitor the data in real time to obtain the load adjustment plan, and issues instructions to guide the control system to achieve dynamic load adjustment of the semi-submersible barge, and finally achieve one-key diving and floating of the semi-submersible barge.

[0059] Optionally, the ballast tanks can be arranged as Figure 5-Figure 6As shown, the ballast tank 2 is arranged at the bottom of the semi-submersible barge 1. The ballast tank 2 is distributed in a rectangular array in the longitudinal and transverse directions of the semi-submersible barge 1. The ballast tank 2 also includes two transverse pipes 10 and two longitudinal pipes 9. The two transverse pipes 10 are connected to the two longitudinal pipes 9. Pipes are arranged inside the transverse pipes 10 and the longitudinal pipes 9. The pipes inside the transverse pipes 10 and the longitudinal pipes 9 are connected. A water inlet and a water outlet are arranged at the bottom of the semi-submersible barge 1. By arranging the water inlet 30 and the water outlet at the bottom of the hull 1, it is convenient to pump and drain water. A pump room 20 is provided. The water in the pipes of the transverse pipes 10 and the longitudinal pipes 9 can be pressed into the ballast tank 2 by the ballast pump group in the pump room, or the water in the ballast tank 2 can be pressed out into the pipes of the transverse pipes 10 and the longitudinal pipes 9 by the ballast pump group in the pump room. Load adjustment is achieved by controlling the water intake and drainage of the ballast tank.

[0060] This embodiment provides a semi-submersible barge intelligent load adjustment system. Figure 1 , including load adjustment scheme calculation module, control decision module, stability safety risk assessment module and initial state re-making module;

[0061] The load adjustment scheme calculation module can use the initial state information and seawater density to calculate the load adjustment scheme for diving or floating conditions; in this embodiment, the initial state is the initial state used for each calculation of the load adjustment scheme, such as the initial state before diving, or when diving to 10m, it is necessary to recalculate the load adjustment scheme and reset the state to the initial state. The initial state information includes the empty ship weight distribution, cargo weight distribution, current ballast water weight distribution and current draft. The empty ship weight distribution, cargo weight distribution and current ballast water weight distribution are all distributed along the longitudinal direction of the semi-submersible barge. The cargo weight distribution includes the distribution of the load, transportation equipment and piers on the ship.

[0062] The calculation of the load adjustment scheme calculation module includes the following steps:

[0063] like Figure 2 As shown, firstly, a number of calculation conditions of the loading adjustment scheme are automatically allocated according to the draft in the initial state, and each calculation condition of the loading adjustment scheme corresponds to a predetermined draft; the calculation conditions of the loading adjustment scheme are automatically allocated according to the draft in the initial state. For example, if the draft in the initial state is 6.3m, the calculation conditions can be set as drafts of 7m, 8m, 9m, ..., which are respectively defined as condition one, condition two, condition three, ...; if the draft in the initial state is 8.8m, the calculation conditions can be set as drafts of 9m, 10m, 11m, which are respectively defined as condition one, condition two, condition three, ...

[0064] Then, according to the predetermined draft to be reached for each calculation condition, the initial state information and seawater density are used to calculate the amount of ballast water that needs to be added to each ballast tank, and then a loading adjustment plan corresponding to each calculation condition is formulated based on the amount of ballast water that needs to be added. Principles of formulation: 1. Principles for formulating the loading adjustment plan: Adopt the principle of four-corner balanced loading adjustment, the middle cabin controls the heave, the four corner cabins control the roll and pitch, the ballasting is "first in the middle, then the two ends", and the drainage is "first at the two ends, then in the middle". 2. Fully understand the design principles of the semi-submersible barge ballast tank pipelines, ballast pumps, and valves, and select a loading adjustment plan with high loading adjustment efficiency, including a small number of ballast tanks that need to be adjusted, and try to use water transfer between tanks. In addition, it is necessary to combine the crew's operating habits and the operating experience of previous engineering cases to refine the requirements for formulating the loading adjustment plan, which can greatly reduce the number of subsequent iterative calculations. 3. The loading adjustment plan should control the heel and trim of the semi-submersible barge to zero at the current stage. The center of buoyancy can be calculated based on the predetermined draft and the overall dimensions of the semi-submersible barge. According to the formulated loading adjustment plan, the weight distribution of ballast water is calculated. Combined with the weight distribution of the empty ship and cargo, the weight and center of gravity position of the semi-submersible barge-cargo system are calculated, and the heel and trim of the semi-submersible barge are calculated. When the heel and trim are not zero, return to formulate a new loading adjustment plan until the requirements of zero heel and trim are met.

