A method for positioning parameters of underwater mud attack crane based on bottom-seated construction mother ship

Abstract

The invention discloses a method for positioning parameters of an underwater mud attack device crane based on a bottom-seated construction mother ship, which belongs to the technical field of shipwreck salvage. The method comprises the following steps: scanning and surveying a sunken ship to be attacked with a jack hole and constructing a bottom-seated construction mother ship position map; adding an underwater mud attack device to the optimized position map and designing a placement position; determining an operating radius R and a rotation angle θ when a crane is used to lower the underwater mud attack device; lowering the underwater mud attack device by the crane and adjusting the placement position and orientation; the crane hook drives the underwater mud attack device to touch the seabed mud surface and sit firmly and start the process of attacking the jack hole; when the first jack hole process is completed, repeating the above steps to position the underwater mud attack device at other jack hole positions; the method is mainly applied to the situation where the bottom-seated ship is used as a salvage construction mother ship, and based on the characteristic that the absolute position of the bottom-seated construction mother ship does not change substantially after the bottom-seating is completed, the underwater mud attack device can be accurately and efficiently positioned to meet the construction requirements of attacking the jack hole.

Description

Technical Field

[0001] The invention belongs to the technical field of shipwreck salvage, and in particular relates to a method for positioning parameters of an underwater mud-tapping crane based on a bottom-seated construction mother ship. Background Art

[0002] In the overall salvage process of the sunken ship, it is very important to pass the salvage wire rope through the bottom of the sunken ship. Before threading the salvage wire rope, a bottom jack hole should be drilled at the bottom of the sunken ship. This work is done underwater. The traditional way to drill the jack hole is to drill it manually, which is inefficient and has a high risk factor. With the application of land-based trenchless technology in salvage operations, the efficiency of drilling the jack hole has been greatly improved, but this set of equipment is arranged on the deck of the construction ship above the water surface and is greatly affected by sea conditions. With the development and progress of technology, an integrated underwater mud tapping device that can sit on the bottom and is not affected by sea conditions has been developed and gradually applied to salvage projects.

[0003] How to accurately locate the underwater mud tapping device is crucial in the process of drilling the jack hole. The conventional positioning method is the underwater beacon positioning method. However, when the construction mother ship is a bottom-seated ship, the underwater beacon signal will be unstable due to reflection interference. If the underwater mud tapping device is not accurately positioned, it will cause a large deviation in the subsequent bottom-threading steel wire, affecting the reliability and safety of the construction. Summary of the invention

[0004] The purpose of the present invention is to provide a method for positioning parameters of an underwater mud-tapping crane based on a bottom-mounted construction mother ship to solve the problems raised by the above-mentioned background technology.

[0005] In order to solve the above technical problems, the present invention is achieved through the following technical solutions:

[0006] A method for positioning parameters of an underwater mud-tapping crane based on a bottom-seated construction mother ship comprises the following steps:

[0007] Step 1: Scan the sunken ship to be attacked to determine the longitude and latitude, and design the location of the proposed attack hole according to the scanned longitude and latitude, and construct the position map of the mother ship for bottom construction;

[0008] Step 2: The bottom-seating construction mother ship enters the site and lays anchor according to the position of the ship position map. The bottom-seating construction mother ship is arranged parallel to the sunken ship, and the bottom-seating construction mother ship performs the bottom-seating operation;

[0009] Step 3: After the bottom-seating construction mother ship is finished, the actual position of the bottom-seating construction mother ship is reviewed, and the ship position diagram is adjusted according to the actual position. The underwater mud tapping device is added to the optimized ship position diagram. In the ship position diagram, the crane rotation center is connected with the underwater mud tapping device lifting point, and the placement position of the underwater mud tapping device is designed;

[0010] Step 4: The length of the line between the crane center of the bottom construction mother ship and the design position of the underwater mud tapping device is the operating radius R when the crane is lifting and placing the underwater mud tapping device. The angle θ between the line between the crane center of the bottom construction mother ship and the design position of the underwater mud tapping device and the length direction of the bottom construction mother ship is the rotation angle of the crane lifting and placing the underwater mud tapping device, thereby determining the only placement position of the underwater mud tapping device;

[0011] Step 5: The hook on the crane is connected to the lifting rigging of the underwater mud tapping device, driving the underwater mud tapping device to be lifted and adjusting the placement of the underwater mud tapping device according to the crane operation radius R and the crane rotation angle θ designed in the ship position diagram in step 4;

[0012] Step 6: The hook of the bottom construction mother ship is lowered to lower the underwater mud tapping device to a position 1m away from the mud surface, and the underwater mud tapping device is oriented by the compass orientation system and propeller adjustment system of the underwater mud tapping device;

[0013] Step 7: After the underwater mud attack device is oriented, the hook of the bottom construction mother ship continues to fall until the underwater mud attack device touches the seabed mud surface and sits firmly. At this point, the positioning of the underwater mud attack device is completed, and the subsequent drilling process of the jack hole is started;

[0014] Step 8: After the first jack hole process is completed, repeat steps 1 to 7 to position the underwater mud tapping device at other jack hole locations.

