Double-hook synchronism monitoring system and monitoring method for offshore platform

Abstract

The invention relates to a double-hook synchronism monitoring system and method for an offshore platform, and the system comprises a hoisting platform which is provided with a crane, the crane is provided with a suspension arm, the suspension arm is provided with a plurality of hoisting mechanisms, each hoisting mechanism is provided with a hoisting hook, and the hoisting platform is provided with a pile leg; the RTK measuring system is installed on the lifting platform, and the RTK measuring system is used for measuring the elevation dynamic positions of the multiple lifting hooks in real time; and the platform control system is in signal connection with the RTK measurement system, and the platform control system is used for controlling the hoisting mechanism according to the elevation dynamic position of the lifting hook obtained by the RTK measurement system, so that the elevation difference between different lifting hooks is within a limited threshold value. The lifting platform is stably fixed to the required operation position through the pile legs, so that the lifting platform forms a stable platform; and the RTK measuring system can be used for accurately measuring the elevation dynamic positions of a plurality of lifting hooks, so that the double-hook high-precision synchronous lifting operation is realized.

Description

Technical Field

[0001] The present application relates to the technical field of offshore platform lifting control, and in particular to a double-hook synchronization monitoring system and a monitoring method for an offshore platform. Background Art

[0002] At present, during marine lifting operations, double-hook synchronous lifting operations are often required, such as offshore wind turbine lifting, which places high demands on the synchronization of the double hooks of the marine lifting platform.

[0003] In the related technology, height sensors are generally used to locate the height position of the lifting hook. However, the accuracy of the height sensor is low and it is also greatly affected by the wind and waves at sea. Therefore, during the lifting process, it is necessary to repeatedly check whether the double hooks are synchronized, which reduces the lifting efficiency.

[0004] Therefore, it is necessary to design a new double-hook synchronization monitoring system and monitoring method for offshore platforms to overcome the above problems. Summary of the invention

[0005] The present application provides a double-hook synchronization monitoring system and a monitoring method for an offshore platform, which can solve the technical problems in the related art that the height sensor has low accuracy and is greatly affected by wind and waves.

[0006] In the first aspect, an embodiment of the present application provides a double-hook synchronization monitoring system for an offshore platform, comprising: a lifting platform, the lifting platform is provided with a crane, the crane has a boom, the boom is equipped with multiple lifting mechanisms, the lifting mechanism has a lifting hook, and the lifting platform is equipped with pile legs; an RTK measurement system, the RTK measurement system is installed on the lifting platform, the RTK measurement system is used to measure the dynamic elevation positions of multiple lifting hooks in real time; a platform control system, which is connected to the RTK measurement system signal, the platform control system is used to control the lifting mechanism according to the dynamic elevation positions of the lifting hooks obtained by the RTK measurement system, so that the elevation difference between different lifting hooks is within a specified threshold.

[0007] In combination with the first aspect, in one embodiment, the RTK measurement system includes: a base station, which is fixed to the lifting platform; a plurality of mobile stations, which are installed on the lifting hook; a positioning satellite and a data host, the positioning satellite, the base station and the mobile station are signal-connected, the data host is signal-connected to the mobile station, and the data host is signal-connected to the platform control system.

[0008] In combination with the first aspect, in one embodiment, the lifting mechanism includes a winch and a lifting drum connected to the winch, the lifting drum is fixed to the boom, the lifting drum is wound with a steel wire rope, and the steel wire rope is connected to the lifting hook, the lifting drum is also provided with an encoder, and the encoder is used to measure the amount of rope in and out of the steel wire rope; the frequency converter signal of the winch is connected to the platform control system, and the platform control system adjusts the rotation speed of the lifting drum by controlling the frequency converter.

[0009] In combination with the first aspect, in one embodiment, the lifting mechanism further includes a guide pulley, a movable pulley group and a fixed pulley group, the guide pulley and the fixed pulley group are fixed to the boom, and the movable pulley group is fixed to the lifting hook; the wire rope passes around the guide pulley and the fixed pulley group and is connected to the movable pulley group.

[0010] In combination with the first aspect, in one embodiment, the platform control system includes: a calculation module, which is used to calculate the flexibility value of the wire rope connecting the two lifting hooks according to the dynamic elevation positions of the two lifting hooks obtained by the RTK measurement system; a control module, which is used to control the rotation speed of the lifting drum based on the dynamic elevation positions of the two lifting hooks, the flexibility value of the wire rope connecting the two lifting hooks and the rotation speed deviation of the lifting drum when the elevation difference between the two lifting hooks exceeds a specified threshold, so that the elevation difference between the two lifting hooks is within a specified threshold.

