Method for dynamic pose control of special-shaped steel pipe concrete pipe section hoisting

Abstract

The application discloses a special-shaped steel pipe concrete pipe section hoisting dynamic pose control method and relates to the technical field of underwater pipeline installation of marine engineering, and mainly solves the problems of insufficient dynamic response and low spatial pose control precision when the special-shaped pipe section is hoisted in a complex water flow environment. The method comprises the following steps: obtaining spatial pose design parameters of the pipe section, monitoring the pitch angle and roll angle of the pipe section in real time through an inclination sensor group, calculating the disturbance torque generated by real-time water flow force, generating a length compensation amount of a sling, independently adjusting the winding and unwinding speed of each hoisting point hand-operated hoist, controlling the horizontal turning angle of the pipe section through the adjustment cable ropes which are moored on both sides, and feeding back and adjusting the hook height and cable tension in cooperation with the floating crane positioning system, so that the pipe section is finally accurately positioned underwater to the predetermined position on the seabed. The application is mainly used for the hoisting and sinking operation of the special-shaped steel pipe concrete pipe section in the marine environment, can effectively resist the water flow interference, and guarantees the accurate butt joint and installation quality of the pipe section interface.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of underwater pipeline installation in marine engineering, and particularly relates to a dynamic pose control method for hoisting a special-shaped steel pipe concrete pipe section. BACKGROUND

[0002] In the field of marine engineering, the installation of underwater pipelines is a complex and technically demanding operation, especially the hoisting and underwater positioning of special-shaped steel pipe concrete pipe sections. Such pipe sections usually contain bends or elevation changes, and their structures are asymmetric, with special gravity distribution, and are easily affected by marine environmental loads, especially water flow forces, which can easily lead to spatial attitude instability during actual hoisting and sinking.

[0003] At present, common pipe section hoisting methods are mostly based on the design of symmetric straight pipe sections, and the arrangement of hoisting points and the adjustment strategy of hoisting ropes are relatively simple, which cannot meet the dynamic balance requirements of special-shaped pipe sections. Due to the significant unbalanced moment generated by special-shaped pipe sections under the action of water flow, the traditional hoisting process usually relies on the experience of operators to adjust the length of hoisting ropes and the hoisting speed, which has the problems of response lag and insufficient control accuracy, often leading to large pitch or roll deviations of the pipe section, seriously affecting the accuracy of underwater docking and structural safety.

[0004] On the other hand, due to low underwater visibility and strong environmental disturbance, real-time monitoring means for the spatial pose of the pipe section are limited. The traditional method of relying on water surface measurement or single angle sensor cannot fully reflect the real state of the pipe section underwater, especially the combined deviation of the horizontal angle and the spatial inclination cannot be effectively captured and fed back, further increasing the difficulty of attitude control.

[0005] Since the hoisting process of special-shaped pipe sections involves multi-variable coupled control of hoisting rope adjustment, traction cable operation, and cooperation of floating crane systems, the traditional method cannot realize the coordinated operation of multiple actuators, especially when adjusting a certain degree of freedom, which easily leads to chain deviation of other degrees of freedom, and the coordination and stability of the overall system control still need to be improved.

[0006] Therefore, how to realize high-precision dynamic pose control of special-shaped steel pipe concrete pipe sections in complex marine environments is still a technical problem to be solved. SUMMARY

[0007] An object of embodiments of the present application is to solve at least the above problems and / or deficiencies, and to provide at least the advantages to be explained later.

[0008] Another object of the present application is to provide a dynamic pose control method for hoisting a special-shaped steel pipe concrete pipe section, which solves the problems of spatial pose instability, low control accuracy, and difficulty in maintaining a preset inclination and accurately positioning the pipe section caused by dynamic water flow interference during hoisting in a complex marine water flow environment.

[0009] This addresses the problem that during the hoisting process, the horizontal (yaw angle) of the pipe section is twisted and deviated due to the torque of the water flow, and there is a lack of a fast and automatic correction mechanism, making it difficult to stably control the horizontal rotation angle within the design allowable deviation range.

[0010] Therefore, the present invention adopts the following technical solution to achieve this:

[0011] The method for dynamic position control during hoisting of irregularly shaped steel pipe concrete segments includes the following steps:

[0012] Obtain the spatial orientation design parameters of irregularly shaped pipe sections with bends or elevation changes;

[0013] The lifting sling length is dynamically adjusted based on the position parameters and real-time water flow force to maintain the preset spatial inclination angle, including:

[0014] a) Real-time monitoring of the pitch and roll angles of the pipe section using tilt sensor arrays deployed at the center of gravity and bends of the pipe section;

[0015] b) Calculate the disturbance moment of the real-time water flow force on the pipe section based on the fluid dynamics model, and generate the sling length compensation amount by combining the tilt angle deviation value. The fluid dynamics model uses the Morison equation to calculate the disturbance moment of the real-time water flow force on the pipe section.

[0016] c) Adjust the speed of the hand-operated hoist at each lifting point independently according to the compensation amount to maintain the preset spatial inclination angle of the pipe section. The adjustment range of the sling on the elbow side is greater than that on the straight pipe section side. The adjustment range here refers to the length adjustment amount.

[0017] The horizontal rotation angle of the pipe section is controlled by adjusting the cables moored on both sides.

[0018] The collaborative floating crane positioning system provides real-time feedback to adjust the hook height and cable tension.

[0019] The regulating pipe section was positioned underwater at its predetermined location on the seabed.

[0020] Preferably, the dynamic position control method for hoisting the irregularly shaped steel pipe concrete segment controls the horizontal rotation angle of the segment by traction and mooring adjustment cables on both sides, including:

[0021] Anti-current traction cables are symmetrically connected on both sides of the pipe section in the horizontal direction, and the ends of the cables are anchored to the positioning vessel or the seabed winch, respectively.

[0022] The yaw angle data is fed back in real time by the gyrocompass at the top of the pipe section. When the horizontal rotation angle deviates from the design value by ±0.5°, differential control is activated: if counterclockwise correction is required, the right cable is tightened and the left cable is released simultaneously; if clockwise correction is required, the left cable is tightened and the right cable is released simultaneously. The tension difference between the two cables is controlled in a closed loop by the tension sensor to form a corrective torque that resists the torque of the water flow.

[0023] Preferably, the dynamic posture control method for hoisting irregular steel pipe concrete pipe sections uses an underwater acoustic positioning system to acquire pipe section posture data in real time.

[0024] The underwater acoustic positioning system is an ultra-short baseline or long baseline acoustic positioning system. Its acoustic transducer array is installed on the bottom of the floating crane, and the acoustic beacon is fixed at the key control point of the pipe section. The key control point is the interface center of the pipe section or the design center of gravity.

[0025] The collaborative floating crane positioning system provides real-time feedback for adjusting the hook height and cable tension, including the following steps:

[0026] The three-dimensional coordinate data of the center of the pipe section interface is collected in real time using an underwater acoustic positioning system.