[0015] Furthermore, in the step 1, when constructing the position diagram of the mother ship for bottom construction, it is necessary to consider that the crane operation radius covers the location of the jack hole to be attacked.

[0016] Furthermore, when constructing the position map of the bottom-seating construction mother ship in the step 1, a distance of 40m-50m is maintained between the bottom-seating construction mother ship and the sunken ship.

[0017] Furthermore, in the step three, a GPS is provided above the driving cabin of the mother ship for the bottom construction, and the relative position relationship between the mother ship and the sunken ship is determined based on the latitude and longitude coordinates displayed by the GPS and its actual position.

[0018] Furthermore, in the step three, when the underwater mud attack device is added to the optimized ship position map, the bow direction of the underwater mud attack device coincides with the direction of the jack hole to be attacked on the sunken ship.

[0019] Furthermore, in step three, the underwater mud attack device maintains an operating distance of 20m-30m from the side of the sunken ship.

[0020] Furthermore, in step five, after the underwater mud tapping device is placed in place, the actual position of the underwater mud tapping device is confirmed and verified by a diver.

[0021] Furthermore, the bottom-standing construction mother ship is a fully revolving crane ship.

[0022] The present invention has the following beneficial effects:

[0023] 1. The method for positioning the underwater mud attack crane parameters based on the bottom-seated construction mother ship is mainly used in the case where the bottom-seated construction mother ship is used as the salvage construction mother ship. Based on the characteristic that the absolute position of the bottom-seated construction mother ship basically does not change after the bottom-seated construction mother ship is completed, the underwater mud attack crane can be accurately and efficiently positioned;

[0024] 2. The positioning method of the underwater mud attack crane parameters based on the bottom construction mother ship, the positioning error mainly comes from the error of the ship's GPS positioning system itself, which can be controlled within 1m, meeting the construction requirements of attacking the jack hole, improving the density of the design and layout of the jack hole in the subsequent construction process, and increasing the flexibility and adaptability of the solution;

[0025] 3. The positioning method of underwater mud attack crane parameters based on the bottom construction mother ship is simple and easy to operate. It does not require additional positioning equipment or personnel. At the same time, the positioning is relatively fast, which can save the time used in the process of attacking the jackhole, improve the salvage efficiency of the overall project, reduce the time of ship machinery and manpower on site, and further reduce the salvage cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for describing the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative work.

[0027] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0028] Figure 2 It is a structural schematic diagram of the initial position of the crane of the present invention.

[0029] In the picture, 1. The sunken ship; 2. The mother ship for construction on the bottom; 3. GPS; 4. The underwater mud attack device; 5. The crane. DETAILED DESCRIPTION

[0030] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0031] See also Figure 1-2 As shown, the present invention is a method for positioning parameters of an underwater mud attack crane based on a bottom-seated construction mother ship, comprising the following steps:

[0032] Step 1: Scan the sunken ship 1 to be attacked to determine the longitude and latitude, and design the location of the proposed attack hole according to the scanned longitude and latitude, and construct the position map of the mother ship 2 for bottom construction;

[0033] Step 2: The bottom-seating construction mother ship 2 enters the site and lays anchor according to the position of the ship position map, and the bottom-seating construction mother ship 2 is arranged parallel to the sunken ship 1, and the bottom-seating construction mother ship 2 performs the bottom-seating operation;

[0034] Step 3: After the bottom-seating construction mother ship 2 is completed, the actual position of the bottom-seating construction mother ship 2 is reviewed, and the ship position diagram is adjusted according to the actual position, and the underwater mud tapping device 4 is added to the optimized ship position diagram. After the rotation center of the crane 5 is connected to the lifting point of the underwater mud tapping device 4 in the ship position diagram, the placement position of the underwater mud tapping device 4 is designed;