[0011] In combination with the first aspect, in one embodiment, the calculation module is also used to calculate the lifting elevation change value of the two lifting hooks according to the dynamic elevation position of the two lifting hooks obtained by the RTK measurement system; and based on the lifting elevation change value of the two lifting hooks and the actual rope entry and exit amount of the wire rope, calculate the flexibility value of the wire rope connecting the two lifting hooks.

[0012] In a second aspect, an embodiment of the present application provides a method for monitoring the synchronicity of double hooks for an offshore platform, which comprises the following steps:

[0013] The lifting platform is driven to a suitable working position, and the pile legs on the lifting platform are lowered to the depth of the seawater soil; wherein a crane is provided on the lifting platform, the crane has a boom, the boom is equipped with a plurality of lifting mechanisms, and the lifting mechanisms have lifting hooks;

[0014] Use the RTK measurement system on the lifting platform to measure the dynamic position of multiple lifting hooks in real time;

[0015] According to the dynamic elevation position of the lifting hook obtained by the RTK measurement system, the lifting mechanism is controlled so that the elevation difference between different lifting hooks is within a specified threshold.

[0016] In conjunction with the second aspect, in one implementation, the RTK measurement system includes a base station fixed to a lifting platform, a mobile station installed on a lifting hook, a positioning satellite, and a data host; the method of using the RTK measurement system on the lifting platform to measure the dynamic positions of the elevations of multiple lifting hooks in real time includes:

[0017] Based on the data interaction between the base station, mobile station and positioning satellite, the position coordinates of the mobile station are calculated in real time, and the elevation dynamic position of the lifting hook is obtained based on the position coordinates of the mobile station.

[0018] In combination with the second aspect, in one implementation, the lifting mechanism includes a lifting drum wound with a wire rope; and controlling the lifting mechanism according to the dynamic elevation position of the lifting hook obtained by the RTK measurement system so that the elevation difference between different lifting hooks is within a defined threshold value includes:

[0019] Calculating the flexibility value of the steel wire rope connecting the two lifting hooks according to the dynamic elevation positions of the two lifting hooks obtained by the RTK measurement system;

[0020] When the elevation difference between the two lifting hooks exceeds a specified threshold, the rotation speed of the lifting drum is controlled based on the dynamic elevation positions of the two lifting hooks, the flexibility value of the wire rope connecting the two lifting hooks, and the rotation speed deviation of the lifting drum so that the elevation difference between the two lifting hooks is within the specified threshold.

[0021] In combination with the second aspect, in one implementation, the calculating the flexibility value of the wire rope connecting the two lifting hooks according to the elevation dynamic positions of the two lifting hooks obtained by the RTK measurement system includes:

[0022] The encoder at the hoisting drum is used to measure and feedback the actual amount of rope in and out of the wire rope connecting the two lifting hooks in real time;

[0023] Calculate the elevation change values ​​of the two lifting hooks according to the dynamic elevation positions of the two lifting hooks obtained by the RTK measurement system;

[0024] Based on the lifting height change values ​​of the two lifting hooks and the actual rope in and out amount of the wire rope, the flexibility value of the wire rope connecting the two lifting hooks is calculated.

[0025] The beneficial effects brought by the technical solution provided in the embodiments of the present application include:

[0026] By installing pile legs on the lifting platform, the lifting platform can be stably fixed to the required working position using the pile legs, so that the lifting platform forms a stable platform; the RTK measurement system on the lifting platform can accurately measure the dynamic elevation positions of multiple lifting hooks, and then quickly and accurately control the lifting mechanism, so that the elevation difference of the two hooks is within the specified threshold, realizing high-precision synchronous lifting operations of the two hooks, solving the technical problems of low accuracy of height sensors in related technologies and being greatly affected by wind and waves. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0028] Figure 1 A schematic diagram of the structure of a double-hook synchronization monitoring system for an offshore platform provided in an embodiment of the present application;

[0029] Figure 2 A schematic diagram of the structure of the interconnection between the RTK measurement system and the platform control system provided in the embodiment of the present application;

[0030] Figure 3 A schematic diagram of the structure of the lifting mechanism provided in the embodiment of the present application;

[0031] Figure 4 This is a schematic diagram of the structure of the lifting hook before and after lifting provided in an embodiment of the present application.

