Automatic leveling method for multi-pile-leg platform lifting system

Abstract

An automatic leveling method for a multi-pile-leg platform lifting system comprises the following steps that firstly, a tilt angle sensor is installed on a multi-pile-leg platform, then a platform coordinate system is established according to the plane of the multi-pile-leg platform, and the tilt angle is transmitted to a control system; the inclination angles of alpha and beta are compared with a preset angle, when the inclination angles are larger than the preset angle, an alarm system is triggered, the automatic leveling function is started at the moment, then the height, needing to be adjusted, of each pile leg is calculated, the adjusting direction and speed are input into each pile leg motor, and each pile leg is controlled to ascend and descend till the multi-pile-leg platform is in a horizontal state; immediately closing the leveling function; and after the pile legs stop, the inclination angles of alpha and beta are obtained through the inclination angle sensor again, if the inclination angle is zero, adjustment is stopped, and if the inclination angle is still larger than the preset angle, adjustment is repeated till the multi-pile-leg platform is kept in the horizontal state. The multi-pile-leg platform can be leveled synchronously.

Description

Technical Field

[0001] The present invention relates to an improvement in the lifting technology of an offshore platform, belonging to the field of offshore platforms, and particularly relates to an automatic leveling method for a lifting system of a multi-leg platform. Background Art

[0002] The multi-leg platform lifting system adopts a multi-set one-to-one frequency conversion drive scheme, which has good control performance in both controlling multi-motor synchronization and single-motor adjustment. With the increasing demands for offshore wind power development, geological exploration, etc., the lifting platform has been widely used. Among multi-leg platforms, the four-leg platform is still the mainstream. As the requirements for the platform deck area and the supported load tonnage are getting larger and larger, during the lifting process of the multi-leg platform, due to factors such as uneven load distribution and sea condition changes, the tilt angle of the platform may change. However, the traditional step-by-step leveling method can only level each leg individually and cannot synchronously level multiple legs in a multi-leg platform.

[0003] The Chinese patent application with the application number CN202411102621.0 and the application date of August 13, 2024, discloses a leveling method and system for a multi-leg lifting platform, belonging to the field of offshore engineering technology. The leveling method includes: detecting the load values of each leg; when the load values of each leg are all greater than the load threshold, obtaining the horizontal attitude information of the lifting platform, and controlling the speeds of each leg according to the horizontal attitude information and the lifting direction of the lifting platform. The above solution can improve the regulation efficiency and safety of the lifting platform, but the above solution does not solve the problem that the existing multi-leg platform cannot be leveled synchronously.

[0004] Disclosing the information of this background art section is only intended to increase the understanding of the overall background of this patent application, and should not be regarded as an admission or any form of implication that this information constitutes the prior art already known to those of ordinary skill in the art. Summary of the Invention

[0005] The object of the present invention is to overcome the problem that a multi-leg platform cannot be leveled synchronously in the prior art, and provides an automatic leveling method for a lifting system of a multi-leg platform that can level the multi-leg platform synchronously.

[0006] To achieve the above object, the technical solution of the present invention is: an automatic leveling method for a lifting system of a multi-leg platform, the automatic leveling method for the lifting system of the multi-leg platform includes the following steps:

[0007] Step 1: First, install an inclination sensor on the multi-leg platform. Then, establish a platform coordinate system based on the plane of the multi-leg platform. Next, record the inclination angle of the multi-leg platform along the X-axis as α and the inclination angle along the Y-axis as β. Then, the inclination sensor monitors the inclination angles α and β of the platform in real time and transmits the inclination angles to the control system.

[0008] Step 2: First, compare the inclination angles of α and β with the preset angles. When the inclination angle is greater than the preset angle, trigger the alarm system. At this time, start the automatic leveling function. Then, calculate the height that each leg needs to be adjusted, and then input the adjustment direction and speed to each leg motor to control each leg to lift and adjust until the multi-leg platform is in a horizontal state, and then turn off the leveling function.

[0009] Step 3: After the legs stop, obtain the inclination angles of α and β again through the inclination sensor. If the inclination angle is zero, stop the adjustment. If the inclination angle is still greater than the preset angle, repeat Step 2 for adjustment until the multi-leg platform remains in a horizontal state.

