Floating positioning method for cylindrical floating structure

Abstract

The invention discloses a floating loading positioning method for a cylindrical floating structure. The floating loading positioning method for the cylindrical floating structure comprises the steps that positioning piles and a measuring robot are arranged at designed positions on a semi-submerged ship, and an underwater camera is arranged on a deck of the semi-submerged ship; the cylindrical floating structure is close to the semi-submerged ship, and the measuring robot measures the distance between different measuring points of the floating structure and the semi-submerged ship in real time and feeds back the relative position and the relative speed between the floating structure and the semi-submerged ship; a white mark is drawn on a positioning catcher arranged on the cylindrical floating structure, and a positioning pile of the semi-submerged ship is correspondingly marked with the white mark; when the cylindrical floating structure is close to the in-place position, white marks on the positioning catcher and the positioning pile are observed, and if the positioning catcher and the positioning pile coincide, the in-place is successful. According to the floating installation positioning method of the cylindrical floating structure, in the floating process of the semi-submerged ship, the measuring robot and the underwater camera are used for monitoring the in-place position of the cylindrical floating structure in real time, and the in-place position of the cylindrical floating structure is finely adjusted in real time.

Description

Technical Field

[0001] This invention belongs to the field of marine oil engineering technology, and particularly relates to a floating positioning method for a cylindrical floating structure. Background Technology

[0002] For hull-shaped floating bodies, positioning structures on the ship and in the beam direction are usually sufficient to position the floating body. However, for cylindrical floating bodies, in addition to restricting their movement in both directions, their rotation angle also needs to be restricted to achieve precise positioning.

[0003] Because it is a cylindrical structure, it is prone to rotation under stress. Therefore, during the ascent process, the displacement must be monitored in real time, and the positioning of the floating structure must be finely adjusted in real time to avoid the displacement of the positioning position caused by changes in the stress on the floating structure due to the load adjustment of the semi-submersible vessel.

[0004] Therefore, there is an urgent need to design a floating positioning method for cylindrical floating structures to solve the problems mentioned above. Summary of the Invention

[0005] To address the technical problem mentioned in the background art that cylindrical structures are prone to rotation under stress, and that displacement needs to be monitored and the positioning of floating structures needs to be finely adjusted in real time during the floating process, a floating positioning method for cylindrical floating structures is provided to solve the positioning problem during the floating installation of floating structures.

[0006] To achieve the above objectives, the specific technical solution of the floating positioning method for the cylindrical floating structure of the present invention is as follows: A floating positioning method for a cylindrical floating structure mainly includes the following steps: S1. Positioning stakes, measuring robots, and underwater cameras are placed on the deck of the semi-submersible vessel. S2. A cylindrical floating structure is placed close to the semi-submersible vessel. A measurement robot measures the distance between different measurement points on the floating structure and the semi-submersible vessel in real time, and provides feedback on the relative position and relative speed between the two. S3. The positioning capture device installed on the cylindrical floating structure is marked with white, and the positioning stakes of the semi-submersible vessel are marked with white accordingly. S4. When the cylindrical floating structure is close to the positioning position, observe the white marks on the positioning capture device and the positioning stake. If the two overlap, the positioning is successful.

[0007] Furthermore, in S1, the positioning stake includes a positioning scale, which is vertically connected to the semi-submersible vessel.

[0008] Furthermore, multiple graduations are spaced along the length of the positioning scale, and the standard positioning graduations for the cylindrical floating structure are marked in white on the positioning scale.

[0009] Furthermore, the positioning pile also includes sleepers, which are used to abut the cylindrical floating structure against the positioning pile.

[0010] Furthermore, in S3, the positioning catcher includes a structural frame and a positioning rod, which is vertically connected to the structural frame and has white markings.

[0011] Furthermore, the positioning catcher also includes a positioning structure that abuts against the positioning stake to limit the horizontal movement of the cylindrical floating structure.

[0012] Furthermore, in S1, multiple underwater cameras are installed on the semi-submersible vessel, with the multiple underwater cameras spaced apart circumferentially along the cylindrical floating structure.

[0013] Furthermore, in S1, the semi-submersible vessel is equipped with measuring robots at both the bow and stern to provide feedback on the position and relative speed of the cylindrical floating structure.

[0014] Furthermore, when floating, the positioning piles need to be at least 1 meter above the water surface.