[0032] In the figure:

[0033] 1. Lifting platform;

[0034] 2. Crane; 21. Boom; 22. Lifting mechanism; 221. Lifting hook; 222. Lifting drum; 223. Wire rope; 224. Guide pulley; 225. Moving pulley block; 226. Fixed pulley block;

[0035] 3. Pile legs;

[0036] 4. RTK measurement system; 41. Base station; 42. Mobile station; 43. Positioning satellite; 44. Data host;

[0037] 5. Platform control system. DETAILED DESCRIPTION

[0038] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0039] The embodiments of the present application provide a double-hook synchronization monitoring system and a monitoring method for an offshore platform, which can solve the technical problems in the related art that the height sensor has low accuracy and is greatly affected by wind and waves.

[0040] See also Figure 1 and Figure 2 As shown, a double-hook synchronization monitoring system for an offshore platform provided by an embodiment of the present application comprises: a lifting platform 1, wherein the lifting platform 1 is provided with a crane 2, wherein the crane 2 has a boom 21, wherein the boom 21 is provided with a plurality of lifting mechanisms 22, wherein the lifting mechanisms 22 have lifting hooks 221, and wherein the lifting platform 1 is provided with pile legs 3; an RTK (Real-time kinematic) measurement system, wherein the RTK measurement system 4 is installed on the lifting platform 1, wherein the RTK measurement system 4 is used for real-time measurement of the elevation dynamic positions of the plurality of the lifting hooks 221; and a platform control system 5, which is connected to the RTK measurement system 4 by signal, wherein the platform control system 5 is used for controlling the lifting mechanism 22 according to the elevation dynamic positions of the lifting hooks 221 obtained by the RTK measurement system 4, so that the elevation difference between different lifting hooks 221 is within a defined threshold value △h max Inside.

[0041] See also Figure 1 As shown, the lifting platform 1 is a hull structure and can travel to any position on the sea; two lifting mechanisms 22 can be installed on the boom 21, and more lifting mechanisms 22 can be installed as needed. This embodiment takes the arrangement of two lifting mechanisms 22 on the boom 21 as an example for explanation. When two lifting mechanisms 22 are used for lifting operations, the lifting hooks 221 (i.e., double hooks) on the two lifting mechanisms 22 are required to perform the hooking operations synchronously.

[0042] In this embodiment, pile legs 3 are installed on the lifting platform 1. When the lifting platform 1 travels to an appropriate working position, the pile legs 3 can be lowered to the depth of the seawater soil. The lifting platform 1 can be stably fixed to the required working position by means of the pile legs 3, so that the lifting platform 1 forms a stable platform; the RTK measurement system 4 on the lifting platform 1 can accurately measure the dynamic elevation positions of multiple lifting hooks 221, and then the platform control system 5 can quickly and accurately control the lifting mechanism 22 for compensation control, so that the elevation difference of the double hooks is within a specified threshold, thereby realizing high-precision synchronous lifting operation of the double hooks. The present application combines the RTK real-time dynamic carrier phase difference technology with the offshore platform lifting control system, which can greatly improve the double-hook lifting accuracy of the offshore platform crane 2, significantly improve the efficiency of offshore lifting operations, and solve the technical problems of low accuracy of height sensors in related technologies and being greatly affected by wind and waves.

[0043] Preferably, see Figure 2 As shown, the RTK measurement system 4 may include: a base station 41, which is fixed to the lifting platform 1; a plurality of mobile stations 42, which are installed on the lifting hook 221; a positioning satellite 43 and a data host 44, the positioning satellite 43, the base station 41 and the mobile station 42 are signal-connected, the data host 44 is signal-connected to the mobile station 42, and the data host 44 is signal-connected to the platform control system 5. In this embodiment, each lifting hook 221 can be equipped with an independent mobile station 42 for measuring the position of the lifting hook 221. The base station 41 is installed in an open position on the lifting platform 1. Data can be exchanged between the base station 41 and the positioning satellite 43, and between the base station 41 and each mobile station 42. Data can also be exchanged between the positioning satellite 43 and each mobile station 42. The mobile station 42 can receive data transmitted by the base station 41 while receiving the signal of the positioning satellite 43, and then calculate the three-dimensional coordinates of the mobile station 42 in real time according to the principle of relative positioning, and then obtain the elevation dynamic position of the lifting hook 221 where the mobile station 42 is located according to the three-dimensional coordinates of the mobile station 42. Among them, the data host 44 can transmit the elevation dynamic position of each lifting hook 221 to the platform control system 5.