[0027] The three-dimensional coordinate data is compared with the preset sinking trajectory model in real time to generate hook height adjustment instructions;

[0028] When the sinking speed of the pipe section deviates from the preset speed value by 10%, the main lifting mechanism of the floating crane is controlled to adjust the hook lowering rate.

[0029] When the horizontal position deviation of the pipe segment exceeds 5% of the pipe diameter, the tension of the traction cable and the displacement of the floating crane translation mechanism are adjusted synchronously; here, the pipe diameter refers to the outer diameter of the pipe segment. Based on the coupling relationship between the hook height, cable tension, and the spatial attitude of the pipe segment, the pipe segment is dynamically controlled to reach the target position on the seabed at the designed angle of attack.

[0030] Preferably, the method for dynamic position control during the hoisting of the irregularly shaped steel pipe concrete segment is described above.

[0031] The cooperative floating crane positioning system adopts a multi-degree-of-freedom cooperative control algorithm, which is a motion coupling control of sling-cable-floating crane implemented by a fuzzy PID controller;

[0032] When real-time sensor data is missing, the pipe segment position adjustment is performed by calling a pre-generated lifting parameter reference table, which is generated by numerical simulation of sea conditions.

[0033] Preferably, the dynamic posture control method for hoisting irregularly shaped steel pipe concrete sections further includes a buoyancy-assisted positioning control method, comprising the following steps:

[0034] A sealing airbag is installed inside one end of the pipe section to be installed, and a flange blind plate is installed at the other end to form a sealed chamber.

[0035] Compressed gas is introduced into the sealed chamber and pressurized to the test pressure to verify the sealing integrity of the pipe section;

[0036] During the hoisting process, the gas pressure inside the sealed chamber is maintained within the design pressure range to balance the pressure at both ends of the sealing airbag, ensuring that the airbag does not move, leak, or damage the subsea pipeline.

[0037] If the pipe segment's attitude does not meet the preset requirements, the buoyancy distribution and pitch attitude of the pipe segment can be adjusted by adjusting the axial position of the sealing airbag inside the pipe and / or by attaching floating bags to the outside of the subsea pipeline.

[0038] Preferably, the dynamic posture control method for hoisting irregular steel pipe concrete pipe sections involves pre-installing a positioning pile system on the seabed in the pipe section interface docking area.

[0039] The positioning pile system includes at least four concrete piles arranged at predetermined coordinates, and the top of the piles is provided with a mechanical structure for cooperating with the pipe section guiding device.

[0040] In the final stage of pipe section settlement, the guide device installed on the pipe section is used to contact and guide the top of the positioning pile to achieve the final horizontal precise positioning of the pipe section.

[0041] The installation and use of the positioning pile system includes: using a crane ship to hoist the positioning piles and using an RTK positioning system for preliminary coarse positioning of the pile positions.

[0042] Dispatch divers to work underwater to assist in adjusting the pile's posture and finally confirm the design elevation of the pile top;

[0043] After the positioning piles are installed and in place, their coordinates are used as known control points and integrated into the real-time positioning control system of the pipeline segment to form a closed-loop control network for guiding the pipeline segment into place.

[0044] Preferably, the dynamic posture control method for hoisting irregularly shaped steel pipe concrete segments includes the following steps: obtaining spatial posture design parameters includes:

[0045] Collect three-dimensional topographic and seabed geological data of the waters to be installed;

[0046] Extract the bend angle, elevation change section inclination angle, and bend coordinates of the pipe section;

[0047] The hoisting trajectory and pose are calculated based on the interface docking accuracy, pier coordinates, and ocean current direction.

[0048] Based on the characteristics of the pipe material, pose control indicators including horizontal rotation angle and vertical tilt angle are generated;

[0049] Extract the center of gravity position and pre-positioning data of the lifting points from the 3D model;

[0050] Integrate the pose parameters into the floating crane's real-time positioning control module.

[0051] The extraction of center of gravity and suspension point data includes the following steps:

[0052] Establish a three-dimensional finite element model of the pipe section and load composite working conditions;

[0053] Identify the coordinates of the region of maximum equivalent stress in the stress contour map;

[0054] The pre-positioning coordinates of the lifting point are derived in reverse so that the direction of the resultant tension force coincides with the axis of the pipe section.

[0055] Output the three-dimensional offset of the center of gravity relative to the bend control point.

[0056] Preferably, the dynamic position control method for hoisting irregularly shaped steel pipe concrete pipe sections includes the following steps for dynamically adjusting the length of the hoisting slings:

[0057] Connect a 1-meter to 5-meter adjustable short cable to the end of the sling;

[0058] The horizontal offset was checked based on the measured flow velocity and the projected area of ​​the pipe section.

[0059] Adjust the lengths of the four short wires proportionally to make the tilt angle deviation less than 0.5 degrees.

[0060] Preferably, the dynamic position control method for hoisting the irregular steel pipe concrete segment includes the following steps for adjusting the segment's positioning:

[0061] The pipeline section was paused at a height of 4 to 5 meters above the seabed, and guide steel wire ropes were installed.

[0062] The control section was lowered to a height of 0.5 meters from the crushed stone block to adjust its horizontal level;

[0063] The radial displacement is limited by positioning stakes to maintain a docking distance of 500 mm.

[0064] Preferably, the dynamic posture control method for hoisting irregularly shaped steel pipe concrete segments further includes the following steps:

[0065] Configure a multi-point lifting beam system that connects the main hook of the floating crane to the pipe section;

[0066] Install detachable reinforcing beams at bends or stress concentration areas in irregularly shaped pipe sections;

[0067] The multi-point lifting beam system includes:

[0068] The main lifting beam is set to be 72 meters long;

[0069] The shackles with a rated load of 55 tons are used to connect the slings to the pipe section.

[0070] The spacing between the suspension points is controlled at 15 meters, and the pipe section is overhanging at both ends by 7.5 meters.

[0071] The installation of detachable reinforcing beams includes:

[0072] The steel-reinforced beams are fixed using semi-circular steel plate clamps;

[0073] The steel profile specifications are selected based on the finite element stress calculation results.

[0074] The reinforcing beam should be installed perpendicular to the direction of force applied to the bend.

[0075] Compared with the prior art, the advantages and beneficial technical effects of the present invention are:

[0076] The present invention enables active closed-loop control of the spatial orientation of irregularly shaped pipe sections through the aforementioned method, effectively counteracting the interference of dynamic water flow forces, significantly improving the stability and attitude maintenance capability of the pipe sections during the hoisting process, and laying a solid foundation for the final high-precision underwater docking.

[0077] This invention achieves rapid and automatic correction of the horizontal rotation angle of the pipe section through the differential control method of the cables on both sides, effectively suppresses the torsion caused by the water flow torque, ensures that the pipe section sinks along the design axis direction, and improves the orientation accuracy of the docking.

[0078] This invention provides reliable, continuous and accurate three-dimensional position data of key points for the entire control system by employing a high-precision underwater acoustic positioning system and rationally arranging transducers and beacons. It solves the pain point of difficulty in underwater pose measurement and is a prerequisite and guarantee for achieving precise control.

