Method for installing offshore wind turbine jacket

Abstract

The application relates to a method for installing and constructing an offshore wind turbine jacket, which can quickly determine whether the jacket is blocked during lowering by judging whether the sling is not stressed, the jacket is not lowered to the design elevation or the jacket is inclined; if the jacket is blocked, a tugboat is controlled to apply a transverse force to the low point of the jacket, so that the lateral extrusion surface of the pile wall of the pile of the insertion tip and the foundation pile is directly separated, the static friction balance is broken, and the gap between the insertion tip and the pile wall is enlarged; the main hook synchronously applies a vertical lifting force, and the jacket is quickly pulled out of the blocking position after the gap is formed. The combined effect of the lateral separation and the vertical pulling of the application can more efficiently break through the blocking threshold, reduce the hard friction damage between the pile wall and the insertion tip, and shorten the unblocking time. The scheme of the application uses two types of conventional offshore construction equipment, i.e., a crane ship main hook and a tugboat, without the need of customizing special devices, and the cooperative operation of the tugboat and the crane ship does not need complex linkage control, so that the equipment investment cost is reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of offshore wind power, in particular to a method for installing an offshore wind turbine jacket. BACKGROUND

[0002] In offshore wind power engineering, the jacket foundation is the core bearing structure, which is usually composed of three or four "leg" shaped steel frames. It is fixedly connected with the foundation pile driven into the seabed through grouting. In order to ensure the overall stability of the structure, the precise fitting installation of the jacket and the foundation pile is a key link in the construction.

[0003] However, during the installation of the jacket, due to structural factors such as excessive inclination of the foundation pile, pile spacing exceeding the design range, and deviation in the processing size of the jacket tip, as well as construction environmental and operational factors such as deviation in the installation orientation of the jacket and inclination of the jacket posture caused by water flow, the jacket tip and the foundation pile may not be closely fitted, which may be manifested by the jacket tip being stuck in the foundation pile, which cannot be completely lowered into place or pulled out, thereby seriously affecting the construction progress.

[0004] In order to solve the positioning accuracy problem of the jacket installation, some improvement schemes have been proposed in the related technical field. For example, patent CN114856919B discloses a method for lifting a jacket by a full-rotation crane ship, which monitors the relative position by a positioning system, performs coarse positioning and twist angle adjustment of the crane ship, and combines with underwater auxiliary alignment by divers to realize precise insertion of the jacket leg and the engineering pile. Patent CN119288776B discloses a method for visual installation of a jacket foundation of an offshore wind turbine, which improves the installation accuracy and reduces the interference of environmental factors such as water flow by accurately determining the position of the components, visually observing and commanding, and positioning the tip by coordinates.

[0005] However, the above-mentioned prior art mainly focuses on positioning optimization before installation or alignment assistance during installation, and mainly solves the problem of planar position deviation, but does not provide an effective solution for the scenario where the jacket tip is blocked during positioning and lowering. When the jacket is blocked, the existing technology lacks corresponding posture resetting adjustment means, and cannot quickly correct the inclination or misalignment state of the jacket, resulting in construction stagnation, which not only reduces the installation efficiency, but also may cause damage to the jacket tip and the foundation pile structure due to forced lowering or pulling out. Therefore, it is necessary to develop a posture resetting technology for the scenario where the jacket tip is blocked during positioning and lowering to ensure the smooth installation of the jacket, which is a technical requirement to be solved in the field of offshore wind turbine jacket foundation installation. SUMMARY

[0006] Therefore, it is necessary to provide a method for installing an offshore wind turbine jacket to solve the above problems.

[0007] A method for installing an offshore wind turbine jacket, the method comprising:

[0008] Step S1: connecting a main hook of a crane vessel to the jacket and controlling the crane vessel to lift the jacket off the transport vessel and initially position the jacket;

[0009] Step S2: lowering the main hook until the slings on the main hook are unloaded and obtaining a current attitude of the jacket when the jacket movement meets the initial positioning requirements;

[0010] Step S3: determining that the lowering is blocked if the jacket lowering does not reach a design elevation or the jacket is tilted on the water;

[0011] Step S4: connecting a tug sling to a main leg of the jacket in a direction of a low point of the jacket, controlling the tug to apply a transverse towing load to the jacket in the direction of the low point, and simultaneously controlling the main hook of the crane vessel to lift the jacket until the jacket is loosened and lifted off the foundation pile.

[0012] In one of the embodiments, in step S3, the method further comprises: obtaining current attitude information of the jacket and determining a degree of tilting of the jacket;

[0013] Step S4, comprising: if the degree of tilting of the jacket is less than a preset tilting threshold, connecting the tug sling to the main leg of the jacket in the direction of the low point of the jacket, controlling the tug to apply the transverse towing load to the jacket in the direction of the low point, and simultaneously controlling the main hook of the crane vessel to lift the jacket until the jacket is loosened and lifted off the foundation pile.