[0065] Take a half-submersible barge as an example. Figure 5-Figure 6 As shown, the semi-submersible barge is equipped with 36 ballast tanks, which are arranged in 4 rows and 9 horizontally. The total net capacity is 106546.6m 3 The ship is equipped with 8 ballast pumps, each with a displacement of approximately 3000m 3 / h. The water inflow speed of the cabin can be controlled by adjusting the valve switch amount. If the valve is fully opened, the water inflow speed of the cabin is 3000m 3 / h, valve half open, water inflow rate is 1500m 3 / h.

[0066] like Figure 7 As shown, the cabin is divided into a middle cabin and four corner cabins. The overall loading adjustment idea is: the middle cabin controls the heave, the four corner cabins control the roll and pitch, the ballasting is "first the middle, then the two ends (stern and bow)", and the drainage is "first the two ends, then the middle".

[0067] The formulation of the semi-submersible barge submersion loading plan follows two principles:

[0068] 1) The heel and trim of the semi-submersible barge meet the control requirements for the stability and safety of the semi-submersible barge;

[0069] 2) The load adjustment is efficient and the diving speed is fast.

[0070] In order to ensure the above two principles, it is stipulated that:

[0071] 1) The middle cabin is based on the maximum efficiency (3000m3 / h) water pressure;

[0072] 2) When the ballast water volume in the four corner cabins is less than 60% of the net capacity, the maximum efficiency (3000m 3 / h) ballast water, when the ballast water volume is between 60% and 80% of the net tank capacity, the ballast water volume is 50% efficient (1500m 3 / h) ballast water. When the ballast water volume exceeds 80% of the net tank capacity, close the valve.

[0073] 3) When the middle hold is filled with ballast water, the four corner hold continue to be pressurized.

[0074] The intelligent adjustment system load adjustment calculation module can obtain the load adjustment plan under various diving conditions according to the water inflow efficiency of the cabin. The purpose of the above requirements is to allow the remaining capacity of the four corner cabins to have enough surplus to quickly adjust the semi-submersible barge's heel and pitch, ensuring the stability and safety of the semi-submersible barge while improving the load adjustment efficiency.

[0075] When the ballast water volume in the four corner cabins is less than 60% of the net capacity, all cabins shall be ballasted at the maximum efficiency. Figure 8 As shown in the figure, when the semi-submersible barge has a stern trim and exceeds 80% of the control index, there is a safety risk in the stability of the semi-submersible barge. All valves are closed, the initial state is reset according to the monitoring data, and the load adjustment plan is recalculated. After the new load adjustment plan is generated, the valves are opened and the new load adjustment plan is executed. The new load adjustment plan reduces the stern trim by pressurizing the bow cabin with water, as shown in the figure. Fig. 9 shown.

[0076] When the ballast water volume in the four corner cabins exceeds 60% of the net cabin capacity, the water inflow efficiency of the four corner cabins decreases. Fig.10 As shown, the amount of ballast water in the middle hold is relatively large.

[0077] After the middle cabin is filled with ballast water, the four corner cabins continue to be ballasted. Fig.11 When the monitoring data of the heel and trim of the semi-submersible barge is less than 60% of the control index, water is pressed at the maximum efficiency; when the monitoring data of the heel and trim of the semi-submersible barge is between 60 and 80% of the control index, water is pressed at 50% of the maximum efficiency; when the monitoring data of the heel and trim of the semi-submersible barge exceeds 80% of the control index, all valves are closed, the initial state is reset according to the monitoring data, the load adjustment plan is recalculated, and after the new load adjustment plan is generated, the valves are opened and the new load adjustment plan is executed.

[0078] Specifically, the formulation of the load adjustment plan includes the following steps for formulating the load adjustment plan for each calculation condition:

[0079] S1. According to the design principles of the semi-submersible barge ballast tank pipelines, ballast pumps and valves, formulate a load adjustment plan with high load adjustment efficiency under the current calculation conditions;

[0080] S2, such as Figure 4As shown, it is calculated to determine whether the loading adjustment scheme of the current calculation condition can control the heel and trim of the semi-submersible barge at the current stage to be zero; when the loading adjustment scheme of the current calculation condition can control the heel and trim of the semi-submersible barge at the current stage to be zero, the loading adjustment scheme of the current calculation condition is completed; when the loading adjustment scheme of the current calculation condition cannot control the heel and trim of the semi-submersible barge at the current stage to be zero, the loading adjustment scheme of the current calculation condition is re-formulated, and steps S1 and S2 are repeated until the loading adjustment scheme of the current calculation condition that meets the conditions is obtained.