[0079] This invention establishes a real-time comparison mechanism for sinking trajectories and a multi-actuator linkage adjustment mechanism, making the sinking process of the pipe section a predictable and controllable trajectory tracking process. This greatly improves positioning accuracy and operational efficiency, and reduces the risk of collisions caused by blind adjustments.

[0080] This invention enhances the robustness and adaptability of the control system by employing an intelligent collaborative control algorithm and pre-setting an emergency parameter table. It can handle complex control tasks with multi-variable coupling and maintain basic operation when sensor data is abnormal, thus ensuring the safety and continuity of operations.

[0081] This invention systematically integrates multi-source data to generate a complete set of pose control parameters, providing accurate initial inputs and judgment benchmarks for automated control. This avoids deviations in the entire control process due to inaccurate initial data, and improves the planning and reliability of the overall operation.

[0082] This invention scientifically determines the location of lifting points based on finite element analysis, ensuring the rationality of the stress on the pipe body during the lifting process, minimizing local stress concentration or structural damage caused by improper lifting point settings, and guaranteeing the safety and structural integrity of the lifting operation.

[0083] This invention provides a highly operable and responsive sling fine-tuning scheme by introducing an adjustable short wire and performing proportional fine adjustment. It can effectively eliminate minor tilt deviations and ensure that the pipe section maintains extremely high attitude stability in dynamic environments.

[0084] This invention creates optimal conditions for underwater docking by pausing, guiding, and precisely positioning operations before final positioning, achieving a smooth transition from macro to micro motion and greatly improving the success rate and accuracy of final interface docking.

[0085] This invention improves the load-bearing capacity of the lifting system and the deformation resistance of the pipe section from a hardware perspective by optimizing the lifting system and locally reinforcing the pipe structure, providing a solid hardware foundation and safety redundancy for the entire dynamic posture control process.

[0086] Other advantages, objectives, and features of the embodiments of the present invention will be apparent in part from the following description, and in part will be understood by those skilled in the art through study and practice of the embodiments of the present invention. Detailed Implementation

[0087] To further illustrate the technical means and effects of this invention, the following embodiments are provided for further explanation. The specific embodiments described herein are merely illustrative and not intended to limit the scope of the invention.

[0088] It should be noted that, unless otherwise specified, the experimental methods described in the following implementation plan are all conventional methods, and the reagents and materials described are all commercially available unless otherwise specified.

[0089] According to one embodiment of the present invention, the dynamic posture control method for hoisting irregularly shaped steel pipe concrete segments includes the following steps:

[0090] Obtain the spatial orientation design parameters of irregularly shaped pipe sections with bends or elevation changes;

[0091] The lifting sling length is dynamically adjusted based on the position parameters and real-time water flow force to maintain the preset spatial inclination angle, including:

[0092] a) Real-time monitoring of the pitch and roll angles of the pipe section using tilt sensor arrays deployed at the center of gravity and bends of the pipe section;

[0093] b) Calculate the disturbance moment of the real-time water flow force on the pipe section based on the fluid dynamics model, and generate the sling length compensation amount by combining the tilt angle deviation value. The fluid dynamics model uses the Morison equation to calculate the disturbance moment of the real-time water flow force on the pipe section.

[0094] c) Adjust the speed of the hand chain hoist at each lifting point independently according to the compensation amount to maintain the preset spatial inclination angle of the pipe section, wherein the adjustment range of the sling on the elbow side is greater than that on the straight pipe section side;

[0095] The horizontal rotation angle of the pipe section is controlled by adjusting the cables moored on both sides.

[0096] The collaborative floating crane positioning system provides real-time feedback to adjust the hook height and cable tension.

[0097] The regulating pipe section was positioned underwater at its predetermined location on the seabed.

[0098] In the specific implementation process, the design parameters of the irregular pipe section to be installed are first obtained, including its spatial attitude, bend angle, and elevation change data. After the hoisting begins, tilt sensor groups pre-installed at the center of gravity and key bend positions of the pipe section continuously collect data on the pitch and roll angles of the pipe section. Simultaneously, using a fluid dynamics model based on the Morrison equation, the disturbance torque generated by the current on the pipe section is calculated in real time. The control system compares the actual tilt angle monitored by the sensors with the preset value, calculates the deviation, and, combined with the water flow disturbance torque model, generates a length compensation command for each sling. This command is sent to the manual hoists controlling each hoisting point, allowing them to independently adjust the retrieval and extension speed, thereby dynamically adjusting the sling length. In particular, the adjustment range of the sling on the bend side is greater than that on the straight pipe section side to compensate for the greater force difference. Through this closed-loop feedback adjustment, the pipe section can effectively resist water flow interference and maintain the preset spatial tilt angle during dynamic sinking.

[0099] Meanwhile, the horizontal rotation of the pipe section is controlled by adjusting cables moored on both sides. The ends of the cables are anchored to a positioning vessel or a seabed winch. A compass at the top of the pipe section monitors its yaw angle in real time. When a deviation from the design allowable range is detected, the system activates differential control logic. For counter-clockwise correction, the right-hand cable is tightened while the left-hand cable is simultaneously released; for clockwise correction, the opposite operation is performed. A tension sensor controls the tension difference between the two cables in a closed-loop manner, creating a corrective torque to resist the water flow torque, thereby stabilizing the horizontal rotation of the pipe section within the design requirements.

[0100] The entire hoisting process requires the coordinated participation of a floating crane positioning system. The system receives real-time position data of the pipe segment from sensors such as an underwater acoustic positioning system, and accordingly fine-tunes the height of the floating crane hook and the tension of the adjusting cables to ensure the pipe segment moves along the predetermined sinking trajectory. When the pipe segment finally approaches the seabed pier, it enters the adjustment and positioning phase, where precise operations ensure its accurate sinking to the predetermined interface position, completing the underwater docking.

[0101] This invention, through the above-described embodiments, demonstrates significant beneficial effects. The method achieves active and closed-loop control of the spatial pose of irregularly shaped pipe sections, combining dynamic sensing, real-time calculation, and precise execution. It effectively counteracts the interference of dynamic water flow forces, significantly improving the stability and attitude maintenance capability of the pipe sections during hoisting. By independently adjusting the slings and differential control cables in different areas, refined management of the three-dimensional spatial attitude of the pipe sections is achieved. The system's collaborative control enhances the coordination and reliability of the operation, ultimately ensuring high-precision docking of the underwater interfaces of the pipe sections, and improving the quality and efficiency of the entire installation operation.

[0102] According to another embodiment of the present invention, a dynamic position control method for hoisting irregularly shaped steel pipe concrete segments, which controls the horizontal rotation angle of the segment by traction and mooring adjustment cables on both sides, includes:

[0103] Anti-current traction cables are symmetrically connected on both sides of the pipe section in the horizontal direction, and the ends of the cables are anchored to the positioning vessel or the seabed winch, respectively.

[0104] The yaw angle data is fed back in real time by the gyrocompass at the top of the pipe section. When the horizontal rotation angle deviates from the design value by ±0.5°, differential control is activated: if counterclockwise correction is required, the right cable is tightened and the left cable is released simultaneously; if clockwise correction is required, the left cable is tightened and the right cable is released simultaneously.