[0014] In one of the embodiments, step S4, controlling the tug to apply the transverse towing load to the jacket in the direction of the low point and simultaneously controlling the main hook of the crane vessel to lift the jacket, comprises:

[0015] Step S41: controlling the tug to apply intermittent transverse towing loads in the direction of the low point and simultaneously controlling the main hook of the crane vessel to maintain a stable vertical lifting force;

[0016] until the jamming between the pointed end of the jacket and the foundation pile is released.

[0017] In one of the embodiments, step S41, further comprises:

[0018] Step S42: if the current degree of tilting of the jacket does not change after a preset time, controlling the tug to continuously apply the preset transverse towing load to the jacket in synchronization with the preset lifting force of the main hook, maintaining for a preset time, and then re-obtaining the current degree of tilting of the jacket;

[0019] Step S43: if the current inclination decreases, re-perform step S41; if the current inclination of the jacket does not change, increment the current lifting force of the main hook and the current lateral towing load of the tugboat simultaneously, and perform step S42 in a loop until a preset vertical displacement of the jacket is monitored.

[0020] In one of the embodiments, step S4 further comprises, after:

[0021] Step S5: if the inclination of the jacket is greater than or equal to a preset inclination threshold, hook the main hook of the crane vessel to the high point of the jacket and hook the auxiliary hook of the crane vessel to the low point of the jacket, control the main hook and the auxiliary hook of the crane vessel to be hooked up synchronously until the sling is taut, and then control the main hook and the auxiliary hook to be lifted up alternately until the jacket is lifted off the foundation piles after being loosened.

[0022] In one of the embodiments, step S5, after controlling the main hook and the auxiliary hook of the crane vessel to be hooked up synchronously until the sling is taut, and then controlling the main hook and the auxiliary hook to be lifted up alternately until the jacket is lifted off the foundation piles after being loosened, further comprises:

[0023] controlling the main hook and the auxiliary hook to be lifted up synchronously according to a preset lifting force until the sling is taut, controlling the main hook to increase the preset lifting force and keeping the preset lifting force for a preset time, then controlling the auxiliary hook to increase the preset lifting force and keeping the preset lifting force for a preset time, and then performing the control of the main hook to increase the preset lifting force in a loop until the jacket shows signs of loosening, and then controlling the main hook and the auxiliary hook to be lifted up synchronously to make the jacket be pulled out of the foundation piles.

[0024] In one of the embodiments, step S5 further comprises, after:

[0025] Step S6: after the jacket is lifted out, re-measure and review the inclination direction of each foundation pile and the distance between each foundation pile; according to the measurement data, adjust the current posture of the jacket by controlling the main hook and the auxiliary hook, and then control the main hook and the auxiliary hook to be lowered synchronously to make the pointed end of the jacket be inserted into the foundation piles.

[0026] In one of the embodiments, the preset inclination threshold is a slope of 10%.

[0027] In one of the embodiments, step S1 comprises, before:

[0028] The jacket transport vessel reaches the construction site and anchors in place in parallel with the crane vessel.

[0029] Real-time acquisition of the planar coordinates of the jacket, control the position of the crane vessel according to the current planar coordinates of the jacket, and stop moving the vessel and lower the main hook of the crane vessel when the center coordinates and the azimuth deviation of the jacket relative to the crane vessel meet the design requirements.

[0030] In one embodiment, step S1: connecting the main hook of the crane vessel to the jacket frame and controlling the crane vessel to lift the jacket frame off the transport vessel includes:

[0031] Connect the main hook of the crane vessel to the jacket structure. Adjust the crane vessel's luffing by controlling its movement to align the lifting force center with the jacket structure's center of gravity. Control the main hook to apply force to the slings. At the same time, check the connection and separation between the jacket structure and the transport vessel.

[0032] Control the crane vessel to raise the main hook until the main hook sling is taut and fully stressed, and lift the jacket structure from the transport vessel; when the jacket structure is raised to a height of 3m, the main hook stops lifting, and the transport vessel anchors and sails away.

[0033] Compared with existing technologies, the above-mentioned installation and construction method for offshore wind turbine jackets has at least the following advantages:

[0034] By using the criteria of no stress on the slings and the jacket foundation failing to reach the design elevation or tilting, the system can quickly determine whether the jacket foundation is obstructed during descent without complex monitoring equipment. If obstruction occurs, the tugboat applies a lateral force towards the lowest point of the jacket foundation, directly separating the lateral compression surfaces of the insert tip and the foundation pile wall, breaking the static friction balance, and widening the gap between the insert tip and the pile wall. Simultaneously, the main hook applies a vertical lifting force, quickly pulling the jacket foundation away from the obstructed position after the gap is formed. Compared to single vertical lifting, which is prone to "the more you pull, the more stuck" due to excessive frictional resistance, the combined force effect of lateral separation and vertical lifting in this application can more efficiently overcome the obstruction threshold, reduce hard frictional damage between the pile wall and the insert tip, and significantly shorten the unblocking time. Furthermore, this application's solution uses two types of conventional offshore construction equipment—the crane vessel's main hook lifting and the tugboat—eliminating the need for customized special unblocking devices or additional auxiliary lifting tools. The coordinated operation of the tugboat and crane vessel also eliminates the need for complex linkage control, reducing equipment investment costs. Attached Figure Description

[0035] The accompanying drawings, which form part of this application, are used to provide a further understanding of this application. The illustrative embodiments of this application and their descriptions are used to explain this application and do not constitute an undue limitation of this application.