[0044] The current RTK technology is limited by the effects of wind and waves at sea, and the RTK base station 41 has high requirements for the stability of the installation position. Therefore, in the application on marine engineering ship equipment, it is limited to the configuration of the mobile station 42, and its base station 41 is often set on land. In this way, when the marine engineering ship equipment is in the offshore area, its positioning application is more accurate, and when the hull travels to the deep water area, the application of RTK is often limited to the positioning of the ship equipment itself, and more precise applications are often unable to be expanded. In this application, since the lifting platform 1 can completely form a stable platform structure after the pile legs 3 are lowered, the RTK technology is expanded and applied in this application to break the original limitations. Even when performing lifting operations in deep sea areas, the RTK measurement system 4 can be used to accurately measure the position of the lifting hook 221.

[0045] The dynamic height measurement accuracy of the RTK measurement system 4 in this embodiment is ±(15+1×10 -6 ×D)mm (where D is the distance between the mobile station 42 and the base station 41. The base station 41 is on the lifting platform 1 and the distance between it and the mobile station 42 is less than 1KM. The accumulated measurement error is negligible). The positioning operation of the mobile station 42 is completed by exchanging data with the positioning satellite 43.

[0046] Further, in one embodiment, see Figure 3 As shown, the lifting mechanism 22 includes a winch and a lifting drum 222 connected to the winch, the lifting drum 222 is fixed to the boom 21, a steel wire rope 223 is wound around the lifting drum 222, and the steel wire rope 223 is connected to the lifting hook 221, and the lifting drum 222 is also provided with an encoder for measuring the amount of rope in and out of the steel wire rope 223; the inverter signal of the winch is connected to the platform control system 5, and the platform control system 5 adjusts the rotation speed of the lifting drum 222 by controlling the inverter. In this embodiment, the wire rope 223 can be directly connected to the lifting hook 221, or it can be indirectly connected to the lifting hook 221. In this embodiment, the indirect connection method is preferably adopted; the winch can drive the lifting drum 222 to rotate, and then retract the wire rope 223, so that the wire rope 223 drives the lifting hook 221 to rise or fall; at the same time, the encoder set on the lifting drum 222 can accurately measure the amount of wire rope 223 on the two lifting drums 222 in real time, which is recorded as L 1 With L 2 The encoder is also connected to the platform control system 5, and can send the measured amount of wire rope 223 in and out to the platform control system 5, so that the platform control system 5 can calculate the flexibility value k of the wire rope 223 based on the amount of wire rope 223 in and out and the elevation dynamic position of the lifting hook 221. 1 , k 2 .

[0047] On the basis of the above technical solution, preferably, the lifting mechanism 22 further includes a guide pulley 224, a movable pulley group 225 and a fixed pulley group 226, the guide pulley 224 and the fixed pulley group 226 are fixed to the boom 21, the movable pulley group 225 is fixed to the lifting hook 221; the wire rope 223 passes through the guide pulley 224 and the fixed pulley group 226 and is connected to the movable pulley group 225. Figure 3 As shown, in this embodiment, the lifting hook 221 is located at the front lower part of the boom 21, and the lifting hook 221 and the movable pulley block 225 are installed together to form a hook system. The guide pulley 224 can guide the wire rope 223 so that the wire rope 223 is coiled along a specific route to the fixed pulley block 226. The guide pulley 224 and the fixed pulley block 226 are both fixed. The movable pulley block 225 is connected to the fixed pulley block 226 by the wire rope 223, and the movable pulley block 225 can move relative to the fixed pulley block 226.

[0048] Furthermore, in one embodiment, the platform control system 5 may include: a calculation module, which is used to calculate the flexibility value of the wire rope 223 connecting the two lifting hooks 221 according to the elevation dynamic positions of the two lifting hooks 221 obtained by the RTK measurement system 4; a control module, which is used to control the rotation speed of the lifting drum 222 based on the elevation dynamic positions of the two lifting hooks 221, the flexibility value of the wire rope 223 connecting the two lifting hooks 221 and the rotation speed deviation of the lifting drum 222 when the elevation difference between the two lifting hooks 221 exceeds a specified threshold, so that the elevation difference between the two lifting hooks 221 is within a specified threshold.