[0105] The tension difference between the two cables is controlled by a closed-loop tension sensor to create a corrective torque that resists the torque of the water flow.

[0106] Before the pipe section is hoisted into place, anti-current traction cables are symmetrically connected to both sides in the horizontal direction. These cables are not simply fastened; their ends are precisely anchored to a dedicated positioning vessel or a winch pre-installed on the seabed to ensure that the applied tension is controllable and effective. A high-precision compass installed on top of the pipe section serves as the core sensor, continuously monitoring the yaw angle data and transmitting this data to the control system in real time. The control system is equipped with strict control logic. Once the real-time monitored horizontal yaw angle deviates from the design value by a threshold of ±0.5 degrees, the system immediately and automatically initiates the differential control program. If the analysis determines that counterclockwise correction is required, the control system will issue a command to the actuator to tighten the right-side cable while simultaneously releasing the left-side cable. If clockwise correction is required, the operation of tightening the left-side cable and simultaneously releasing the right-side cable will be executed. The entire correction process is not an open-loop control, but rather a closed-loop control loop formed by real-time feedback of the tension values ​​on both sides through tension sensors installed on the cables. This precisely controls the tension difference generated by the cables on both sides, with the fundamental purpose of making this tension difference a corrective torque sufficient to resist and offset the torque of the water flow, thereby stabilizing the azimuth angle of the pipe section within the preset range.

[0107] This invention achieves rapid and precise stable control of the horizontal rotation angle of a pipe section by establishing an automatic differential correction mechanism based on real-time yaw angle feedback and tension closed-loop control. It can automatically sense minute angular deviations and immediately trigger a response, efficiently generating the required corrective torque by synchronously tightening and releasing the cables on the opposite side, thereby effectively suppressing continuous torsional drift caused by water flow torque. This method greatly reduces reliance on manual judgment and operation, transforming the control process from lagging, coarse manual operation to proactive, precise automatic control. It significantly improves the directional stability of the pipe section in the horizontal direction, laying a solid foundation for ensuring that the pipe section can ultimately be precisely connected to the installed pipe section with the correct axial direction.

[0108] According to another embodiment of the present invention, a dynamic posture control method for hoisting irregular steel pipe concrete pipe sections acquires pipe section posture data in real time through an underwater acoustic positioning system;

[0109] The underwater acoustic positioning system is an ultra-short baseline or long baseline acoustic positioning system. Its acoustic transducer array is installed on the bottom of the floating crane, and the acoustic beacon is fixed at the key control point of the pipe section. The key control point is the interface center or design center of gravity of the pipe section.

[0110] To achieve precise underwater spatial positioning of the pipe section, the system employs high-precision underwater acoustic positioning technology. Specifically, it utilizes either an ultra-short baseline or a long baseline acoustic positioning system. The system's acoustic transducer array, acting as a fixed acoustic signal transmitting and receiving unit, is installed on the hull of the floating crane vessel, providing excellent underwater visibility. Before the pipe section is launched, underwater acoustic beacons are securely installed at its critical control points, typically the interface center or the precisely calculated design center of gravity. During the lifting process, the transducer array on the hull continuously transmits acoustic signals to the beacons and receives their return responses. By calculating the propagation time difference and phase difference of the acoustic signals, the system can calculate the high-precision distance and azimuth data of each beacon relative to the hull in real time. Combined with the floating crane vessel's own global positioning system and attitude data, and after complex coordinate transformation and calculation, the system ultimately obtains the three-dimensional coordinate data of these key control points on the pipe section in an absolute coordinate system. This data is then provided as core feedback to the upper control system.

[0111] This invention introduces and integrates a high-precision underwater acoustic positioning system, providing reliable, continuous, and accurate three-dimensional spatial coordinate data of key points in the pipe section for the entire posture control system. This measure fundamentally solves the pain point of difficult underwater spatial measurement, making the invisible underwater movement trajectory of the pipe section completely visible and quantifiable. It provides the most critical and accurate decision-making basis for all subsequent dynamic adjustment commands, such as hook raising and lowering, cable retrieval and deployment, etc., enabling the entire control system to perform closed-loop control based on real and comprehensive spatial data, greatly improving the scientific nature of the entire control process and the final positioning accuracy. It is an indispensable technical guarantee for achieving high-precision underwater operations.

[0112] Furthermore, in the above embodiments, the collaborative floating crane positioning system's real-time feedback adjustment of the hook height and cable tension includes the following steps:

[0113] The three-dimensional coordinate data of the center of the pipe section interface is collected in real time using an underwater acoustic positioning system.

[0114] The three-dimensional coordinate data is compared with the preset sinking trajectory model in real time to generate hook height adjustment instructions;

[0115] When the sinking speed of the pipe section deviates from the preset speed value by 10%, the main lifting mechanism of the floating crane is controlled to adjust the hook lowering rate.

[0116] When the horizontal position deviation of the pipe section exceeds 5% of the pipe diameter, the tension of the traction cable and the displacement of the floating crane translation mechanism are adjusted simultaneously.

[0117] Based on the coupling relationship between hook height, cable tension and pipe segment spatial orientation, the pipe segment is dynamically controlled to reach the target position on the seabed at the designed angle of attack.

[0118] During the descent of the pipe section, the three-dimensional coordinate data of the pipe section interface center, acquired in real time by the underwater acoustic positioning system, is continuously fed into the control system. The control system has a pre-stored ideal descent trajectory model generated according to installation requirements. The system performs millisecond-level continuous comparisons between the real-time coordinate data and this preset model. Through this comparison, the system can generate adjustment commands in real time to correct the hook height. When the system detects that the descent speed of the pipe section deviates from the preset speed value, it immediately controls the main lifting mechanism of the floating crane to adjust the hook lowering rate, bringing it back to the preset trajectory. When the system detects that the horizontal position deviation of the pipe section exceeds the allowable range, the control strategy changes to coordinated adjustment, simultaneously issuing commands to adjust the tension of the traction cable, and may also drive the floating crane's translation mechanism to make minor adjustments to the ship's position, correcting the horizontal deviation through a combination of actions. All these adjustments are not isolated but are dynamically calculated and allocated based on a deep understanding of the coupling relationship between hook height, cable tension, and the spatial attitude of the pipe section. The ultimate goal is to ensure that the pipe section can smoothly and accurately reach the target position on the seabed at the designed angle of attack.

[0119] This invention compares real-time position data with a preset trajectory model and adjusts the position of the hook, cables, and even the floating crane accordingly, transforming the pipe segment's sinking process from a potentially uncontrollable free motion into a predictable and controllable process of precise trajectory tracking. It establishes a multi-parameter collaborative optimization control strategy, effectively avoiding the negative coupling effects of single adjustment actions and ensuring the pipe segment sinks smoothly along an ideal path in three-dimensional space. This method significantly improves the controllability of the sinking process and the success rate of first-time positioning, substantially reducing the time and risk of repeated underwater adjustments, and providing core process assurance for achieving millimeter-level precise docking.