[0081] like Figure 2 As shown, after step S2, there is also step S3, which is to perform safety verification of the semi-submersible barge to determine whether it is safe; if it is safe, then enter the designation of the loading adjustment plan for the next calculation condition; if it is not safe, then repeat steps S1-S3 until the loading adjustment plan for the current calculation condition satisfies the safety verification of the semi-submersible barge. According to the loading adjustment plan for the current calculation condition, the mature calculation theory in ship design is used to verify the stability and force safety of the semi-submersible barge. If it is safe, then enter the calculation of the loading adjustment plan for the next calculation condition; if it is not safe, then return to re-formulate the loading adjustment plan until the stability and force safety of the semi-submersible barge are met.

[0082] The next calculation condition is calculated in the same way, using the data from the previous calculation condition. After all calculation conditions are completed, the diving or floating load adjustment plan is output.

[0083] The control decision module guides the operation behavior of the initial state remaking module, the load adjustment scheme calculation module and the control system by receiving and sending instructions;

[0084] The stability safety risk assessment module can call the real-time monitoring data of the monitoring system to assess the stability safety risk of the semi-submersible barge during diving or floating, such as Figure 3 As shown in Figure 2, the evaluation method of the stability safety risk assessment module is:

[0085] The draft depth of the semi-submersible barge is calculated by using the four-corner draft monitoring data. Combined with the size of the semi-submersible barge, the buoyancy center of the semi-submersible barge-cargo system can be calculated. The ballast tank water level monitoring data is used to calculate the ballast water weight analysis of the semi-submersible barge. Combined with the empty ship weight distribution and cargo weight distribution, the center of gravity of the semi-submersible barge-cargo system can be calculated.

[0086] Then, using the stability calculation theory in ship design, the relative positions of the center of buoyancy and the center of gravity, and the weight of the semi-submersible barge-cargo system, the control indexes of heel and trim to ensure the stability of the semi-submersible barge can be calculated;

[0087] The heel and pitch of the semi-submersible barge are calculated by using the four-corner draft monitoring data. The calculated heel and pitch of the semi-submersible barge are compared with the control index to evaluate the stability and safety of the semi-submersible barge. When the heel and pitch monitoring data of the semi-submersible barge exceed 80% of the control index, it is considered that there is a safety risk in the stability of the semi-submersible barge and it needs to be regulated.

[0088] When the stability safety risk assessment module assesses that there is no safety risk, the regulation and control decision module sends a control instruction to the control system, and the control system adjusts the load according to the original load adjustment plan, that is, according to the load adjustment plan for the diving or floating condition calculated by the load adjustment plan calculation module using the initial state information and seawater density, to complete the diving or floating operation.

[0089] When the stability safety risk assessment module assesses that there is a safety risk: the stability safety risk assessment module issues an early warning and issues an instruction on the control demand to the control decision module;

[0090] After receiving the instruction of the control demand, the control decision module sends a reset instruction to the initial state remaking module, and sends an instruction to receive the initial state information and recalculate to the load adjustment solution calculation module, such as Figure 1 and Figure 2 As shown, the initial state re-creation module calls the ballast tank water level monitoring of the monitoring system to obtain the current ballast water weight distribution; the initial state re-creation module calls the four-corner draft monitoring of the monitoring system to obtain the current draft depth.

[0091] After receiving the reset instruction, the initial state remaking module calls the real-time monitoring data of the monitoring system to reset the initial state information, that is, when receiving the remaking instruction of the control decision module, the state is remade into the initial state, and the initial state information can be remade according to the real-time monitoring data of the monitoring system. After receiving the new initial state information, the load adjustment scheme calculation module recalculates the new load adjustment scheme for the diving or floating condition and sends it to the control decision module;

[0092] After receiving the new load adjustment plan, the control decision module sends an instruction to the control system to execute the new load adjustment plan, and the control system adjusts the load according to the new load adjustment plan.

[0093] That is, when the control decision module does not receive the control demand instruction from the stability safety risk assessment module, it sends an instruction to the control system to execute the original load adjustment plan. When the control decision module receives the control demand instruction from the stability safety risk assessment module, specifically:

[0094] ① Send an instruction to the initialization state remaking module to remake the initial state information, and after the remaking is completed, send the remade initial state information to the load adjustment scheme calculation module.