[0010] The parameter setting is also included in the first step, specifically: the arrangement of the legs, the spacing between each leg, and the spacing between the legs in the bow and stern directions.

[0011] In the first step, an alarm threshold and a shutdown threshold are also set. The alarm threshold is ±1.5°, and the shutdown threshold is ±2°.

[0012] In the first step, the rotation around the axis is defined when establishing the platform coordinate system based on the plane of the multi-leg platform. Specifically: when observing from the end of the axis, counterclockwise rotation is positive, and clockwise rotation is negative. The calculation formula is as follows:

[0013]

[0014] The change process of the inclination angle of the platform during the platform leveling process is as follows:

[0015] cosα = cosβ = 1, sinα = α, sinβ = β;

[0016]

[0017] The determination of the leg height is specifically: a > 0, β > 0, α > 0, β < 0.

[0018] The working conditions during the platform rising process are as follows: a > 0, β > 0, and |α| > |β|, and At this time, the height that each leg needs to be raised or the height that needs to be adjusted by deceleration is as follows:

[0019] e1 = βL b ,e1 = αL a ,

[0020] e2 = αL a + βL b ,e2 = 0,

[0021] e3 = 0, e3 = αL a + βL b ,

[0022] e4 = αL a 、e4 = βL b 。

[0023] The platform has m leg columns in the port and starboard directions and n leg columns in the bow and stern directions. The leg columns are distributed in rows and columns on a straight line. The distances between the port and starboard leg columns are denoted as x 1_2 ,x 2_3 …x m-2_m-1 ,x m-1_m ,and the distances between the bow and stern leg columns are y 1_2 ,y 2_3 …y m-2_m-1 ,y m-1_m 。

[0024] The control system records relevant data during the leveling process, including the adjustment height, adjustment speed, leveling time, etc. of each leg column for subsequent analysis and reference.

[0025] When the tilt sensor fails, the control system should send a fault alarm signal and switch to a backup sensor or manual leveling mode.

[0026] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0027] 1. In the automatic leveling method of the multi-leg column platform lifting system of the present invention, the tilt angle of the platform is monitored in real time through a tilt sensor, the adjustment height required for each leg column is calculated, and then the adjustment direction and speed are input to the motors of each leg column to control the lifting and lowering adjustment of each leg column until the multi-leg column platform is in a horizontal state. The lifting and lowering speed of each leg column is dynamically adjusted, so that each foot of the leg column outputs different powers according to different degrees of offset, thereby ensuring synchronous adjustment, being able to maintain the horizontal state of the platform in real time, being able to better adapt to the change of the tilt angle caused by factors such as load change and sea condition change during the lifting and lowering process of the platform. By accurately calculating the adjustment height or speed required for each leg column, high-precision leveling can be achieved, and the dynamic leveling strategy can be adjusted in real time during the lifting and lowering process, reducing the time required for multiple adjustments in the traditional step-by-step leveling method. Therefore, the multi-leg column platform of the present invention can be leveled synchronously.

[0028] 2. In the automatic leveling method of the multi-leg platform lifting system of the present invention, by setting the alarm angle threshold and shutdown mechanism, an alarm can be issued in a timely manner and measures can be taken when the platform tilt angle exceeds the safe range, ensuring the safe operation of the platform. It can adapt to the leveling requirements in both the ascending and descending directions of the platform, as well as the leveling requirements under different working conditions, enhancing the stability of the platform in a complex environment. Therefore, the present invention has strong stability and high safety.

[0029] 3. In the automatic leveling method of the multi-leg platform lifting system of the present invention, the leveling strategy is not only applicable to regularly arranged legs, but can also be adjusted according to the actual positions of the legs in the platform, adapting to irregular leg arrangements and being applicable to multi-leg platforms of different scales. Whether it is a combination of m legs horizontally and n legs vertically, leveling can be achieved through this strategy, and the entire leveling process is automatically completed by the control system, reducing manual intervention and lowering the operation difficulty and operation risk. Therefore, the present invention is safe to operate and has a low operation difficulty. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 is a schematic diagram of the platform model of the present invention.