[0120] According to another embodiment of the present invention, a dynamic posture control method for hoisting irregular steel pipe concrete pipe sections is provided. The cooperative floating crane positioning system adopts a multi-degree-of-freedom cooperative control algorithm, which is a fuzzy PID controller to implement sling-cable-floating crane motion coupling control.

[0121] When real-time sensor data is missing, the pipe segment position adjustment is performed by calling a pre-generated lifting parameter reference table, which is generated by numerical simulation of sea conditions.

[0122] The core control algorithm of the collaborative floating crane positioning system employs a multi-degree-of-freedom collaborative control algorithm. This algorithm is specifically implemented by a fuzzy PID controller. Unlike traditional PID control, this controller can handle the nonlinear relationships and coupling effects between multiple input variables, and is specifically designed to coordinate the complex interactions between sling deployment / retraction, cable tension adjustment, and the floating crane's hull movement. The controller's inputs include multi-source data from tilt sensors, acoustic positioning systems, tension sensors, and a compass. After fuzzy logic rule processing and PID calculations, the output is a collaborative control command for the hand-operated hoist, winch, and floating crane propeller. Furthermore, the system has a pre-set emergency mechanism. When the system detects that some real-time sensor signals are lost or their quality is severely degraded, it automatically invokes a pre-generated lifting parameter lookup table. This lookup table contains the optimal control parameter set pre-calculated using numerical simulation technology for various typical sea conditions. Based on the currently identified sea state characteristics, the system selects the closest set of parameters from the table to temporarily perform pipe segment attitude adjustment until the real-time sensor data is reliably restored.

[0123] This invention effectively solves the coupling control problem of multiple actuators such as floating cranes, slings, and cables in complex operations by employing an intelligent multi-degree-of-freedom cooperative control algorithm. This enables the actuators to cooperate rather than interfere with each other, significantly improving the overall stability and control efficiency of the system. Simultaneously, by introducing an emergency parameter table based on numerical simulation, the system is provided with decision redundancy in the event of abnormal sensor data, enhancing the robustness and fault tolerance of the control system. This ensures that operations can proceed safely and continuously in unexpected situations, avoiding complete loss of control or operational interruption due to data loss.

[0124] According to another embodiment of the present invention, the dynamic posture control method for hoisting irregularly shaped steel pipe concrete segments further includes a buoyancy-assisted positioning control method, comprising the following steps:

[0125] A sealing airbag is installed inside one end of the pipe section to be installed, and a flange blind plate is installed at the other end to form a sealed chamber.

[0126] Compressed gas is introduced into the sealed chamber and pressurized to the test pressure to verify the sealing integrity of the pipe section;

[0127] During the hoisting process, the gas pressure inside the sealed chamber is maintained within the design pressure range to balance the pressure at both ends of the sealing airbag, ensuring that the airbag does not move, leak, or damage the subsea pipeline.

[0128] If the pipe segment's attitude does not meet the preset requirements, the buoyancy distribution and pitch attitude of the pipe segment can be adjusted by adjusting the axial position of the sealing airbag inside the pipe and / or by attaching floating bags to the outside of the subsea pipeline.

[0129] Before hoisting the irregularly shaped steel-concrete pipe section, a buoyancy-assisted and positioning control method is implemented. First, a sealing airbag is installed inside one end of the pipe section to be installed, and a flange blind plate is installed at the other end, thus forming a complete sealed chamber inside the pipe section. Then, compressed gas is filled into the sealed chamber and pressurized to a pre-set test pressure to verify the sealing integrity of the pipe section under this pressure and ensure that there is no gas leakage.

[0130] Throughout the entire hoisting and lowering process, it is necessary to continuously monitor and maintain the gas pressure within the sealed chamber within the design pressure range. The key function of this pressure maintenance measure is to balance the water pressure and internal pressure at both ends of the sealing airbag, thereby ensuring that the airbag will not move axially, will not leak gas, and will not compress or damage the inner wall of the pipe section due to pressure imbalance during the entire operation.

[0131] If monitoring during hoisting reveals that the actual attitude of the pipe segment, such as the pitch angle, does not meet the preset requirements, buoyancy adjustment must be performed promptly. Adjustment methods include adjusting the axial position of the sealing airbags inside the pipe segment, thereby adjusting the pipe segment's center of buoyancy by changing the airbag's location. Alternatively, one or more floats can be attached to the underwater portion outside the pipe segment to increase local buoyancy, thereby altering the overall buoyancy distribution and torque, and thus precisely adjusting the pipe segment's pitch attitude to restore it to the preset ideal state.

[0132] For example, a marine pipeline project required the installation of a non-standard steel-concrete pipe section. At the start of the operation, workers followed the aforementioned method, installing a sealing airbag at one end of the pipe section and a flange blind plate at the other, forming a sealed chamber. Compressed air was introduced and pressurized to the test pressure. The pressure gauge reading was observed to be stable, confirming a good seal. After hoisting began, the control system monitored the chamber pressure in real time to maintain a constant level. When the pipe section reached the middle of its descent, the monitoring system showed that the downward tilt angle of the pipe section's head slightly exceeded the preset value. Simultaneously, to avoid over-adjustment, an additional small float was tied to the tail of the pipe section to provide extra buoyancy. Through these adjustments, the pitch attitude of the pipe section was quickly corrected, ultimately ensuring that the pipe section sank smoothly and successfully into place in the designed posture.

[0133] Traditional methods for attitude control during the hoisting of irregularly shaped pipe sections typically employ a simpler, more passive approach. In many cases, no adjustable pressure-sealed chamber is installed inside the pipe section; instead, rigid end plates are used for sealing. Buoyancy adjustment usually relies solely on attaching floats or buoys to fixed positions outside the pipe section, with their number and location often determined empirically before submersion, making dynamic adjustments difficult after launch. If attitude deviations occur during descent, traditional methods lack effective internal adjustment mechanisms, often resorting to very coarse adjustments to the slings or relying on the movement of the floating crane for correction, resulting in delayed response and low control precision. Because precise movement of the internal buoyancy center is impossible, traditional methods have limited ability to correct attitude, and the externally attached buoys are at risk of detachment or displacement, lacking reliability and easily leading to poor pipe section positioning, increasing the risk of docking failure.

[0134] This solution employs an internal sealing airbag to construct a sealed pressure chamber, combined with external floats for buoyancy and positioning control, achieving proactive and dynamic fine-tuning of the buoyancy distribution of the pipe section. This method effectively balances internal and external pressures, protecting the pipe section structure and preventing sealing device failure. More importantly, it directly alters the center of buoyancy by adjusting the airbag position internally, supplemented by external float adjustment, providing a rapid-response and highly precise attitude correction method. This significantly enhances the ability of irregularly shaped pipe sections to resist interference and maintain a stable sinking attitude in complex sea conditions, overcoming the shortcomings of traditional methods such as lag and poor precision. It provides crucial support for the precise alignment and installation of subsequent pipe sections, improving the success rate and reliability of the entire underwater installation operation.