[0036] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0037] Furthermore, the accompanying drawings are not drawn to a 1:1 scale, and the relative dimensions of the various components are shown in the drawings only as examples and not necessarily to actual scale.

[0038] Figure 1 Flow chart of the installation method of the offshore wind turbine jacket in an embodiment.

[0039] Figure 2 Top view of the position relationship between the crane vessel and the foundation piles.

[0040] Figure 3 Top view of the berthing of the transport vessel and the crane vessel.

[0041] Figure 4 Front view of the main hook of the crane vessel connecting the jacket.

[0042] Figure 5 Front view of the crane vessel lifting the jacket.

[0043] Figure 6 Top view of the crane vessel adjusting the position of the jacket.

[0044] Figure 7 Front view of the crane vessel lowering the jacket onto the foundation piles.

[0045] Figure 8 Front view of the crane vessel and the tugboat acting on the jacket synchronously.

[0046] Figure 9 Front view of the main hook and the auxiliary hook of the crane vessel lifting the jacket synchronously.

[0047] Figure 10 Front view of the jacket and the foundation piles being provided with the jack-up blocks.

[0048] BRIEF DESCRIPTION OF THE DRAWINGS

[0049] Jacket 10; spigot 101; spigot ring plate 102; transport vessel 20; crane vessel 30; main hook 301; sling 302; auxiliary hook 303; foundation pile 40; tugboat 50; jack-up block 60. DETAILED DESCRIPTION

[0050] In order to make the above objectives, features and advantages of the present application more apparent, specific embodiments of the present application will be described in detail below with reference to the accompanying drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application. However, the present application can be practiced in a number of different ways beyond the specific embodiments described and it is therefore contemplated to cover all such modifications as fall within the scope of the application. It is to be understood that other embodiments can be employed and structural or procedural changes can be made without departing from the scope of the present application.

[0051] In the process of lowering and installing the jacket of offshore wind turbine, the jacket tip may not be closely attached to the foundation pile, the jacket tip may be stuck in the foundation pile, and the jacket may not be completely lowered or pulled out. There are many factors that cause this situation, such as excessive inclination of the foundation pile, excessive pile spacing of the foundation pile, and large processing size error of the jacket tip, which leads to the obstruction of the jacket lowering and the failure to completely attach the jacket to the foundation pile to form a stable whole. In general, the incorrect orientation of the jacket installation during the lowering of the jacket or the inclination of the jacket posture caused by the water flow may also lead to the obstruction of the lowering of the jacket.

[0052] The traditional solution usually needs to replace the crane ship with larger lifting capacity and the sling with larger allowable load, slowly increase the load of the crane ship to lift the jacket, and ensure that the jacket tip can be pulled out of the foundation pile. However, the jacket that is directly and hard lifted when obstructed is prone to sudden breakage of the sling or damage of the crane ship boom, which increases the cost of using the ship, and may also cause wear and tear between the jacket tip and the foundation pile, affecting the construction progress and component quality of the overall construction.

[0053] Referring to Figures 1 to 3 The installation and construction method of the offshore wind turbine jacket 10 in an embodiment of the present application at least improves the efficiency of removing the obstruction of the jacket 10 when the jacket 10 is obstructed during lowering. Specifically, the installation and construction method comprises:

[0054] The jacket 10 transport ship 20 reaches the anchor position at the construction site and is in parallel with the crane ship 30;

[0055] The planar coordinates of the jacket 10 are obtained in real time, the position of the crane ship 30 is controlled according to the current planar coordinates of the jacket 10, and the main hook 301 of the crane ship 30 is stopped and lowered after the center coordinates and the orientation deviation of the jacket 10 relative to the crane ship 30 meet the design requirements.

[0056] Specifically, the jacket 10 transport ship 20 reaches the anchor position near the construction site, the crane ship 30 docks the transport ship 20 through the DP system, the center of the jacket 10 is directly opposite the center line of the crane of the crane ship 30, and the crane ship 30 is ready for lifting the jacket 10. The sling 302 is hung on the inner platform of the jacket 10. The crane ship 30 completes the sling 302 hanging work of the jacket 10 through the main hook 301. In general, the crane ship 30 uses a single main hook 301 to lift and install the jacket 10.

[0057] Referring to Figures 4 to 6, step S1 : connecting the main hook 301 of the crane ship 30 to the jacket 10, and controlling the crane ship 30 to lift the jacket 10 away from the transport ship 20, and initially positioning the jacket 10. After the sling 302 is hung, the planar coordinate data of the jacket 10 during the lifting process is transmitted to the control center of the crane ship 30 in real time, and the positions of the four legs of the jacket 10 and the positions of the foundation piles 40 are dynamically and real-timely displayed on the navigation positioning software, to guide the lifting operation.