[0049] In actual lifting operations, the two most critical factors affecting the synchronization of the operation of the lifting hook 221 are the rotation speed of the drum and the flexibility of the wire rope 223. In this embodiment, the flexibility value of the wire rope 223 connected to each lifting hook 221 can be calculated using the elevation dynamic position of the lifting hook 221, and the influence of the flexibility of the wire rope 223 on the elevation difference can be obtained. Correspondingly, the rotation speed deviation of the lifting drum 222 corresponding to the two lifting hooks 221 can also be analyzed. The flexibility of the wire rope 223 and the rotation speed deviation of the lifting drum 222 are comprehensively analyzed. When the elevation difference between the two lifting hooks 221 exceeds the limited threshold value △h max Afterwards, the control module can accurately and effectively perform compensation control on the lifting mechanism 22 to achieve high-precision synchronous lifting operations of the double hooks.

[0050] Furthermore, in some optional embodiments, the calculation module is also used to calculate the lifting elevation change value of the two lifting hooks 221 according to the dynamic elevation positions of the two lifting hooks 221 obtained by the RTK measurement system 4; and based on the lifting elevation change value of the two lifting hooks 221 and the actual rope entry and exit amount of the wire rope 223, calculate the flexibility value of the wire rope 223 connecting the two lifting hooks 221.

[0051] See also Figure 4 As shown in the embodiment, the RTK measurement and positioning technology can be used to accurately measure the elevation dynamic position of the left and right double lifting hooks 221 of the lifting platform 1, so as to calculate the elevation difference △h between the two. The two lifting hooks 221 in the figure are respectively denoted as G 1 With G 2 During the operation, the lifting height of both can also be accurately recorded as △H G1 and △H G2 , where △H G1 =H G11 -H G12 , △H G2 =H G21 -H G22 , H G11 G 1 The dynamic position of the lifting hook 221 before it rises, H G12 G 1 The dynamic elevation position of the lifting hook 221 after it rises, H G21 G 2 The dynamic position of the lifting hook 221 before it rises, H G22 G 2 The dynamic position of the lifting hook 221 after it rises. At the same time, the lifting drum 222 in the above figure is equipped with a precise encoder, which can measure the rope in and out volume L of the two lifting drums 222 in real time. 1 , L 2 , L 1 To connect G 1 The amount of wire rope 223 of the lifting hook 221 entering and exiting the wire rope, L 2 To connect G 2 The amount of wire rope 223 of the lifting hook 221 entering and exiting the wire rope. G1 With △H G2 After calculating the theoretical value of the wire rope 223 on the two lifting drums 222 in combination with the pulley ratio m, the actual amount of rope in and out L 1 , L 2 By comparison, the flexibility value k of the steel wire rope 223 on the two lifting drums 222 can be obtained. 1 , k 2 .

[0052] The specific calculation method is:1 =2m×△H G1 / L 1 , k 2 =2m×△H G2 / L 2 , m is the pulley ratio. In the lifting machinery, the pulley ratio m is the number of movable pulleys in the movable pulley block 225 or the number of fixed pulleys in the fixed pulley block 226. Figure 3 In the example, for a single lifting mechanism 22, there are 10 fixed pulleys and 10 movable pulleys, and the pulley ratio is 10 times, that is, m=10.

[0053] The embodiment of the present application also provides a method for monitoring the synchronicity of double hooks for an offshore platform, which may include the following steps:

[0054] S1: Drive the lifting platform 1 to a suitable working position, and lower the pile legs 3 on the lifting platform 1 to the depth of the seawater soil; wherein, a crane 2 is provided on the lifting platform 1, and the crane 2 has a boom 21, and the boom 21 is equipped with a plurality of lifting mechanisms 22, and the lifting mechanisms 22 have lifting hooks 221.

[0055] S2: Use the RTK measurement system 4 on the lifting platform 1 to measure the dynamic elevation positions of multiple lifting hooks 221 in real time.

[0056] S3: According to the dynamic elevation position of the lifting hook 221 obtained by the RTK measurement system 4, the lifting mechanism 22 is controlled so that the elevation difference between different lifting hooks 221 is within a specified threshold.

[0057] The offshore platform double-hook synchronization monitoring method in this embodiment can be monitored by using the offshore platform double-hook synchronization monitoring system provided in any of the above embodiments, which will not be described in detail here.