[0031] Figure 2 is a schematic diagram of the distribution of the first leg of the present invention.

[0032] Figure 3 is a schematic diagram of the leg distribution centered on the lower left leg of the present invention.

[0033] Figure 4 is a schematic diagram of the leg distribution centered on the lower right leg of the present invention.

[0034] Figure 5 is a schematic diagram of the distribution of the second leg of the present invention.

[0035] Figure 6 is a schematic diagram of the leg distribution centered on the upper right leg of the present invention.

[0036] Figure 7 is a schematic diagram of the leg distribution centered on the upper left leg of the present invention.

[0037] Figure 8 is a schematic diagram of the adjustment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0038] The present invention will be further described in detail below with reference to the drawings and specific embodiments.

[0039] See Figures 1 to 8 , an automatic leveling method for a multi-leg platform lifting system, the automatic leveling method for the multi-leg platform lifting system includes the following steps:

[0040] Step 1: First, install an inclination sensor on the multi-leg platform. Then, establish a platform coordinate system based on the plane of the multi-leg platform. Next, record the inclination angle of the multi-leg platform along the X-axis as α and the inclination angle along the Y-axis as β. Then, the inclination sensor monitors the inclination angles α and β of the platform in real time and transmits the inclination angles to the control system.

[0041] Step 2: First, compare the inclination angles of α and β with the preset angles. When the inclination angle is greater than the preset angle, trigger the alarm system. At this time, activate the automatic leveling function. Then, calculate the height that each leg needs to be adjusted, and then input the adjustment direction and speed to each leg motor to control each leg to lift and adjust until the multi-leg platform is in a horizontal state, and then turn off the leveling function.

[0042] Step 3: After the legs stop, obtain the inclination angles of α and β again through the inclination sensor. If the inclination angle is zero, stop the adjustment. If the inclination angle is still greater than the preset angle, repeat Step 2 for adjustment until the multi-leg platform remains in a horizontal state.

[0043] The parameter setting is also included in the first step, specifically: the arrangement of the legs, the spacing between each leg, and the spacing between the legs in the bow and stern directions.

[0044] In the first step, an alarm threshold and a shutdown threshold are also set. The alarm threshold is ±1.5°, and the shutdown threshold is ±2°.

[0045] In the first step, the rotation around the axis is defined when establishing the platform coordinate system based on the plane of the multi-leg platform. Specifically: viewed from the axis end direction, counterclockwise rotation is positive, and clockwise is negative. The calculation formula is as follows:

[0046]

[0047] The change process of the inclination angle of the platform during the platform leveling process is as follows:

[0048] cosα = cosβ = 1, sinα = α, sinβ = β;

[0049]

[0050] The determination of the leg height is specifically: α > 0, β > 0, α > 0, β < 0.

[0051] The working conditions during the platform rising process are as follows: α > 0, β > 0, and |α| > |β|, and At this time, the height that each leg needs to be raised or the height that needs to be adjusted by deceleration is as follows:

[0052] e1 = βL b ,e1 = αL a ,

[0053] e2 = αL a + βL b ,e2 = 0,

[0054] e3 = 0, e3 = αL a + βL b ,

[0055] e4 = αL a 、e4 = βL b 。

[0056] The platform has m leg columns in the port and starboard directions and n leg columns in the bow and stern directions. The leg columns are distributed in rows and columns on a straight line. The distances between the port and starboard leg columns are denoted as x 1_2 ,x 2_3 …x m-2_m-1 ,x m-1_m ,and the distances between the bow and stern leg columns are y 1_2 ,y 2_3 …y m-2_m-1 ,y m-1_m 。

[0057] The control system records the relevant data during the leveling process, including the adjustment height, adjustment speed, leveling time, etc. of each leg column for subsequent analysis and reference.

[0058] When the inclination sensor fails, the control system should send out a fault alarm signal and switch to a backup sensor or manual leveling mode.

[0059] The supplementary description of the present invention is as follows:

[0060] The control system dynamically adjusts the lifting and lowering speed of each leg column according to the real-time feedback of the tilt angle data to ensure that the platform always remains horizontal during the lifting and lowering process. If the tilt angle of the platform approaches the alarm angle or shutdown angle, the control system should immediately take measures, such as slowing down the lifting and lowering speed or pausing the lifting and lowering operation, to avoid excessive tilting of the platform.