[0058] Specifically, step S1 : connecting the main hook 301 of the crane ship 30 to the jacket 10, and controlling the crane ship 30 to lift the jacket 10 away from the transport ship 20, and initially positioning the jacket 10. After the sling 302 is hung, the planar coordinate data of the jacket 10 during the lifting process is transmitted to the control center of the crane ship 30 in real time, and the positions of the four legs of the jacket 10 and the positions of the foundation piles 40 are dynamically and real-timely displayed on the navigation positioning software, to guide the lifting operation.

[0059] The main hook 301 of the crane ship 30 is connected to the jacket 10, the lifting stress center is adjusted to coincide with the gravity center of the jacket 10 by controlling the crane ship 30 to move and adjust the luffing of the crane ship 30, and the sling 302 is controlled to bear stress; meanwhile, the separation of the jacket 10 from the transport ship 20 is checked. The separation completion degree of the sea binding tooling on the transport ship 20 from the jacket 10 is checked, to avoid adhesion of the jacket 10 to the sea binding tooling during the lifting process.

[0060] The main hook 301 of the crane ship 30 is controlled to lift, until the sling 302 of the main hook 301 is taut and bears full stress, and the jacket 10 is lifted from the transport ship 20; when the jacket 10 is lifted by a height of 3 m, the main hook 301 stops lifting, and the transport ship 20 is anchored and sails away. In this embodiment, the luffing angle of the crane ship 30 is kept unchanged, and the main hook 301 is slowly lifted until the sling 302 is taut and bears full stress. The main hook 301 is gradually lifted, the jacket 10 is lifted from the deck of the transport ship 20, the gap between the main leg of the jacket 10 and the ship side of the transport ship 20 is observed during the lifting process of the jacket 10, and the crane is instructed to adjust the position of the jacket 10, to avoid scratching of the main leg. After being lifted by a height of about 3 m, the main hook 301 stops lifting, and the transport ship 20 is anchored and sails away.

[0061] Step S2: when the jacket 10 moves to meet the initial positioning requirements, the main hook 301 is lowered, until the sling 302 on the main hook 301 does not bear stress, and the current posture of the jacket 10 is obtained. Specifically, the jacket 10 is initially positioned by moving the crane ship 30 in a DP control mode under the condition that the jacket 10 bears good stress. The planar coordinates of the jacket 10 are observed in real time during this process, when the center coordinate and the azimuth deviation of the jacket 10 meet the design requirements, the ship is stopped and the main hook 301 is slowly lowered. The center coordinate deviation, elevation and other information of the jacket 10 are detected in real time by a measuring equipment system. Whether the initial lowering is in place can be judged by visually observing the inclination of the jacket 10 and by measuring and displaying the situation by a positioning system during the lowering process of the jacket 10.

[0062] Step S3: If the guide pipe frame 10 is not lowered to the design elevation or the water surface part of the guide pipe frame 10 is inclined, it is determined that the lowering is blocked. Specifically, if the guide pipe frame 10 is not lowered to the design elevation or the water surface part of the guide pipe frame 10 is inclined, it is determined that the lowering is blocked, the current posture information of the guide pipe frame 10 is obtained, and the degree of inclination of the guide pipe frame 10 is determined.

[0063] Referring to Figure 7 Specifically, when the lowering to the sling 302 is not stressed, the measuring instrument shows that the lowering elevation is not reached or the water surface part of the guide pipe frame 10 is visible, it is determined that the guide pipe frame 10 is blocked. At this time, a diver is arranged to explore underwater, and when the diver finds that the guide pipe frame 10 is not inserted into the top of the foundation pile 40, it is indicated that the guide pipe frame 10 is not lowered in place. The diver measures the inclination direction of each foundation pile 40, the spacing between the piles of the foundation pile 40, and other data, and timely feedbacks the measurement information. According to the inclination of the guide pipe frame 10, the underwater blocking condition provided by the diver, and the measurement information, the posture information of the guide pipe frame 10 is monitored in real time to determine the inclination of the guide pipe frame 10. The crane ship 30 arm hook cannot be normally lifted, or the tonnage of the arm main hook 301 continuously decreases during the hooking process, but the guide pipe frame 10 does not correspondingly fall, indicating that the guide pipe frame 10 is stuck at the position of the insertion tip 101.

[0064] Referring to Figure 8 Step S4: The tugboat 50 sling is connected to the main leg in the low point direction of the guide pipe frame 10, the tugboat 50 is controlled to apply a transverse towing load to the guide pipe frame 10 in the low point direction, and the crane ship 30 main hook 301 is controlled to lift the guide pipe frame 10, until the guide pipe frame 10 is loosened and lifted away from the foundation pile 40. The tugboat 50 applies a transverse force to the guide pipe frame 10 in the low point direction, which can directly separate the lateral extrusion surface of the insertion tip 101 and the pile wall of the foundation pile 40, break the static friction balance, and expand the gap between the insertion tip 101 of the guide pipe frame 10 and the pile wall; the main hook 301 synchronously applies a vertical lifting force, and after the gap is formed, the guide pipe frame 10 is quickly pulled out of the stuck position. Compared with single vertical lifting, the combined effect of the lateral separation and vertical pulling of the present application can more efficiently break through the blocking threshold, reduce the hard friction damage between the pile wall and the insertion tip 101, and shorten the unblocking time.