[0058] Furthermore, in one embodiment, the RTK measurement system 4 includes a base station 41 fixed on the lifting platform 1, a mobile station 42 installed on the lifting hook 221, a positioning satellite 43 and a data host 44; the RTK measurement system 4 on the lifting platform 1 is used to measure the elevation dynamic positions of multiple lifting hooks 221 in real time, including: based on the data interaction between the base station 41, the mobile station 42 and the positioning satellite 43, the position coordinates of the mobile station 42 are calculated in real time, and the elevation dynamic position of the lifting hook 221 is obtained based on the position coordinates of the mobile station 42.

[0059] Furthermore, in one embodiment, the lifting mechanism 22 includes a lifting drum 222 wound with a wire rope 223; the lifting mechanism 22 is controlled according to the elevation dynamic position of the lifting hook 221 obtained by the RTK measurement system 4, so that the elevation difference between different lifting hooks 221 is within a defined threshold value △hmax Included:

[0060] S31: Calculate the flexibility value of the steel wire rope 223 connecting the two lifting hooks 221 according to the elevation dynamic positions of the two lifting hooks 221 obtained by the RTK measurement system 4.

[0061] S32: When the height difference between the two lifting hooks 221 exceeds the defined threshold value △h max When the lifting hook 221 is lifted, the rotation speed of the lifting drum 222 is controlled based on the dynamic elevation positions of the two lifting hooks 221, the flexibility value of the wire rope 223 connecting the two lifting hooks 221, and the rotation speed deviation of the lifting drum 222, so that the elevation difference between the two lifting hooks 221 is within the defined threshold value Δh. max Inside.

[0062] Further, in one embodiment, the calculation of the flexibility value of the wire rope 223 connecting the two lifting hooks 221 according to the elevation dynamic positions of the two lifting hooks 221 obtained by the RTK measurement system 4 includes:

[0063] S311: Use the encoder at the lifting drum 222 to measure and feedback the actual amount of rope in and out of the wire rope 223 connecting the two lifting hooks 221 in real time.

[0064] S312: Calculate the elevation change values ​​of the two lifting hooks 221 according to the dynamic elevation positions of the two lifting hooks 221 obtained by the RTK measurement system 4.

[0065] S313: Based on the lifting height change values ​​of the two lifting hooks 221 and the actual rope in and out amount of the wire rope 223, the flexibility value of the wire rope 223 connecting the two lifting hooks 221 is calculated.

[0066] In the above embodiment, when a large-tonnage precision lifting operation is required at sea, when the lifting platform 1 travels to an appropriate operating position, the pile legs 3 are lowered to the depth of the seawater soil, and after ensuring that the lifting platform 1 is in a stable state and the base station 41 is in a stable state, the data host 44 is operated to calibrate the current position of the base station 41, and the initial height position H of the two lifting hooks 221 is measured and recorded. G11 and H G21 , and monitor the real-time position of the mobile station 42 on the lifting hook 221 in real time.

[0067] Before starting the formal lifting operation, a test operation can be completed first to obtain the reference adjustment parameters of the lifting mechanism 22 (such as the flexibility value of the wire rope 223), load a certain counterweight on the lifting hooks 221 on both sides (operating weights can also be used, calibrated and adjusted during the first lifting operation), and then lift it to a certain position. The mobile station 42 will provide real-time feedback on the current dynamic position H of the lifting hooks 221 on both sides. G12 and H G22 After the data host 44 transmits the data, the platform control system 5 calculates and records the relative elevation position △h (△h=H G12 -H G22 ), and the elevation change values ​​△H of the lifting hooks 221 on both sides G1 (△H G1 =H G11 -H G12 ) and △H G2 (△H G2 =H G21 -H G22 ). At the same time, the encoder at the hoisting drum 222 measures and feeds back the rope length L of the wire rope 223 on both sides during the hoisting operation in real time. 1 , L 2 and the difference △L of the output rope to the platform control system 5, the flexibility value k of the steel wire rope 223 on both sides can be calculated respectively 1 and k 2 (where k 1 =2m×△H G1 / L 1 , k 2 =2m×△H G2 / L 2 , m is the pulley ratio), by comparing the flexibility of the wire rope 223 and the difference △h, △L, the influence of the rotation speed synchronization of the lifting drum 222 on the lifting operation of the two lifting hooks 221 is analyzed at the same time, and the above influences are comprehensively analyzed, and the maximum elevation difference △h of the two lifting hooks 221 is preset in the program system max In the subsequent operation, when the height difference between the two lifting hooks 221 exceeds the preset value △h max The platform control system 5 sends a command to the frequency converter of the winch to compensate for the elevation difference between the two lifting hooks 221.

