Offshore wave compensation measuring device

Abstract

The invention discloses an offshore wave compensation measuring device, which is characterized in that a floating body unit adopts a cylindrical appearance, provides a power supply for the device after seawater-proof sealing treatment and is fixed on a ship edge, and the floating body unit is optimized by fluid mechanics so as to ensure that the floating body unit has good wave following performance and stability in waves; the sensor integration unit compactly integrates various sensors in a sealed and waterproof cavity, and the data processing and transmission unit is used for receiving original data from the sensors, operating a built-in data fusion and wave parameter calculation algorithm and transmitting a processed result to a compensation control system of a trestle in real time. The number of the radar sensors is three, the radar sensors are arranged in an array according to a known geometrical relationship, the sea surface heights of three points are measured synchronously, three groups of time sequence data with phase differences are obtained, comprehensive wave field information is provided for a trestle compensation system, and the stability and safety of the embarkation trestle under complex sea conditions are ensured.

Description

Technical Field

[0001] This invention belongs to the field of marine engineering equipment technology, and relates to a wave compensation measurement device for marine applications, particularly a wave compensation measurement device for use on a boarding pier at sea. Background Technology

[0002] Currently, wave compensation technology for offshore boarding piers has made some progress, and various compensation systems have been applied in practical engineering. Some systems employ a six-degree-of-freedom compensation platform, using hydraulic or electric actuators to counteract the ship's roll, pitch, yaw, sway, and heave movements, thereby maintaining the relative stability of the pier. Other systems actively compensate for the ship's motion by controlling the pier's rotation, extension, and pitch mechanisms, enabling the pier's front end to move with the target ship's connection point, achieving a safe connection.

[0003] However, these existing technologies generally have some limitations. First, many systems rely on complex sensor networks, such as motion reference units (MRUs), tilt sensors, displacement sensors, and lidar. These sensors primarily measure the motion state of the ship or pier itself, rather than directly measuring the waves that cause these motions. This indirect measurement method can lead to lag in compensation control, as the system compensates only after the ship has already begun to move, rather than predicting it in advance. Second, some systems have extremely high requirements for the configuration of the ship being compensated, such as requiring both ships to be equipped with dynamic positioning systems (DP systems) and MRUs to be installed in specific locations. This not only significantly increases costs but also limits its versatility across different types of ships. Finally, existing systems still face challenges in handling multi-degree-of-freedom coupled motions and cannot completely eliminate wave disturbances to the pier, especially in severe sea conditions, where the stability and safety of the pier remain threatened. Summary of the Invention

[0004] Purpose of the invention: The purpose of this invention is to overcome the shortcomings of the prior art and provide a marine wave compensation measurement device.

[0005] Technical Solution: This invention discloses a marine wave compensation measurement device, comprising a floating body unit, a sensor integration unit, a data processing and transmission unit, a power management unit, and radar sensors. The floating body unit, with a cylindrical shape and sealed against seawater, provides power to the device and is fixed to the side of the ship. The floating body unit is optimized for hydrodynamics to ensure good wave-following and stability in waves. The sensor integration unit compactly integrates multiple sensors into a sealed, waterproof cavity. The data processing and transmission unit receives raw data from various sensors, runs built-in data fusion and wave parameter calculation algorithms, and transmits the processed results to the pier's compensation control system in real time. The power management unit provides a stable and reliable power supply to the entire device. The power management unit employs a low-power design and includes a power monitoring module to ensure continuous operation over extended periods. The power management unit is fixed to the boarding pier. The radar sensors consist of three sets arranged in a known geometric array, simultaneously measuring the sea surface height at three points to obtain three sets of time-series data with phase differences, providing comprehensive wave field information for the pier compensation system.

[0006] A further improvement of the present invention is that the sensor includes an inertial measurement unit (IMU), an electronic compass, a GPS module, and a miniature wave measuring radar.

[0007] A further improvement of the present invention is that the sensors are rigidly connected.

[0008] A further improvement of the present invention is that the data processing and transmission unit runs a built-in data fusion and wave parameter calculation algorithm, and transmits the processed results to the compensation control system of the trestle in real time via wired or wireless means.

[0009] A further improvement of the invention is that the device is fixed to the boarding bridge by a rigid bracket or a flexible cable.

[0010] A further improvement of the present invention is that the cavity is filled with shock-absorbing material to absorb and isolate external impact energy.

[0011] A further improvement of the present invention is that the cavity is sealed using an O-ring or sealant.

[0012] A further improvement of the present invention is that the electronic compass and the inertial sensor perform data fusion.

[0013] A further improvement of the present invention is that the cavity is equipped with a temperature control unit, a heater and a radiator.