[0065] Specifically, if the inclination of the jacket 10 is less than a preset inclination threshold, the tugboat 50 is connected to the main leg of the jacket 10 in the direction of the low point, and the tugboat 50 is controlled to apply a transverse towing load to the jacket 10 in the direction of the low point, while the main hook 301 of the crane ship 30 is controlled to lift the jacket 10 until the jacket 10 is loosened and lifted off the foundation pile 40. In this embodiment, the preset inclination threshold is a slope of 10%. When the inclination of the jacket 10 is less than the preset inclination threshold, the jacket 10 is subjected to less resistance. The medium and light jamming is caused by the static friction engagement or slight lateral extrusion of the spigot 101 and the pile wall, rather than structural jamming. The transverse towing force applied by the tugboat 50 in the direction of the low point can directly separate the lateral contact surface of the spigot 101 and the pile wall, break the static friction balance, and form a small gap between the spigot 101 and the pile wall; the synchronous vertical lifting force applied by the main hook 301 forms a synergistic force of transverse towing and vertical lifting at the moment of gap formation, which can break through the jamming without applying an excessively large load, thereby avoiding the situation that the force is too small to break through the jamming and preventing the structure from being damaged by an excessively large force, and forming a jamming breaking mode matched with the small resistance scene.

[0066] In this embodiment, step S4, the tugboat 50 is controlled to apply a transverse towing load to the jacket 10 in the direction of the low point, while the main hook 301 of the crane ship 30 is controlled to lift the jacket 10, including:

[0067] Step S41: controlling the tugboat 50 to apply an intermittent transverse towing load in the direction of the low point, while controlling the main hook 301 of the crane ship 30 to maintain a stable vertical lifting force; until the jamming between the spigot 101 of the jacket 10 and the foundation pile 40 is removed. Through the synergistic effect of the transverse vibration generated by the transverse towing load and the vertical lifting force, the jamming between the spigot 101 of the jacket 10 and the foundation pile 40 is removed.

[0068] Specifically, the transverse towing load provided by the tugboat 50 is ; wherein ; is a preset transverse towing load for preloading; A is the amplitude of the alternating force; f is the frequency; t is the time. The initial preset transverse towing load can be 50%-80% of the current lifting force of the main hook 301. The transverse micro-vibration generated by this sinusoidal fluctuation force helps to convert static friction into dynamic friction, greatly reducing the force to be overcome. The lifting force of the main hook 301 is monitored in real time. When a transient decrease in the lifting force of the main hook 301 is detected, it indicates that the jamming point starts to slide, and the lifting force of the main hook 301 is increased, while the tugboat 50 continues to apply an intermittent transverse towing load, until the jacket 10 is completely loosened.

[0069] In one embodiment, step S41 further includes:

[0070] Step S42: If the current inclination of the guide pipe rack 10 does not change after the preset time, the tugboat 50 is controlled to continuously apply the preset lateral towing load on the guide pipe rack 10 in synchronization with the preset lifting force of the main hook 301, and after maintaining for the preset time, the current inclination of the guide pipe rack 10 is re-acquired;

[0071] Step S43: If the current inclination decreases, the step S41 is re-executed; if the current inclination of the guide pipe rack 10 does not change, the current lifting force of the main hook 301 and the current lateral towing load of the tugboat 50 are synchronously increased, and the step S42 is cyclically executed until the preset vertical displacement of the guide pipe rack 10 is monitored.

[0072] When the jam is shallow, the tugboat 50 is intermittently and briefly dragged to the low point on the basis of the load held by the main hook 301. The pulsed lateral force can generate alternating shear stress at the jamming point, which can more effectively overcome static friction. When the intermittent force is ineffective, the synchronous continuous force is switched to form a stable resultant force of lateral separation and vertical lifting, which can deal with stubborn jams. If it is still ineffective, the resultant force strength is gradually increased by synchronously increasing the load, and finally whether the jam is successfully removed is determined by the vertical displacement. When the current inclination of the guide pipe rack 10 decreases, the tugboat 50 is controlled to continue to apply intermittent lateral towing load to the low point, and the intermittent pulsed lateral force is used to continue to destroy the mechanical engagement or friction force of the jamming point between the guide pipe rack 10 and the pile wall of the foundation pile 40, until the jamming between the guide pipe rack 10 and the foundation pile 40 is removed, and the guide pipe rack 10 can be lifted.

[0073] In step S42, the tugboat 50 is controlled to continuously apply the preset lateral towing load on the guide pipe rack 10 in synchronization with the preset lifting force of the main hook 301. In the embodiment, the lifting force provided by the main hook 301 during the process of removing the jamming of the guide pipe rack 10 is ; wherein ; W is the weight of the guide pipe rack 10, and k1 is a coefficient, which can be 0.3-0.8. The initial preset lifting force of the main hook 301 can be 30%-60% of the weight of the guide pipe rack 10. The lifting force of the main hook 301 can be increased by 5%-20% of the weight of the guide pipe rack 10 each time.