[0095] ② Send an instruction to the load adjustment plan calculation module to receive the initial state information of the initial state reconstruction module and recalculate the load adjustment plan.

[0096] ③ Call the new load adjustment plan calculated by the load adjustment plan calculation module, and send an instruction to the control system to execute the new load adjustment plan.

[0097] The semi-submersible barge intelligent load adjustment system described in this embodiment can use the initial state information and seawater density to calculate the load adjustment plan for diving or floating conditions, and the stability safety risk assessment module can conduct real-time safety risk assessment. When there is no safety risk, the load adjustment is carried out according to the original load adjustment plan to complete the diving or floating operation; when there is a safety risk, the control decision module instructs the initial state remaking module to re-acquire new initial state information based on real-time monitoring data, and pass the new initial state information to the load adjustment plan calculation module. The load adjustment plan calculation module re-formulates the load adjustment plan for diving or floating conditions based on the new initial state information, so that the control system can use the re-customized load adjustment plan to adjust the load and ensure the safety of diving or floating operations. Even if new risks may arise during the diving process, the adjustment plan can still be re-customized in real time to ensure the safety of subsequent diving or floating operations and complete automatic control.

[0098] In this embodiment, the semi-submersible barge intelligent load adjustment system may further include a load adjustment scheme library, and the load adjustment schemes calculated by the load adjustment scheme calculation module are all stored in the load adjustment scheme library;

[0099] After receiving the new initial state information, the load adjustment scheme calculation module first retrieves data from the load adjustment scheme library for matching to obtain an adapted load adjustment scheme in step S1;

[0100] When the load adjustment scheme calculation module cannot obtain an adapted load adjustment scheme in the load adjustment scheme library, the load adjustment scheme calculation module recalculates a new load adjustment scheme for the diving or floating condition through new initial state information and sends it to the control decision module.

[0101] The load adjustment scheme library can collect feasible load adjustment schemes for each calculation condition. In subsequent use, the appropriate load adjustment scheme can be selected in the load adjustment scheme library in advance for verification, which can obtain the load adjustment scheme that meets the needs more quickly, which is conducive to reducing the number of iterations and improving computing efficiency.

[0102] In step S1, the selection method of the load adjustment scheme with high load adjustment efficiency includes: a. Selecting a load adjustment scheme with a small number of ballast tanks to be adjusted; b. Selecting a load adjustment scheme in which the load adjustment method is to transfer water between ballast tanks. Selecting a suitable load adjustment scheme in the load adjustment scheme library according to the above principles can more effectively obtain a load adjustment scheme that meets the needs, which is conducive to reducing the number of iterations and improving calculation efficiency.

[0103] 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. A semi-submersible barge intelligent load adjustment system, characterized in that: It includes load adjustment scheme calculation module, control decision module, stability safety risk assessment module and initial state re-making module; The load adjustment scheme calculation module can calculate the load adjustment scheme for diving or floating conditions using the initial state information and seawater density; The control decision module guides the operation behavior of the initial state remaking module, the load adjustment scheme calculation module and the control system by receiving and sending instructions; The stability safety risk assessment module can call the real-time monitoring data of the monitoring system to assess the stability safety risk of the semi-submersible barge during diving or floating. When there is no safety risk, the control decision module sends a control instruction to the control system, and the control system adjusts the load according to the original load adjustment plan; When there is a safety risk: the stability safety risk assessment module issues an early warning and issues a control demand instruction to the control decision module; After receiving the instruction of the control demand, the control decision module sends a reset instruction to the initial state remaking module, and at the same time sends an instruction to receive the initial state information and recalculate to the load adjustment solution calculation module; After receiving the reset instruction, the initial state remaking module calls the real-time monitoring data of the monitoring system to reset the initial state information. After receiving the new initial state information, the load adjustment scheme calculation module recalculates the new load adjustment scheme for the diving or floating condition and sends it to the control decision module. After receiving the new load adjustment plan, the control decision module sends an instruction to the control system to execute the new load adjustment plan, and the control system adjusts the load according to the new load adjustment plan.

2. The semi-submersible barge intelligent load adjustment system according to claim 1 is characterized in that: The calculation of the load adjustment scheme calculation module includes the following steps: First, several load adjustment scheme calculation conditions are automatically allocated according to the draft depth in the initial state, and each load adjustment scheme calculation condition corresponds to a predetermined draft depth; Then, based on the predetermined draft to be reached for each calculation condition, the initial state information and seawater density are used to calculate the amount of ballast water that needs to be added to each ballast tank. Then, based on the amount of ballast water that needs to be added, a loading adjustment plan corresponding to each calculation condition is formulated.