[0135] According to another embodiment of the present invention, the dynamic posture control method for hoisting irregular steel pipe concrete pipe sections involves pre-installing a positioning pile system on the seabed in the pipe section interface docking area;

[0136] The positioning pile system includes at least four concrete piles arranged at predetermined coordinates, and the top of the piles is provided with a mechanical structure for cooperating with the pipe section guiding device.

[0137] In the final stage of pipe section settlement, the guide device installed on the pipe section is used to contact and guide the top of the positioning pile to achieve the final horizontal precise positioning of the pipe section.

[0138] The installation and use of the positioning pile system includes: using a crane ship to hoist the positioning piles and using an RTK positioning system for preliminary coarse positioning of the pile positions.

[0139] Dispatch divers to work underwater to assist in adjusting the pile's posture and finally confirm the design elevation of the pile top;

[0140] After the positioning piles are installed and in place, their coordinates are used as known control points and integrated into the real-time positioning control system of the pipeline segment to form a closed-loop control network for guiding the pipeline segment into place.

[0141] During implementation, operators first used a crane vessel to hoist the positioning piles and then used an RTK positioning system for preliminary coarse positioning of the piles. Divers were then dispatched underwater to assist in adjusting the pile's attitude and ultimately confirming the design elevation of the pile top. The positioning pile system consists of at least four concrete piles arranged at predetermined coordinates, with a mechanical structure at the top of each pile for cooperation with the pipe section guiding device. After the positioning piles are installed in place, their coordinates are used as known control points and integrated into the real-time positioning control system for the pipe section, forming a closed-loop control network to guide the pipe section into position. Towards the end of the pipe section's sinking, the guiding device installed on the pipe section contacts and guides the mechanical structure at the top of the positioning piles, achieving the final precise horizontal positioning of the pipe section.

[0142] In comparison, the closest existing technology usually relies on underwater measurement or manual guidance by divers for pipe segment positioning, such as using an acoustic positioning system alone or manually placing a guide frame. However, this method is greatly affected by environmental factors, has limited accuracy, and is prone to positioning deviations due to ocean currents or poor visibility, requiring repeated adjustments and is inefficient.

[0143] Compared with existing technologies, this embodiment provides mechanical guidance through a pre-installed positioning pile system, achieving active and precise positioning of the pipe segment at the end of its sinking phase. This reduces reliance on external measuring equipment and improves positioning reliability and speed. It provides a stable mechanical positioning reference, and the cooperation between the positioning piles and the guiding device ensures accurate horizontal positioning of the pipe segment, simplifies the docking process, improves installation accuracy and efficiency, and reduces the difficulty of underwater operations.

[0144] According to another embodiment of the present invention, a method for dynamic posture control during the hoisting of irregularly shaped steel pipe concrete segments includes the following steps: obtaining spatial posture design parameters includes:

[0145] Collect three-dimensional topographic and seabed geological data of the waters to be installed;

[0146] Extract the bend angle, elevation change section inclination angle, and bend coordinates of the pipe section;

[0147] The hoisting trajectory and pose are calculated based on the interface docking accuracy, pier coordinates, and ocean current direction.

[0148] Based on the characteristics of the pipe material, pose control indicators including horizontal rotation angle and vertical tilt angle are generated;

[0149] Extract the center of gravity position and pre-positioning data of the lifting points from the 3D model;

[0150] Integrate the pose parameters into the floating crane's real-time positioning control module.

[0151] Acquiring spatial pose design parameters is a systematic preliminary step. First, high-precision 3D topographic data and seabed geological data of the waters to be installed are required to understand the installation environment. Next, key geometric features are extracted from the pipe section design documents, including the specific angles of bends, the inclination angles of elevation-changing sections, and the coordinate positions of bends in the global coordinate system. Then, based on this information, considering the pipe interface docking accuracy requirements, the coordinates of the installed piers, and the dominant tidal current direction in the area, the optimal lifting trajectory and the appropriate spatial pose of the pipe section on this trajectory are calculated. Simultaneously, considering the characteristics of the steel-concrete composite pipe, a series of specific pose control indicators are generated, such as the maximum allowable horizontal rotation angle and vertical inclination angle thresholds. Furthermore, the calculated spatial position of the center of gravity and the pre-set lifting point positions are extracted from the 3D design model of the pipe section. Finally, all these acquired and calculated pose parameters are integrated and input into the floating crane's real-time positioning control module as the initial benchmark and judgment basis for the entire automated control process.

[0152] This invention generates a complete and scientific set of initial lifting parameters by systematically integrating multi-source information and performing precise calculations. This process provides crucial and accurate inputs and judgment benchmarks for subsequent automated dynamic control, ensuring that the entire control process is goal-oriented and systematic. It avoids deviations in the control system from the initial stage due to inaccurate or missing initial data, thereby improving the planning, predictability, and ultimate success rate of the entire lifting operation from the source.

[0153] Furthermore, in the above embodiments, extracting the center of gravity position and lifting point data includes the following steps:

[0154] Establish a three-dimensional finite element model of the pipe section and load composite working conditions;

[0155] Identify the coordinates of the region of maximum equivalent stress in the stress contour map;

[0156] The pre-positioning coordinates of the lifting point are derived in reverse so that the direction of the resultant tension force coincides with the axis of the pipe section.

[0157] The system outputs the three-dimensional offset of the center of gravity relative to the control point at the bend. Extracting the center of gravity position and lifting point data is a precise process based on simulation analysis. First, a high-precision three-dimensional finite element model is established based on the detailed design drawings of the pipe section. Then, various combined loads that may be encountered during lifting are applied to this model, such as self-weight, water flow force, inertial force, and concentrated loads from the slings. After solving the finite element problem using a computer, the resulting stress cloud map is analyzed to identify the areas of maximum equivalent stress in the model and their spatial coordinates. The preset position of the lifting point needs to avoid these high-stress areas. Subsequently, based on the principle of force balance, the optimal preset coordinate position of the lifting point is determined through reverse derivation and iterative calculation. The principle for determining this position is to make the resultant tension force generated by multiple slings coincide as much as possible with the axial direction of the pipe section, thereby minimizing the generation of additional bending moments during lifting. Finally, the system outputs a key parameter, namely the three-dimensional offset of the pipe section's center of gravity relative to control points such as bends. This parameter will provide direct data support for differential adjustment in subsequent pose control.

[0158] This invention utilizes finite element analysis, an advanced engineering simulation method, to scientifically determine the center of gravity and optimal lifting point arrangement for irregularly shaped pipe sections. This method can accurately predict the mechanical behavior under lifting conditions, thereby ensuring that the lifting points are set in safe and reasonable locations. This ensures that the pipe section is in a good stress state during lifting, effectively avoiding local stress concentration or structural damage caused by improper lifting point settings. Essentially, this guarantees the structural safety of the lifting operation and the initial stability of the pipe section's posture.

[0159] According to another embodiment of the present invention, the dynamic posture control method for hoisting irregularly shaped steel pipe concrete segments includes the following steps for dynamically adjusting the length of the hoisting slings:

[0160] Connect a 1-meter to 5-meter adjustable short cable to the end of the sling;

[0161] The horizontal offset was checked based on the measured flow velocity and the projected area of ​​the pipe section.