[0061] Embodiment 1:

[0062] An automatic leveling method for a multi-leg column platform lifting system, the automatic leveling method for the multi-leg column platform lifting system comprising the following steps:

[0063] First step, install an inclination sensor on the multi-leg column platform first, then establish a platform coordinate system with the plane of the multi-leg column platform, and then record the tilt angle of the multi-leg column platform along the X-axis direction as α and the tilt angle along the Y-axis as β. Then the inclination sensor monitors the tilt angles α and β of the platform in real time and transmits the tilt angles to the control system;

[0064] Step 2: First, compare the inclination angles of α and β with the preset angle. When the inclination angle is greater than the preset angle, trigger the alarm system. At this time, activate the automatic leveling function, then calculate the height that each leg needs to be adjusted, and then input the adjustment direction and speed to each leg motor to control each leg to rise and fall until the multi-leg platform is in a horizontal state, and then turn off the leveling function;

[0065] Step 3: After the legs stop, obtain the inclination angles of α and β again through the inclination sensor. If the inclination angle is zero, stop the adjustment. If the inclination angle is still greater than the preset angle, repeat Step 2 for adjustment until the multi-leg platform remains in a horizontal state.

[0066] Embodiment 2:

[0067] Embodiment 2 is basically the same as Embodiment 1, and the differences are as follows:

[0068] Parameter settings, specifically: the arrangement of the legs, the spacing between each leg, and the spacing between the legs in the bow and stern directions, set the alarm threshold and the shutdown threshold. The alarm threshold is ±1.5°, and the shutdown threshold is ±2°. Define the rotation around the axis in the platform coordinate system established with the plane of the multi-leg platform. Specifically: when observing from the axis end direction, counterclockwise rotation is positive, and clockwise is negative. The calculation formula is as follows:

[0069]

[0070] The change process of the inclination angle of the platform during the platform leveling process is as follows:

[0071] cosα = cosβ = 1, sinα = α, sinβ = β;

[0072]

[0073] Embodiment 3:

[0074] Embodiment 3 is basically the same as Embodiment 1, and the differences are as follows:

[0075] As Figure 1 shown, when the leg platform has 4 legs, if α > 0, β > 0, then the No. 3 leg is the highest. If α > 0, β < 0, then the No. 1 leg is the highest.

[0076] The working conditions during the platform rising process are as follows: α > 0, β > 0, and |α| > |β|, and At this time, the height that each leg needs to be raised or the height that needs to be adjusted by deceleration is as follows:

[0077] e1 = βL b , e1 = αL a ,

[0078] e2 = αLa +βL b ,e2 = 0,

[0079] e3 = 0, e3 = αL a +βL b ,

[0080] e4 = αL a 、e4 = βL b 。

[0081] The platform has m leg columns in the port and starboard directions and n leg columns in the bow and stern directions. The leg columns are distributed in rows and columns on a straight line. The distances between the port and starboard leg columns are denoted as x 1_2 ,x 2_3 …x m-2_m-1 ,x m-1_m ,and the distances between the bow and stern leg columns are y 1_2 ,y 2_3 …y m-2_m-1 ,y m-1_m 。

[0082] Example 4:

[0083] Example 4 is basically the same as Example 1, except that:

[0084] Assume a certain working condition during the platform's rising process: α > 0, β > 0. From Figure 2 the leg column arrangement, we can obtain x a y b (a ∈ [1, m], b ∈ [1, n]), where a and b are positive integers. The distance that the leg columns need to move during leveling in the platform rising direction is:

[0085]

[0086] The adjusted speed setting is, where speed is the initial speed setting, speed adj is the adjusted speed setting, and adj ∈ (0, 1) is the adjustment ratio.

[0087]

[0088] Example 5:

[0089] Example 5 is basically the same as Example 1, except that:

[0090] The control system records relevant data during the leveling process, including the adjustment height, adjustment speed, leveling time, etc. of each leg, for subsequent analysis and reference. When the tilt sensor fails, the control system shall send out a fault alarm signal and switch to a backup sensor or manual leveling mode. If the platform tilt angle exceeds the alarm angle, the control system sends out an alarm signal to remind the operator to pay attention. If the platform tilt angle exceeds the shutdown angle, the control system immediately stops the lifting and lowering operations of all legs to prevent safety accidents caused by excessive platform tilt.