[0015] The floating positioning method for the cylindrical floating structure of the present invention has the following advantages: By using a measuring robot and underwater camera during the surfacing process of the semi-submersible vessel, the positioning position of the cylindrical floating structure is monitored in real time, and the positioning position of the cylindrical floating structure is finely adjusted in real time. This avoids the position of the cylindrical floating structure from shifting due to the load adjustment of the semi-submersible vessel, thus ensuring the accurate positioning of the pier; and it also prevents the cylindrical floating structure from rotating, which would cause changes in the force and shift the positioning position. Attached Figure Description

[0016] Figure 1 This is a general layout diagram of the floating positioning method for the cylindrical floating structure of the present invention; Figure 2 This is a side view of the positioning pile for the floating positioning method of the cylindrical floating structure of the present invention; Figure 3 This is a top view of the positioning piles for the floating positioning method of the cylindrical floating structure of the present invention; Figure 4 This is a layout diagram of the underwater camera and measuring robot of the present invention.

[0017] Explanation of markings in the diagram: 1. Semi-submersible vessel; 2. Cylindrical floating structure; 3. Positioning capture device; 31. Structural frame; 32. Positioning rod; 33. Positioning structure; 4. Positioning stake; 41. Positioning scale; 42. Sleeper; 5. Deck; 6. Measurement robot; 7. Underwater camera. Detailed Implementation

[0018] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0019] Those skilled in the art will understand that although some embodiments herein include certain features included in other embodiments but not others, combinations of features from different embodiments are intended to be within the scope of the invention and form different embodiments. For example, in the claims, any of the claimed embodiments can be used in any combination.

[0020] The following is a reference to the appendix. Figure 1 To be continued Figure 4 The present invention describes a floating positioning method for a cylindrical floating structure.

[0021] like Figure 1 and Figure 4 As shown, the floating positioning method for the cylindrical floating structure in this invention mainly includes the following steps: S1. Positioning stakes 4 and measuring robot 6 are arranged at the designed locations on the semi-submersible vessel 1, and underwater camera 7 is arranged on the deck 5 of the semi-submersible vessel 1. Furthermore, such as Figure 2 As shown, the positioning pile 4 includes a positioning scale 41, which is vertically connected to the semi-submersible vessel 1; multiple scales are provided at intervals along the length of the positioning scale 41, and the standard positioning scale of the cylindrical floating structure 2 is marked in white on the positioning scale 41; the positioning pile 4 also includes sleepers 42, through which the cylindrical floating structure 2 is abutted against the positioning pile 4.

[0022] Multiple underwater cameras 7 are installed on the semi-submersible vessel 1, and the multiple underwater cameras 7 are arranged at intervals around the cylindrical floating structure 2. Measurement robots 6 are installed at both the bow and stern of the semi-submersible vessel 1 to provide feedback on the position and relative speed of the cylindrical floating structure 2.

[0023] As a preferred embodiment, before floating, positioning stakes 4 and three measuring robots 6 are arranged at designed positions on the semi-submersible vessel 1, and underwater cameras 7 are arranged on the deck 5 of the semi-submersible vessel 1. During the floating process, when the cylindrical floating structure 2 approaches the semi-submersible vessel 1, the measuring robot 6 can measure the distance between different measuring points of the cylindrical floating structure 2 and the semi-submersible vessel 1 in real time, and provide feedback on the relative position and relative speed between the two. The floating commander can use the position and relative speed of the cylindrical floating structure 2 fed back by the measuring robot 6 to direct the operation of the tugboat and the tallying winch to slowly move the cylindrical floating structure 2 to the designed position.

[0024] S2. The cylindrical floating structure 2 approaches the semi-submersible vessel 1, and the measuring robot 6 measures the distance between different measuring points of the cylindrical floating structure 2 and the semi-submersible vessel 1 in real time, and provides feedback on the relative position and relative speed between the two. S3. The positioning capture device 3 installed on the cylindrical floating structure 2 is marked with white, and the positioning stake 4 of the semi-submersible vessel 1 is marked with white accordingly. Furthermore, such as Figure 3 As shown, the positioning catcher 3 includes a structural frame 31 and a positioning rod 32. The positioning rod 32 is vertically connected to the structural frame 31 and has white markings. The positioning catcher 3 also includes a positioning structure 33, which abuts against the positioning stake 4 to limit the horizontal movement of the cylindrical floating structure 2.