[0162] Adjust the lengths of the four short wires proportionally to make the tilt angle deviation less than 0.5 degrees.

[0163] The dynamic adjustment of the lifting sling length is achieved through a specific hardware configuration and process. At the end of the sling connecting the hand-operated hoist and the pipe section lifting sling, a specially designed electrically adjustable short cable device, ranging in length from one to five meters, is connected in series. During adjustment, the control system first quickly calculates the potential horizontal offset of the pipe section due to water flow force based on real-time monitored seawater velocity data and the underwater projected area of ​​the pipe section in its current orientation. Subsequently, the system translates this offset requirement into length adjustment commands for the adjustable short cables at the ends of the four main slings. The adjustment process is not independent and disordered but follows a strict proportional principle. Based on the calculated compensation amount, the system synchronously and proportionally controls the four sets of short cables to lengthen or shorten. Through this fine-tuning, the deviation between the actual spatial inclination angle of the pipe section and the preset value is stably controlled within a very small range.

[0164] This invention provides a highly responsive and precise sling fine-tuning solution by introducing an independently adjustable short-circuit device and employing a proportional synchronous adjustment strategy. It can quickly compensate for minute tilt changes caused by disturbances such as water flow, effectively avoiding drastic fluctuations in the stress state of each sling point during adjustment. This ensures that the pipe section maintains extremely high attitude stability in dynamic environments, providing continuous process assurance for achieving high-precision positioning.

[0165] According to another embodiment of the present invention, the dynamic position control method for hoisting irregularly shaped steel pipe concrete segments includes the following steps for adjusting the positioning of the segments:

[0166] The pipeline section was paused at a height of 4 to 5 meters above the seabed, and guide steel wire ropes were installed.

[0167] The control section was lowered to a height of 0.5 meters from the crushed stone block to adjust its horizontal level;

[0168] The radial displacement is limited by positioning stakes to maintain a docking distance of 500 mm.

[0169] The positioning of the pipe section was designed as a meticulous, phased operation. The descent was paused when the pipe section was four to five meters below the seabed. At this point, personnel, either underwater or with remote control assistance, installed temporary guide cables for the pipe section. These cables were attached at one end to an already installed pipe section or foundation pier, providing physical guidance for the final docking. After the pause, the pipe section continued its descent at an extremely slow pace. When the lower end of the pipe section was only 0.5 meters from the top of the seabed gravel pier, the descent was paused again for final leveling and height adjustments. At this very close distance, pre-installed positioning stakes restricted radial movement of the pipe section, carefully maintaining a minute gap of approximately 500 millimeters between the pipe section interface and the interface to be docked, preparing for the final precise docking.

[0170] This invention creates a controllable and safe operating environment for the final placement of the pipe section through a series of meticulous operational steps, including specifying a clear stopping height, installing guiding devices, and maintaining safe distances. It achieves a smooth transition from macroscopic sinking to microscopic docking, greatly reducing the risk of collision and providing operators with ample time and space for final precise positioning and adjustments, thereby ensuring that the underwater interface can achieve millimeter-level high-precision docking.

[0171] According to another embodiment of the present invention, the dynamic posture control method for hoisting irregularly shaped steel pipe concrete segments further includes the following steps:

[0172] Configure a multi-point lifting beam system that connects the main hook of the floating crane to the pipe section;

[0173] Install detachable reinforcing beams at bends or stress concentration areas in irregularly shaped pipe sections;

[0174] The multi-point lifting beam system includes:

[0175] The main lifting beam is set to be 72 meters long;

[0176] The shackles with a rated load of 55 tons are used to connect the slings to the pipe section.

[0177] The spacing between the suspension points is controlled at 15 meters, and the pipe section is overhanging at both ends by 7.5 meters.

[0178] The installation of detachable reinforcing beams includes:

[0179] The steel-reinforced beams are fixed using semi-circular steel plate clamps;

[0180] The steel profile specifications are selected based on the finite element stress calculation results.

[0181] The reinforcing beam should be installed perpendicular to the direction of force applied to the bend.

[0182] The implementation of this method includes configuring a specialized multi-point lifting beam system to connect the floating crane's main hook to the pipe section, and installing detachable reinforcing beams at vulnerable locations on the pipe section. When configuring the multi-point lifting beam system, the length of the main lifting beam is first determined. Then, high-load-rated shackles are used to reliably connect the slings to the pre-wrapped pipe section. The spacing between lifting points and the overhang length at both ends of the pipe section are controlled by calculation to ensure uniform stress distribution on the pipe body during hoisting. For the installation of the reinforcing beams, specific steel profiles are first selected based on finite element stress calculations. Then, semi-circular steel plate clamps are used to tightly fix them to the stress concentration areas on the outer wall of the pipe section, ensuring that the installation direction of the reinforcing beams is perpendicular to the main stress direction of the bend to maximize the bending stiffness of that area.

[0183] This invention significantly improves the reliability and safety of the entire hoisting system from a hardware perspective by optimizing the beam system to distribute the main load and adding temporary reinforcing beams at key locations. It effectively disperses the hoisting load, avoids stress concentration, protects the pipe section structure from damage during hoisting, and provides a solid and safe hardware foundation for the entire dynamic posture control process, ensuring the smooth completion of the hoisting operation.

[0184] Although embodiments of the present invention have been disclosed above, they are not limited to the applications listed in the specification and embodiments. It can be applied to various fields suitable for the embodiments of the present invention. Other modifications can be readily implemented by those skilled in the art. Therefore, without departing from the general concept defined by the claims and their equivalents, the embodiments of the present invention are not limited to the specific details.

Claims

1. A method for dynamic position control during the hoisting of irregularly shaped steel pipe concrete segments, characterized in that, Includes the following steps: The spatial orientation design parameters of irregular pipe sections with bends or elevation changes are obtained in real time through an underwater acoustic positioning system. The underwater acoustic positioning system is an ultra-short baseline or long baseline acoustic positioning system. Its acoustic transducer array is installed at the bottom of the floating crane, and the acoustic beacon is fixed at the key control point of the pipe section. The key control point is the interface center or design center of gravity of the pipe section. The length of the hoisting slings is dynamically adjusted based on the spatial orientation design parameters and real-time hydraulic forces to maintain the preset spatial inclination angle, including: a) Real-time monitoring of the pitch and roll angles of the pipe section using tilt sensor arrays deployed at the center of gravity and bends of the pipe section; b) Calculate the disturbance moment of the real-time water flow force on the pipe section based on the fluid dynamics model, and generate the sling length compensation amount by combining the tilt angle deviation value. The fluid dynamics model uses the Morison equation to calculate the disturbance moment of the real-time water flow force on the pipe section. c) Adjust the speed of the hand chain hoist at each lifting point independently according to the compensation amount to maintain the preset spatial inclination angle of the pipe section, wherein the adjustment range of the lifting cable on the elbow side is greater than that on the straight pipe section side. The horizontal rotation angle of the pipe section is controlled by adjusting the cables moored on both sides. The collaborative floating crane positioning system provides real-time feedback to adjust the hook height and cable tension. The regulating pipe section was positioned underwater at its predetermined location on the seabed.