[0091] The above is only the preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above embodiment. Any equivalent modification or change made by those of ordinary skill in the art according to the disclosure of the present invention shall be included in the protection scope recorded in the claims.

Claims

1. An automatic leveling method for a multi-leg platform lifting system, characterized in that: The automatic leveling method of the multi-leg platform lifting system includes the following steps: First step: Install inclination sensors on the multi-leg platform. Then, establish a platform coordinate system based on the plane of the multi-leg platform. Record the inclination angle of the multi-leg platform along the X-axis as α, and the inclination angle along the Y-axis as β. Then, the inclination sensors monitor the inclination angles α and β of the platform in real time and transmit the inclination angles to the control system; Second step: First, compare the inclination angles of α and β with the preset angles. When the inclination angle is greater than the preset angle, trigger the alarm system. At this time, start the automatic leveling function. Then, calculate the height that each leg needs to be adjusted, and input the adjustment direction and speed to each leg motor to control each leg to lift and adjust until the multi-leg platform is in a horizontal state, and then turn off the leveling function; Third step: After the legs stop, obtain the inclination angles of α and β again through the inclination sensors. If the inclination angle is zero, stop the adjustment. If the inclination angle is still greater than the preset angle, repeat the second step for adjustment until the multi-leg platform remains in a horizontal state.

2. The automatic leveling method for a multi-leg platform lifting system according to claim 1, characterized in that: The first step also includes parameter settings, specifically: the arrangement of the legs, the distance between each leg, and the distance between the legs in the bow and stern directions.

3. The automatic leveling method for a multi-leg platform lifting system according to claim 2, characterized in that: In the first step, an alarm threshold and a shutdown threshold are also set. The alarm threshold is ±1.5°, and the shutdown threshold is ±2°.

4. The automatic leveling method for a multi-leg platform lifting system according to claim 1, characterized in that: In the first step, the definition of rotation around the axis in the platform coordinate system established based on the plane of the multi-leg platform is as follows: When observing from the axis end direction, counterclockwise rotation is positive, and clockwise rotation is negative. The calculation formula is as follows:

5. The automatic leveling method for the lifting system of a multi-leg platform according to claim 1, characterized in that: The change process of the inclination angle of the platform during the platform leveling process is as follows: cosα = cosβ = 1, sinα = α, sinβ = β; 6. The automatic leveling method for a multi-leg platform lifting system according to claim 5, characterized in that: The determination of the leg height is specifically: α > 0, β > 0, α > 0, β < 0.

7. A method for automatically leveling a multi-leg platform lifting system according to claim 6, characterized in that: The working conditions during the rising process of the platform are as follows: α > 0, β > 0, and |α| > |β|, and The heights that each leg needs to rise or needs to decelerate to adjust are as follows respectively: e1 = βL b ,e1 = αL a , e2 = αL a + βL b , e2 = 0 e3 = 0, e3 = αL a + βL b , e4 = αL a 、e4 = βL b 。 8. A method for automatically leveling a multi-leg platform lifting system according to claim 7, characterized in that: There are m leg columns in the port and starboard directions of the platform, and n leg columns in the bow and stern directions. The leg columns are distributed in rows and columns on a straight line. The distances between the port and starboard leg columns are denoted as x 1_2 , x 2_3 …x m-2_m-1 , x m-1_m , and the distances between the bow and stern leg columns are y 1_2 , y 2_3 …y m-2_m-1 , y m-1_m .

9. The automatic leveling method for a multi-leg platform lifting system according to claim 1, characterized in that: The control system records the relevant data during the leveling process, including the adjustment height, adjustment speed, leveling time, etc. of each leg for subsequent analysis and reference.

10. A method for automatically leveling a multi-leg platform lifting system according to claim 1, characterized in that: When the inclination sensor fails, the control system should send a fault alarm signal and switch to the backup sensor or manual leveling mode.

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