[0074] Referring to Figure 9 , in an embodiment, the step S4 further includes:

[0075] Step S5: If the inclination of the jacket 10 is greater than or equal to the preset inclination threshold, the main hook 301 of the crane ship 30 is hung on the high point of the jacket 10, the auxiliary hook 303 of the crane ship 30 is hung on the low point of the jacket 10, the main hook 301 and the auxiliary hook 303 of the crane ship 30 are controlled to be hooked synchronously to the sling 302 to be taut, then the main hook 301 and the auxiliary hook 303 are controlled to be lifted alternately, until the jacket 10 is lifted off the foundation pile 40 after loosening. Specifically, when the inclination of the jacket 10 is large and the inclination is greater than or equal to 10% of the slope, the resistance of the jacket 10 is large, and at this time the load applied by the tugboat 50 is difficult to meet the requirements of the jacket 10 posture reset. An asymmetric moment is alternately applied to the jacket 10. The main hook 301 lifting the "high point" will make the jacket 10 try to rotate around the "low point"; on the contrary, the auxiliary hook 303 lifting the "low point" will make the jacket 10 try to rotate around the "high point". This alternating, small amplitude rotation trend can generate direction-alternating stress and small reciprocating motion at the jamming point, thereby more effectively overcoming large resistance.

[0076] In the embodiment, in step S5, the main hook 301 and the auxiliary hook 303 of the crane ship 30 are controlled to be hooked synchronously to the sling 302 to be taut, then the main hook 301 and the auxiliary hook 303 are controlled to be lifted alternately, until the jacket 10 is lifted off the foundation pile 40 after loosening, and the step further comprises:

[0077] The main hook 301 and the auxiliary hook 303 are controlled to be hooked synchronously according to the preset lifting force to lift the jacket 10 to the sling 302 to be taut, the main hook 301 is controlled to increase the set lifting force and keep for a set time, then the auxiliary hook 303 is controlled to increase the set lifting force and keep for a set time, the main hook 301 is controlled to increase the set lifting force in a loop until the jacket 10 shows signs of overall loosening, and then the main hook 301 and the auxiliary hook 303 are controlled to be lifted synchronously to make the jacket 10 pull out the foundation pile 40.

[0078] The main hook 301 and the auxiliary hook 303 are controlled to be hooked synchronously to make the sling 302 connected to the jacket 10 taut. Then, an alternating loading stage is entered, until the jacket 10 shows signs of overall loosening, the main hook 301 and the auxiliary hook 303 are controlled to be lifted synchronously slowly, so as to pull out the jacket 10 from the foundation pile 40. By alternately increasing the set lifting force of the main hook 301 and the auxiliary hook 303, the "high point-low point alternately loaded-holding" fatigue disturbance is circularly performed on the jamming part until loosening. At the same time, the set lifting force is alternately increased step by step and kept, allowing the stress of the jamming point to be redistributed, avoiding stress concentration or impact load caused by rapid loading, and being beneficial to overcoming static friction.

[0079] Specifically, the main hook 301 increases the current lifting force from to to form a new lifting force , and holds the load This operation attempts to induce a slight rotational tendency in the guide frame 10 around the lowest point, i.e., the side of the auxiliary hook 303; and monitors the current lifting force of the auxiliary hook 303. The change. If Significant decrease, for example, exceeding a threshold This indicates that the low-point constraint has loosened, the current cycle ends, and a synchronous lifting probe begins. If the current lifting force of the auxiliary hook 303 does not change significantly, then the auxiliary hook 303 performs loading: the current lifting force is increased from... Increase to Forming new boosting force and holding load This operation attempts to induce a slight rotational tendency of the guide frame 10 around its highest point; it also monitors changes in the current lifting force of the main hook 301.

[0080] When either force sensor detects a sudden drop in the current lifting force value Or the attitude sensor detects that the guide frame 10 has moved upward as a whole. Upon initial loosening, the system immediately switches to a state of simultaneous, slow lifting of the main hook 301 and auxiliary hook 303. When the system switches to a state of simultaneous lifting with the combined force of the main hook 301 and auxiliary hook 303, the combined force value of the main hook 301 and auxiliary hook 303 is adjusted according to... Gradually increase The resultant force value of the main hook 301 and the auxiliary hook 303 is α, the force increase rate is t, and the time is until the guide frame 10 is pulled out at a constant speed.

[0081] In one embodiment, step S5 is followed by:

[0082] Step S6: After the jacket 10 is hoisted out, remeasure and verify the inclination direction of each foundation pile 40 and the spacing between each foundation pile 40; based on the measurement data, adjust the current posture of the jacket 10 by controlling the main hook 301 and the auxiliary hook 303, and then control the main hook 301 and the auxiliary hook 303 to lower the jacket 10 synchronously so that the tip 101 of the jacket 10 is inserted into the foundation pile 40.