2. The dynamic posture control method for hoisting irregularly shaped steel pipe concrete segments as described in claim 1, characterized in that, The horizontal rotation angle of the pipe section is controlled by adjusting the cables moored on both sides, including: Anti-current traction cables are symmetrically connected on both sides of the pipe section in the horizontal direction, and the ends of the cables are anchored to the positioning vessel or the seabed winch, respectively. The yaw angle data is fed back in real time by the gyrocompass at the top of the pipe section. When the horizontal rotation angle deviates from the design value by ±0.5°, differential control is activated: if counterclockwise correction is required, the right cable is tightened and the left cable is released simultaneously; if clockwise correction is required, the left cable is tightened and the right cable is released simultaneously. The tension difference between the two cables is controlled by a closed-loop tension sensor to create a corrective torque that resists the torque of the water flow.

3. The dynamic posture control method for hoisting irregularly shaped steel pipe concrete segments as described in claim 1, characterized in that, The collaborative floating crane positioning system provides real-time feedback adjustment of hook height and cable tension, including the following steps: The three-dimensional coordinate data of the center of the pipe section interface is collected in real time using an underwater acoustic positioning system. The three-dimensional coordinate data is compared with the preset sinking trajectory model in real time to generate hook height adjustment instructions; When the sinking speed of the pipe section deviates from the preset speed value by 10%, the main lifting mechanism of the floating crane is controlled to adjust the hook lowering rate. When the horizontal position deviation of the pipe section exceeds 5% of the pipe diameter, the tension of the traction cable and the displacement of the floating crane translation mechanism are adjusted simultaneously. Based on the coupling relationship between hook height, cable tension and pipe segment spatial orientation, the pipe segment is dynamically controlled to reach the target position on the seabed at the designed angle of attack.

4. The dynamic posture control method for hoisting irregularly shaped steel pipe concrete segments as described in claim 3, characterized in that, The cooperative floating crane positioning system adopts a multi-degree-of-freedom cooperative control algorithm, which is a motion coupling control of sling-cable-floating crane implemented by a fuzzy PID controller; When real-time sensor data is missing, the pipe segment position adjustment is performed by calling a pre-generated lifting parameter reference table, which is generated by numerical simulation of sea conditions.

5. The dynamic posture control method for hoisting irregularly shaped steel pipe concrete segments as described in claim 1, characterized in that, It also includes buoyancy and positioning control methods, comprising the following steps: A sealing airbag is installed inside one end of the pipe section to be installed, and a flange blind plate is installed at the other end to form a sealed chamber. Compressed gas is introduced into the sealed chamber and pressurized to the test pressure to verify the sealing integrity of the pipe section; During the hoisting process, the gas pressure inside the sealed chamber should be maintained within the design pressure range; If the pipe segment's attitude does not meet the preset requirements, the buoyancy distribution and pitch attitude of the pipe segment can be adjusted by adjusting the axial position of the sealing airbag inside the pipe and / or by attaching floating bags to the outside of the subsea pipeline.

6. The dynamic posture control method for hoisting irregularly shaped steel pipe concrete segments as described in claim 5, characterized in that, A positioning pile system is pre-installed on the seabed in the pipe section interface docking area; The positioning pile system includes at least four concrete piles arranged at predetermined coordinates, and the top of the piles is provided with a mechanical structure for cooperating with the pipe section guiding device. In the final stage of pipe segment sinking, the guide device installed on the pipe segment is used to contact and guide the top of the positioning pile to achieve the final horizontal precise positioning of the pipe segment; The installation and use of the positioning pile system includes: using a crane ship to hoist the positioning piles and using an RTK positioning system for preliminary coarse positioning of the pile positions. Dispatch divers to work underwater to assist in adjusting the pile's posture and finally confirm the design elevation of the pile top; After the positioning piles are installed and in place, their coordinates are used as known control points and integrated into the real-time positioning control system of the pipeline segment to form a closed-loop control network for guiding the pipeline segment into place.

7. The method for dynamic position control during hoisting of irregularly shaped steel pipe concrete segments as described in claim 1, characterized in that, Includes the following steps: Obtaining spatial pose design parameters includes: Collect three-dimensional topographic and seabed geological data of the waters to be installed; Extract the bend angle, elevation change section inclination angle, and bend coordinates of the pipe section; The hoisting trajectory and pose are calculated based on the interface docking accuracy, pier coordinates, and ocean current direction. Based on the characteristics of the pipe material, pose control indicators including horizontal rotation angle and vertical tilt angle are generated; Extract the center of gravity position and pre-positioning data of the lifting points from the 3D model; Integrate pose parameters into the floating crane's real-time positioning control module; The extraction of center of gravity position and pre-positioning data of lifting points includes the following steps: Establish a three-dimensional finite element model of the pipe section and load composite working conditions; Identify the coordinates of the region of maximum equivalent stress in the stress contour map; The pre-positioning coordinates of the lifting point are derived in reverse so that the direction of the resultant tension force coincides with the axis of the pipe section. Output the three-dimensional offset of the center of gravity relative to the bend control point.

8. The method for dynamic position control during hoisting of irregularly shaped steel pipe concrete segments as described in claim 1, characterized in that, Dynamically adjusting the length of lifting slings includes the following steps: Connect a 1-meter to 5-meter adjustable short cable to the end of the sling; The horizontal offset was checked based on the measured flow velocity and the projected area of ​​the pipe section. Adjust the lengths of the four short wires proportionally to make the tilt angle deviation less than 0.5 degrees.

9. The dynamic posture control method for hoisting irregularly shaped steel pipe concrete segments as described in claim 1, characterized in that, The placement of the regulating pipe section to its predetermined position on the seabed includes the following steps: The pipeline section was paused at a height of 4 to 5 meters above the seabed, and guide steel wire ropes were installed. The control section was lowered to a height of 0.5 meters from the crushed stone block to adjust its horizontal level; The radial displacement is limited by positioning stakes to maintain a docking distance of 500 mm.

10. The dynamic posture control method for hoisting irregularly shaped steel pipe concrete segments as described in claim 1, characterized in that, It also includes the following steps: Configure a multi-point lifting beam system that connects the main hook of the floating crane to the pipe section; Install detachable reinforcing beams at bends or stress concentration areas in irregularly shaped pipe sections; The multi-point lifting beam system, which connects the main hook of the floating crane to the pipe section, includes: The main lifting beam is set to be 72 meters long; The shackles with a rated load of 55 tons are used to connect the slings to the pipe section. The spacing between the suspension points is controlled at 15 meters, and the pipe section is overhanging at both ends by 7.5 meters. The installation of detachable reinforcing beams includes: The steel-reinforced beams are fixed using semi-circular steel plate clamps; The steel profile specifications are selected based on the finite element stress calculation results. The reinforcing beam should be installed perpendicular to the direction of force applied to the bend.