[0068] During the formal lifting operation, the mobile station 42 will also provide real-time feedback of the current dynamic position H of the lifting hooks 221 on both sides. G12 and H G22 Similarly, when operating under different lifting conditions, the platform control system 5 will repeat the test operation and analyze the flexibility value k of the wire rope 223 under the current operating conditions in real time. 1 and k 2And other related parameters, and compare the data with the coefficients during the test operation, and further accurately analyze the impact of the flexibility of the wire rope 223 and the synchronization of the lifting drum 222 on the synchronization of the current lifting hook 221 operation. In this way, when the elevation display data △h of the lifting hook 221 on both sides differs by more than △h max After that, the data host 44 transmits the current data to the platform control system 5. After combining the analysis of the synchronization of the two drum speeds and the influence of the flexibility of the wire rope 223, the platform control system 5 will issue more accurate compensation instructions to the frequency converter of the crane 2 in real time, and complete the synchronous monitoring and control of the lifting weights of the two lifting hooks 221 by controlling the speed of the lifting drum 222 of the lifting mechanism 22.

[0069] In the description of the present application, it should be noted that the terms "upper", "lower", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application. Unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be a connection between the two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to the specific circumstances.

[0070] It should be noted that, in this application, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0071] The above description is only a specific implementation of the present application, so that those skilled in the art can understand or implement the present application. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to the embodiments shown herein, but will conform to the widest range consistent with the principles and novel features applied for herein.

Claims

1. A double-hook synchronization monitoring system for an offshore platform, characterized in that: It includes: A lifting platform (1), wherein the lifting platform (1) is provided with a crane (2), wherein the crane (2) has a boom (21), wherein the boom (21) is provided with a plurality of lifting mechanisms (22), wherein the lifting mechanisms (22) have lifting hooks (221), and wherein the lifting platform (1) is provided with pile legs (3); An RTK measurement system (4), the RTK measurement system (4) being installed on the lifting platform (1), the RTK measurement system (4) being used for measuring the dynamic elevation positions of a plurality of the lifting hooks (221) in real time; A platform control system (5) is connected to the RTK measurement system (4) by signal, and the platform control system (5) is used to control the lifting mechanism (22) according to the dynamic elevation position of the lifting hook (221) obtained by the RTK measurement system (4), so that the elevation difference between different lifting hooks (221) is within a specified threshold.

2. The double-hook synchronization monitoring system for offshore platforms according to claim 1, characterized in that: The RTK measurement system (4) comprises: A base station (41), the base station (41) being fixed to the lifting platform (1); A plurality of mobile stations (42), wherein the mobile stations (42) are mounted on the lifting hook (221); A positioning satellite (43) and a data host (44), wherein the positioning satellite (43), the base station (41) and the mobile station (42) are signal-connected, the data host (44) is signal-connected to the mobile station (42), and the data host (44) is signal-connected to the platform control system (5).

3. The double-hook synchronization monitoring system for offshore platforms according to claim 1, characterized in that: The lifting mechanism (22) comprises a hoist and a lifting drum (222) connected to the hoist, the lifting drum (222) is fixed to the boom (21), a steel wire rope (223) is wound around the lifting drum (222), and the steel wire rope (223) is connected to the lifting hook (221), and the lifting drum (222) is also provided with an encoder, and the encoder is used to measure the amount of rope in and out of the steel wire rope (223); The frequency converter signal of the hoist is connected to the platform control system (5), and the platform control system (5) adjusts the rotation speed of the lifting drum (222) by controlling the frequency converter.

4. The double-hook synchronization monitoring system for offshore platforms according to claim 3, characterized in that: The lifting mechanism (22) further comprises a guide pulley (224), a movable pulley group (225) and a fixed pulley group (226); the guide pulley (224) and the fixed pulley group (226) are fixed to the boom (21), and the movable pulley group (225) is fixed to the lifting hook (221); The steel wire rope (223) passes through the guide pulley (224) and the fixed pulley block (226) and is connected to the movable pulley block (225).