[0035] Step 4: The length of the line connecting the center of the crane 5 of the bottom construction mother ship 2 and the design position of the underwater mud tapping device 4 is the operation radius R when the crane 5 is lifting and placing the underwater mud tapping device 4, and the angle θ between the line connecting the center of the crane 5 of the bottom construction mother ship 2 and the design position of the underwater mud tapping device 4 and the length direction of the bottom construction mother ship 2 is the rotation angle of the crane 5 for lifting and placing the underwater mud tapping device 4, thereby determining the only placement position of the underwater mud tapping device 4;

[0036] Step 5: The hook on the crane 5 is connected to the lifting rigging of the underwater mud tapping device 4, driving the underwater mud tapping device 4 to lift and adjusting the placement position of the underwater mud tapping device 4 according to the crane 5 operating radius R and the crane 5 rotation angle θ designed in the ship position diagram in step 4;

[0037] Step 6: The bottom construction mother ship 2 lowers the hook to lower the underwater mud tapping device 4 to a position 1m away from the mud surface, and orients the underwater mud tapping device 4 by relying on the compass orientation system and propeller adjustment system of the underwater mud tapping device 4;

[0038] Step 7: After the orientation work of the underwater mud attack device 4 is completed, the hook of the bottom construction mother ship 2 continues to fall until the underwater mud attack device 4 touches the seabed mud surface and sits firmly. At this point, the positioning work of the underwater mud attack device 4 is completed, and the subsequent drilling process of the jack hole is started;

[0039] Step 8: After the first jack hole process is completed, repeat steps 1 to 7 to position the underwater mud tapping device 4 at other jack hole locations.

[0040] In the step 1, when constructing the position diagram of the bottom construction mother ship 2, it is necessary to consider that the operating radius of the crane 5 covers the position of the jack hole to be attacked.

[0041] When constructing the position diagram of the bottom-seating construction mother ship 2 in the step 1, the distance between the bottom-seating construction mother ship 2 and the sunken ship 1 is maintained at 40m-50m.

[0042] In the step 3, a GPS 3 is provided above the driving room of the bottom construction mother ship 2, and the relative position relationship between the mother ship 2 and the sunken ship 1 is determined based on the latitude and longitude coordinates displayed by the GPS 3 and its actual position.

[0043] In the step 3, when the underwater mud attack device 4 is added to the optimized ship position map, the bow direction of the underwater mud attack device 4 coincides with the direction of the jack hole to be attacked on the sunken ship 1.

[0044] In step three, the underwater mud attack device 4 maintains an operating distance of 20m-30m from the side of the sunken ship 1.

[0045] In the step 5, after the underwater mud tapping device 4 is placed in place, the actual position of the underwater mud tapping device 4 is confirmed and checked by a diver.

[0046] The bottom-seating construction mother ship 2 is a fully revolving crane ship.

[0047] The present invention is mainly applied to the case where the bottom-seating ship is used as a salvage construction mother ship. Based on the characteristic that the absolute position of the bottom-seating construction mother ship 2 does not change substantially after the bottom-seating is completed, the underwater mud attack device 4 can be accurately and efficiently positioned.

[0048] The positioning error of the present invention mainly comes from the error of the ship's GPS 3 positioning system itself, which can be controlled within 1m, meeting the construction requirements of attacking the jack holes, improving the density of the design and layout positions of the jack holes in the subsequent construction process, and increasing the flexibility and adaptability of the solution;

[0049] The present invention is highly operable, does not require additional positioning equipment or personnel, and is relatively quick to locate, which can save time used in the process of drilling the jackhole, improve the salvage efficiency of the overall project, reduce the time of ships, engines and labor on site, and further reduce the salvage cost.

[0050] In the description of this specification, the description with reference to the terms "one embodiment", "example", "specific example", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0051] The preferred embodiments of the present invention disclosed above are only used to help illustrate the present invention. The preferred embodiments do not describe all the details in detail, nor do they limit the invention to the specific implementation methods described. Obviously, many modifications and changes can be made according to the content of this specification. This specification selects and specifically describes these embodiments in order to better explain the principles and practical applications of the present invention, so that those skilled in the art can understand and use the present invention well. The present invention is limited only by the claims and their full scope and equivalents.