3. The semi-submersible barge intelligent load adjustment system according to claim 2 is characterized in that: The formulation of the load adjustment plan includes the following steps for each calculation condition: S1. According to the design principles of the semi-submersible barge ballast tank pipelines, ballast pumps and valves, formulate a load adjustment plan with high load adjustment efficiency under the current calculation conditions; S2. Calculate and determine whether the loading adjustment plan for the current calculation condition can control the heel and trim of the semi-submersible barge at the current stage to be zero; when the loading adjustment plan for the current calculation condition can control the heel and trim of the semi-submersible barge at the current stage to be zero, the loading adjustment plan for the current calculation condition is completed; when the loading adjustment plan for the current calculation condition cannot control the heel and trim of the semi-submersible barge at the current stage to be zero, the loading adjustment plan for the current calculation condition is re-formulated, and steps S1 and S2 are repeated until a loading adjustment plan for the current calculation condition that meets the conditions is obtained.

4. The semi-submersible barge intelligent load adjustment system according to claim 3 is characterized in that: After step S2, there is also step S3, which performs safety verification of the semi-submersible barge to determine whether it is safe; if it is safe, the process proceeds to specify the loading adjustment plan for the next calculation condition; if it is not safe, steps S1-S3 are repeated until the loading adjustment plan for the current calculation condition satisfies the safety verification of the semi-submersible barge.

5. The semi-submersible barge intelligent load adjustment system according to claim 4 is characterized in that: It also includes a load adjustment scheme library, in which the load adjustment schemes calculated by the load adjustment scheme calculation module are stored; After receiving the new initial state information, the load adjustment scheme calculation module first retrieves data from the load adjustment scheme library for matching to obtain an adapted load adjustment scheme in step S1; When the load adjustment scheme calculation module cannot obtain an adapted load adjustment scheme in the load adjustment scheme library, the load adjustment scheme calculation module recalculates a new load adjustment scheme for the diving or floating condition through new initial state information and sends it to the control decision module.

6. The semi-submersible barge intelligent load adjustment system according to claim 5 is characterized in that: In step S1, the selection method of the load adjustment scheme with high load adjustment efficiency includes: a. selecting a load adjustment scheme with a small number of ballast tanks to be adjusted; b. selecting a load adjustment scheme in which the load adjustment method is to transfer water between ballast tanks.

7. The semi-submersible barge intelligent load adjustment system according to any one of claims 1 to 6, characterized in that: The initial state information includes the empty ship weight distribution, cargo weight distribution, current ballast water weight distribution and current draft, wherein the empty ship weight distribution, cargo weight distribution and current ballast water weight distribution are all distribution conditions along the longitudinal direction of the semi-submersible barge.

8. The semi-submersible barge intelligent load adjustment system according to claim 7 is characterized in that: The initial state re-creation module calls the ballast tank water level monitoring of the monitoring system to obtain the current ballast water weight distribution; the initial state re-creation module calls the four-corner draft monitoring of the monitoring system to obtain the current draft depth.

9. The semi-submersible barge intelligent load adjustment system according to claim 7 is characterized in that: The cargo weight distribution includes the distribution of the load, transport equipment and piers on board.

10. The semi-submersible barge intelligent load adjustment system according to any one of claims 1 to 6, characterized in that: The assessment method of the stability safety risk assessment module is: The draft depth of the semi-submersible barge is calculated by using the four-corner draft monitoring data. Combined with the size of the semi-submersible barge, the buoyancy center of the semi-submersible barge-cargo system can be calculated. The ballast tank water level monitoring data is used to calculate the ballast water weight analysis of the semi-submersible barge. Combined with the empty ship weight distribution and cargo weight distribution, the center of gravity of the semi-submersible barge-cargo system can be calculated. Then, using the stability calculation theory in ship design, the relative positions of the center of buoyancy and the center of gravity, and the weight of the semi-submersible barge-cargo system, the control indexes of heel and trim to ensure the stability of the semi-submersible barge can be calculated; The heel and pitch of the semi-submersible barge are calculated by using the four-corner draft monitoring data. The calculated heel and pitch of the semi-submersible barge are compared with the control index to evaluate the stability and safety of the semi-submersible barge. When the monitoring data of the heel and pitch of the semi-submersible barge exceeds 80% of the control index, it is considered that there is a safety risk in the stability of the semi-submersible barge and it needs to be regulated.

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