[0025] S4. When the cylindrical floating structure 2 is close to the positioning position, observe the white marks on the positioning capture device 3 and the positioning stake 4. If the two overlap, the positioning is successful.

[0026] In a preferred embodiment, the positioning rod 32 on the positioning catcher 3 is marked with white paint, and a positioning scale 41 is designed on the corresponding positioning stake 4 to align with the white mark on the positioning rod 32. The positioning stake 4 needs to be more than 1m above the water surface for easy observation by personnel.

[0027] The underwater camera 7 can be positioned on both sides of the cylindrical floating structure 2 and below the positioning capture device 3. When the cylindrical floating structure 2 is close to its positioning position, carefully observe the white marks on the positioning scale 41 and the positioning rod 32. If the two overlap, the positioning is successful. At this time, observe the underwater camera 7 to confirm that the positioning stake 4 and the positioning capture device 3 are close together, and at the same time observe whether the position of the cylindrical floating structure 2 fed back by the ranging robot 5 is in the designed position.

[0028] During the ascent of the semi-submersible vessel 1, the positioning position of the cylindrical floating structure 2 can be monitored in real time by the ranging robot 5 and the underwater camera 7. The positioning position of the cylindrical floating structure 2 can be finely adjusted in real time to avoid the position of the cylindrical floating structure 2 shifting due to the load adjustment of the semi-submersible vessel 1, thus ensuring the accurate positioning of the pier.

[0029] Based on the floating positioning method of the cylindrical floating structure, this invention utilizes a measuring robot 6 and an underwater camera 7 to monitor the positioning position of the cylindrical floating structure 2 in real time during the surfacing process of the semi-submersible vessel 1, and finely adjusts the positioning position of the cylindrical floating structure 2 in real time. This avoids the position of the cylindrical floating structure 2 from shifting due to the load adjustment of the semi-submersible vessel 1, ensuring the accurate positioning of the pier; and prevents the cylindrical floating structure 2 from rotating, which would cause changes in the force and shift the positioning position.

[0030] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the implementation of the present invention. Those skilled in the art can make other variations or modifications based on the above description. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the claims of the present invention.

Claims

1. A method of positioning a floating cylindrical floating structure, characterized by, The method mainly comprises the following steps: S1, arranging a positioning pile, a measuring robot and underwater cameras on the deck of the semi-submersible ship; S2, the cylindrical floating structure approaches the semi-submersible ship, the measuring robot measures the distance between the different measuring points of the floating structure and the semi-submersible ship in real time, and feeds back the relative position and speed between the two; S3, the positioning catcher arranged on the cylindrical floating structure draws a white mark, and the positioning pile of the semi-submersible ship draws a corresponding white mark; S4, when the cylindrical floating structure approaches the in-place position, the white marks on the positioning catcher and the positioning pile are observed, and the two marks coincide to indicate successful positioning.

2. The floating positioning method of a cylindrical floating structure according to claim 1, characterized by, In S1, the positioning pile comprises a positioning scale, which is vertically connected to the semi-submersible ship.

3. The floating positioning method of a cylindrical floating structure according to claim 2, characterized by, A plurality of scales are arranged along the length direction of the positioning scale, and a standard positioning scale of the cylindrical floating structure is drawn on the positioning scale with a white mark.

4. The floating positioning method of a cylindrical floating structure according to claim 2, characterized by, The positioning pile further comprises a sleeper, which abuts the cylindrical floating structure on the positioning pile.

5. The floating positioning method of a cylindrical floating structure according to claim 1, wherein In S3, the positioning catcher comprises a structure frame and a positioning rod, which is vertically connected to the structure frame, and the positioning rod draws a white mark.

6. The floating positioning method of a cylindrical floating structure according to claim 5, wherein The positioning catcher further comprises a positioning structure, which abuts the positioning pile to limit the horizontal direction of the cylindrical floating structure.

7. The floating positioning method of a cylindrical floating structure according to Claim 1, wherein In S1, a plurality of underwater cameras are arranged on the semi-submersible ship, and the plurality of underwater cameras are arranged circumferentially along the cylindrical floating structure.

8. The floating positioning method of a cylindrical floating structure according to claim 1, wherein In S1, the bow and stern of the semi-submersible ship are each provided with a measuring robot to feed back the position of the cylindrical floating structure and the speed of relative motion.

9. The floating positioning method of a cylindrical floating structure according to Claim 1, wherein When floating, the positioning pile needs to be higher than the water surface by more than 1m.

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