5. The double-hook synchronization monitoring system for offshore platforms according to claim 1, characterized in that: The platform control system (5) comprises: A calculation module, which is used to calculate the flexibility value of the steel wire rope (223) connecting the two lifting hooks (221) according to the elevation dynamic positions of the two lifting hooks (221) obtained by the RTK measurement system (4); A control module is used to control the rotation speed of the lifting drum (222) when the elevation difference between the two lifting hooks (221) exceeds a specified threshold value, based on the elevation dynamic positions of the two lifting hooks (221), the flexibility value of the wire rope (223) connecting the two lifting hooks (221), and the rotation speed deviation of the lifting drum (222), so that the elevation difference between the two lifting hooks (221) is within the specified threshold value.

6. The double-hook synchronization monitoring system for offshore platforms according to claim 5, characterized in that: The calculation module is also used to calculate the elevation change value of the two lifting hooks (221) according to the elevation dynamic positions of the two lifting hooks (221) obtained by the RTK measurement system (4); Based on the change in the lifting height of the two lifting hooks (221) and the actual amount of rope in and out of the steel wire rope (223), the flexibility value of the steel wire rope (223) connecting the two lifting hooks (221) is calculated.

7. A method for monitoring the synchronicity of double hooks for an offshore platform, characterized in that: It includes the following steps: The lifting platform (1) is driven to a suitable working position, and the pile legs (3) on the lifting platform (1) are lowered to a depth of seawater soil; wherein a crane (2) is provided on the lifting platform (1), and the crane (2) has a boom (21), and the boom (21) is equipped with a plurality of lifting mechanisms (22), and the lifting mechanisms (22) have lifting hooks (221); Using an RTK measurement system (4) on the lifting platform (1) to measure the dynamic elevation positions of a plurality of lifting hooks (221) in real time; According to the dynamic elevation position of the lifting hook (221) obtained by the RTK measurement system (4), the lifting mechanism (22) is controlled so that the elevation difference between different lifting hooks (221) is within a specified threshold.

8. The method for monitoring the synchronicity of double hooks for offshore platforms according to claim 7, characterized in that: The RTK measurement system (4) comprises a base station (41) fixed to the lifting platform (1), a mobile station (42) installed on the lifting hook (221), a positioning satellite (43) and a data host (44); the RTK measurement system (4) on the lifting platform (1) is used to measure the dynamic positions of the elevations of a plurality of lifting hooks (221) in real time, comprising: Based on the data interaction between the base station (41), the mobile station (42) and the positioning satellite (43), the position coordinates of the mobile station (42) are calculated in real time, and the elevation dynamic position of the lifting hook (221) is obtained based on the position coordinates of the mobile station (42).

9. The method for monitoring the synchronicity of double hooks for offshore platforms according to claim 7, characterized in that: The lifting mechanism (22) comprises a lifting drum (222) wound with a steel wire rope (223); and the lifting mechanism (22) is controlled according to the dynamic elevation position of the lifting hook (221) obtained by the RTK measurement system (4) so ​​that the elevation difference between different lifting hooks (221) is within a defined threshold, comprising: Calculating the flexibility value of the steel wire rope (223) connecting the two lifting hooks (221) according to the elevation dynamic positions of the two lifting hooks (221) obtained by the RTK measurement system (4); When the elevation difference between the two lifting hooks (221) exceeds a specified threshold, the rotation speed of the lifting drum (222) is controlled based on the elevation dynamic positions of the two lifting hooks (221), the flexibility value of the steel wire rope (223) connecting the two lifting hooks (221), and the rotation speed deviation of the lifting drum (222) so that the elevation difference between the two lifting hooks (221) is within the specified threshold.

10. The method for monitoring the synchronicity of double hooks for offshore platforms according to claim 9, characterized in that: The step of calculating the flexibility value of the steel wire rope (223) connecting the two lifting hooks (221) according to the elevation dynamic positions of the two lifting hooks (221) obtained by the RTK measurement system (4) comprises: An encoder at the lifting drum (222) is used to measure and feedback in real time the actual amount of rope in and out of the steel wire rope (223) connecting the two lifting hooks (221); Calculating the elevation change values ​​of the two lifting hooks (221) according to the elevation dynamic positions of the two lifting hooks (221) obtained by the RTK measurement system (4); Based on the lifting height change value of the two lifting hooks (221) and the actual rope in and out amount of the steel wire rope (223), the flexibility value of the steel wire rope (223) connecting the two lifting hooks (221) is calculated.

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