[0083] After the jacket structure 10 is hoisted out, to reassess the underwater conditions following the construction of the foundation piles 40, divers are deployed to measure the tilt direction of each foundation pile 40 and the spacing between piles. Based on the measurement data provided by the divers, the crane vessel 30 is fine-tuned towards the installation position using the main hook 301 and auxiliary hook 303 in coordination with the DP system, ensuring that the current attitude of the jacket structure 10 adapts to the tilt of the foundation piles 40. During the re-lowering of the jacket structure 10, its tilt is monitored, and divers are deployed to inspect it. If the tilt of the jacket structure 10 is significant, the lowering is immediately stopped, and the attitude of the jacket structure 10 is readjusted before further lowering.

[0084] In one embodiment, during the lowering process, the designed attitude is compared with the actual measured attitude in real time. Once the attitude deviation exceeds a pre-warning threshold (e.g. 0.5°), the crane ship 30 position is fine-tuned by the DP system, or the force difference between the main hook 301 and the auxiliary hook 303 is fine-tuned to generate a counter torque for real-time correction, so as to ensure that the jacket 10 is lowered along the preset guide direction.

[0085] If the distance between the tip 101 of the jacket 10 and the top of the foundation pile 40 is 5m-10m, the jacket 10 is lowered at a first lowering speed, and the attitude is corrected in real time to ensure that the center of the tip 101 of the jacket 10 is aligned with the center of the foundation pile 40. If the distance between the tip 101 of the jacket 10 and the top of the foundation pile 40 is 1m-5m after lowering, the jacket 10 is lowered at a second lowering speed, the second lowering speed is less than the first lowering speed, the real-time compensation of the attitude is started, and if the water flow causes the inclination, the attitude of the jacket 10 is corrected by controlling the moving of the ship or adjusting the main hook 301 and the auxiliary hook 303 through the DP system. If the distance between the tip 101 of the jacket 10 and the top of the foundation pile 40 is 0.3m-1m after lowering, the jacket 10 is lowered at a third lowering speed, the third lowering speed is less than the second lowering speed, the diver observes the fitting state of the tip 101 and the top of the pile in real time, and the horizontal position of the jacket 10 is fine-tuned by the crane ship 30 to avoid hard contact. The third lowering speed can be 10%-20% of the first lowering speed. The tension change of the sling 302 of the main hook 301 and the auxiliary hook 303 is monitored, and if the tension mutation is greater than or equal to a preset force value, the lowering is immediately paused to check whether the tip 101 is stuck or blocked by foreign matter. The current inclination of the jacket 10 is monitored, and if the inclination of the jacket 10 is greater than or equal to a preset slope value (e.g. 3%), the lowering is paused and the attitude is fine-tuned until the current inclination is less than or equal to 1% of the slope value, and then the lowering is continued.

[0086] After confirming that the tip ring plate 102 is in full contact with the top of the foundation pile 40, a graded loading method is adopted, such as 3-4 stages, each stage holding for 5 minutes, and the full weight of the jacket 10 is slowly released to allow the structure stress to be smoothly redistributed, so as to complete the final lowering operation of the jacket 10.

[0087] Referring to Figure 10 , step S7: if the inclination does not meet the requirements after the lowering of the jacket 10 is completed, the diver is arranged to perform the low-point pad lifting operation to fine-tune the inclination of the jacket 10 to meet the design requirements. Specifically, the pad lifting block 60 is arranged between the tip ring plate 102 of the jacket 10 at the low-point position and the top of the foundation pile 40, so that the inclination of the jacket 10 meets the design requirements.

[0088] In order to reset the blocked posture of the jacket 10, the traditional technical solution usually uses a crane ship 30 with larger lifting capacity and a sling with larger allowable load to forcibly pull out the jacket 10. The crane ship 30 with larger lifting capacity needs to increase the ship cost, and the forced pulling out may damage the structure of the jacket 10, thereby increasing the construction cost.

[0089] In the installation and construction method of the offshore wind turbine jacket 10, for the case that the jacket 10 is slightly inclined, the posture of the jacket 10 is reset by vertical lifting of the main hook 301 and lateral load provided by the tugboat 50. For the case that the jacket 10 is greatly inclined, the posture of the jacket 10 is reset by high-point lifting of the main hook 301 and low-point adjustment of the auxiliary hook 303.

[0090] In the description of the present application, it should be understood that if these terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like appear, these terms indicate the orientation or positional relationship shown in the drawings, and are only used for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application.

[0091] The technical features of the above-described embodiments can be combined in any manner. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described, but as long as the combinations of the technical features do not contradict, they should be considered within the scope of the present application.

[0092] The above-described embodiments only express several implementation manners of the present application, and the description is more specific and detailed, but it should not be understood as a limitation on the patent scope of the application. It should be noted that for those skilled in the art, without departing from the concept of the present application, a number of modifications and improvements can be made, which are all within the protection scope of the present application. Therefore, the patent protection scope of the present application should be subject to the appended claims.