Claims

1. A method for positioning parameters of an underwater mud-tapping crane based on a bottom-seated construction mother ship, characterized in that: The following steps are involved: Step 1: Scan the sunken ship (1) to be attacked to determine the longitude and latitude, and design the location of the proposed attack hole based on the scanned longitude and latitude, and construct a ship position map of the mother ship (2) for bottom construction; Step 2: The bottom-seating construction mother ship (2) enters the site and lays anchor in place according to the position of the ship position map, and the bottom-seating construction mother ship (2) is arranged parallel to the sunken ship (1), and the bottom-seating construction mother ship (2) performs the bottom-seating operation; Step 3: After the bottom-seating construction mother ship (2) is seated, the actual position of the bottom-seating construction mother ship (2) is checked, and the ship position diagram is adjusted according to the actual position, and the underwater mud tapping device (4) is added to the optimized ship position diagram. After the rotation center of the crane (5) is connected to the lifting point of the underwater mud tapping device (4) in the ship position diagram, the placement position of the underwater mud tapping device (4) is designed; Step 4: The length of the line connecting the center of the crane (5) of the bottom construction mother ship (2) and the designed position of the underwater mud tapping device (4) is the operation radius R when the crane (5) is used to lift and place the underwater mud tapping device (4); the angle θ between the line connecting the center of the crane (5) of the bottom construction mother ship (2) and the designed position of the underwater mud tapping device (4) and the length direction of the bottom construction mother ship (2) is the rotation angle of the crane (5) when lifting and placing the underwater mud tapping device (4), thereby determining the only placement position of the underwater mud tapping device (4); Step 5: The hook on the crane (5) is connected to the lifting rigging of the underwater mud tapping device (4), driving the underwater mud tapping device (4) to be lifted and adjusting the placement position of the underwater mud tapping device (4) according to the crane (5) operating radius R and the crane (5) rotation angle θ designed according to the ship position diagram in step 4; Step 6: The bottom-seated construction mother ship (2) lowers the hook to lower the underwater mud attack device (4) to a position 1m away from the mud surface, and orients the underwater mud attack device (4) by using the compass orientation system and propeller adjustment system of the underwater mud attack device (4); Step 7: After the orientation work of the underwater mud attack device (4) is completed, the hook of the bottom-seated construction mother ship (2) continues to fall until the underwater mud attack device (4) touches the seabed mud surface and sits firmly. At this point, the positioning work of the underwater mud attack device (4) is completed, and the subsequent drilling process of the jack-in-the-hole operation begins; Step 8: After the first jack hole operation is completed, repeat steps 1 to 7 to position the underwater mud tapping device (4) at other jack hole locations.

2. According to the method for positioning parameters of an underwater mud-tapping crane based on a bottom-seated construction mother ship according to claim 1, it is characterized in that: In the step 1, when constructing the ship position diagram of the bottom-seated construction mother ship (2), the operating radius of the crane (5) covers the location of the jack hole to be attacked.

3. The method for positioning parameters of an underwater mud-tapping crane based on a bottom-seated construction mother ship according to claim 1 is characterized in that: When constructing the position diagram of the bottom-seating construction mother ship (2) in the step 1, a distance of 40m-50m is maintained between the bottom-seating construction mother ship (2) and the sunken ship (1).

4. The method for positioning parameters of an underwater mud-tapping crane based on a bottom-seated construction mother ship according to claim 1 is characterized in that: In the step three, a GPS (3) is provided above the driving cabin of the bottom-sit construction mother ship (2), and the actual position of the bottom-sit construction mother ship (2) is determined based on the longitude and latitude coordinates displayed by the GPS (3), and the relative position relationship between the bottom-sit construction mother ship (2) and the sunken ship (1) is determined.

5. The method for positioning parameters of an underwater mud-tapping crane based on a bottom-seated construction mother ship according to claim 1 is characterized in that: In the step 3, when the underwater mud attack device (4) is added to the optimized ship position map, the bow direction of the underwater mud attack device (4) coincides with the direction of the jack hole to be attacked on the sunken ship (1).

6. The method for positioning parameters of an underwater mud-tapping crane based on a bottom-seated construction mother ship according to claim 1 is characterized in that: In step 3, the underwater mud attack device (4) maintains an operating distance of 20m-30m from the side of the sunken ship (1).

7. The method for positioning parameters of an underwater mud-tapping crane based on a bottom-seated construction mother ship according to claim 1 is characterized in that: In step five, after the underwater mud tapping device (4) is placed in place, the actual position of the underwater mud tapping device (4) is confirmed and checked by a diver.

8. The method for positioning parameters of an underwater mud-tapping crane based on a bottom-seated construction mother ship according to claim 1 is characterized in that: The bottom-sitting construction mother ship (2) is a fully revolving crane ship.

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