Claims

1. A method of installing an offshore wind turbine jacket, characterized in that, The installation construction method comprises: Step S1: connecting the main hook of the crane ship to the jacket and controlling the crane ship to lift the jacket away from the transport ship to preliminarily position the jacket; Step S2: when the jacket movement meets the preliminary positioning requirements, the main hook is lowered until the sling on the main hook is not stressed, and the current posture of the jacket is obtained; Step S3: if the jacket lowering does not reach the design elevation or the water part of the jacket is inclined, it is determined that the lowering is blocked; the current posture information of the jacket is obtained, and the degree of inclination of the jacket is determined; Step S4: if the inclination of the jacket is less than a preset inclination threshold, the tugboat sling is connected to the main leg in the low point direction of the jacket, the tugboat is controlled to apply a transverse towing load to the jacket in the low point direction, and the main hook of the crane ship is controlled to lift the jacket until the jacket is loosened and lifted off the foundation pile; Step S5: if the inclination of the jacket is greater than or equal to the preset inclination threshold, the main hook of the crane ship is hung on the high point of the jacket, the auxiliary hook of the crane ship is hung on the low point of the jacket, the main hook and the auxiliary hook of the crane ship are controlled to be synchronously hooked until the sling is straight, and then the main hook and the auxiliary hook are controlled to be alternately jogged to lift until the jacket is loosened and lifted off the foundation pile.

2. A method of installation of an offshore wind turbine jacket according to claim 1, characterised in that, Step S4, controlling the tugboat to apply a transverse towing load to the jacket in the low point direction, and controlling the main hook of the crane ship to lift the jacket, comprises: Step S41: controlling the tugboat to apply an intermittent transverse towing load in the low point direction, and controlling the main hook of the crane ship to maintain a stable vertical lifting force; Until the jamming between the jacket tip and the foundation pile is released.

3. A method of installation of an offshore wind turbine jacket according to claim 2, characterised in that, Step S41, and then further comprises: Step S42: if the current inclination of the jacket does not change after a preset time, the tugboat is controlled to continuously apply a preset transverse towing load and the main hook is controlled to continuously apply a preset lifting force on the jacket synchronously for a preset time, and then the current inclination of the jacket is re-obtained; Step S43: if the current inclination decreases, step S41 is re-executed; if the current inclination of the jacket does not change, the current lifting force of the main hook and the current transverse towing load of the tugboat are synchronously increased, step S42 is cyclically executed until a preset vertical displacement of the jacket is monitored.

4. The offshore wind turbine jacket installation method according to claim 1, characterized in that, Step S5, controlling the main hook and the auxiliary hook of the crane ship to be synchronously hooked until the sling is straight, and then controlling the main hook and the auxiliary hook to be alternately jogged to lift until the jacket is loosened and lifted off the foundation pile, further comprises: The main hook and the auxiliary hook are controlled to synchronously lift the jacket according to a preset lifting force until the sling is straight, the main hook is controlled to increase a set lifting force, and after a set time, the auxiliary hook is controlled to increase a set lifting force, and then the main hook is controlled to increase the set lifting force cyclically until the jacket shows signs of loosening, and then the main hook and the auxiliary hook are controlled to be synchronously lifted to make the jacket pull out of the foundation pile.

5. The offshore wind turbine jacket installation method according to claim 1, characterized in that, Step S5, and then further comprises: Step S6: after the jacket is lifted out, the inclination directions of the foundation piles and the distances between the foundation piles are re-measured and reviewed; after the current posture of the jacket is adjusted by controlling the main hook and the auxiliary hook according to the measurement data, the main hook and the auxiliary hook are controlled to be synchronously lowered to make the tip of the jacket inserted into the foundation pile.

6. A method of installation of an offshore wind turbine jacket according to any of the claims 1-5, characterized in that, The preset inclination threshold is a slope of 10%.

7. A method of installation of an offshore wind turbine jacket according to any of the claims 1-5, characterized in that, Step S1, and then further comprises: The pipe rack transport ship is anchored and positioned at the construction site location, and is parallelly berthed with the crane ship; Real-time plane coordinates of the pipe rack are acquired, and the position of the crane ship is controlled according to the current plane coordinates of the pipe rack, until the center coordinates and the azimuth deviation of the pipe rack relative to the crane ship meet the design requirements, the crane ship is stopped from moving, and the main hook of the crane ship is lowered.

8. A method of installation of an offshore wind turbine jacket according to claim 7, characterised in that, Step S1: connecting the main hook of the crane ship to the pipe rack, and controlling the crane ship to lift the pipe rack away from the transport ship, including: connecting the main hook of the crane ship to the pipe rack, adjusting the lifting force center to coincide with the gravity center of the pipe rack by controlling the crane ship to move and adjust the amplitude variation of the crane ship, and controlling the lifting main hook to bear the force of the sling; meanwhile, checking the connection and separation of the pipe rack and the transport ship; controlling the lifting main hook of the crane ship, until the main hook sling is completely stressed, the pipe rack is lifted from the transport ship; when the pipe rack is lifted to a height of 3m, the main hook stops lifting, and the transport ship is untied and leaves.

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