[0014] Compared with the prior art, the marine wave compensation measurement device provided by the present invention achieves at least the following beneficial effects: The floating body unit is optimized for hydrodynamics, exhibiting excellent wave-following and stability in waves. The sensor integration unit compactly integrates multiple sensors within a sealed, waterproof cavity. The data processing and transmission unit receives raw data from each sensor, runs built-in data fusion and wave parameter calculation algorithms, and transmits the processed results to the pier's compensation control system in real time. Three radar sensors are arranged in a known geometric array to simultaneously measure sea surface height at three points, generating three sets of time-series data with phase differences. This provides comprehensive wave field information for the pier's compensation system, enabling real-time and accurate measurement of wave parameters in the operational area, including wave height, wave period, and wave direction. This data is then provided to the pier's wave compensation control system. By providing high-precision real-time wave data, this invention significantly improves the response speed and compensation accuracy of the compensation system, ensuring the stability and safety of boarding the pier in complex sea conditions, guaranteeing the smooth transfer of personnel and materials, and overcoming the shortcomings of existing wave measurement technologies in terms of accuracy, real-time performance, and environmental adaptability. It provides a reliable, efficient, safe, and convenient solution for acquiring wave information for offshore operations. Attached Figure Description

[0015] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments of the invention and, together with their description, serve to explain the principles of the invention.

[0016] Figure 1 This is a simplified structural diagram of a marine wave compensation measurement device according to the present invention. Detailed Implementation

[0017] Various exemplary embodiments of the present invention will now be described in detail with reference to the accompanying drawings. It should be noted that, unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps set forth in these embodiments do not limit the scope of the invention.

[0018] The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit the invention or its application or use.

[0019] Techniques, methods, and apparatus known to those skilled in the art may not be discussed in detail; however, where appropriate, such techniques, methods, and apparatus should be considered part of the specification. In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values.

[0020] See the attached instruction manual. Figure 1A wave compensation measurement device for marine applications can be used in boarding bridge systems for personnel and material transfer between ships and offshore platforms, or between two ships. The device includes a floating body unit, a sensor integration unit, a data processing and transmission unit, a power management unit, and a radar sensor. The floating body unit, cylindrical in shape and sealed against seawater, provides power to the equipment and is fixed to the side of the ship. Its cylindrical shape reduces radar interference and lowers manufacturing costs. The floating body unit is the foundation of the device, and its design fully considers the unique characteristics of the marine environment. It is made of corrosion-resistant and impact-resistant materials and optimized for hydrodynamics to ensure good wave-following and stability, accurately reflecting wave motion at its location. The sensor integration unit... The core of the device is the data processing and transmission unit, which compactly integrates multiple sensors into a sealed, waterproof cavity. The data processing and transmission unit receives raw data from each sensor, runs built-in data fusion and wave parameter calculation algorithms, and transmits the processed results to the pier's compensation control system in real time. The power management unit provides a stable and reliable power supply for the entire device. The power management unit adopts a low-power design and is equipped with a power monitoring module to ensure that the device can work continuously for a long time. The power management unit is fixed to the boarding pier. The radar sensors consist of three sets arranged in an array with a known geometric relationship to simultaneously measure the sea surface height at three points, thereby obtaining three sets of time-series data with phase differences and providing comprehensive wave field information for the pier compensation system.

[0021] The overall device adopts a modular, integrated, and miniaturized design to adapt to the limited space and complex installation environment of the boarding pier at sea. The sensors include an inertial measurement unit (IMU), an electronic compass, a GPS module, and a miniature wave measuring radar. The sensors are rigidly connected to ensure the consistency of the measurement reference. The data processing and transmission unit runs built-in data fusion and wave parameter calculation algorithms and transmits the processed results to the pier's compensation control system in real time via wired or wireless means. The device is fixed to an appropriate location on the boarding pier, such as the front end or side of the pier, by rigid supports or flexible cables to achieve in-situ measurements.

[0022] The cavity is filled with shock-absorbing material to absorb and isolate external impact energy, preventing damage to the sensor from ship vibration or wave impact. The cavity is sealed with O-rings or sealant to ensure that no moisture seeps in under deep-sea high pressure and long-term immersion conditions, protecting the delicate electronic components inside. The electronic compass and inertial sensor perform data fusion. The cavity is equipped with a temperature control unit, heater and heat sink to ensure that the sensor operates within a suitable temperature range, further improving measurement accuracy and stability.

[0023] During operation, this invention combines the high dynamic response characteristics of the IMU with the absolute measurement accuracy of the miniature wave measuring radar, achieving optimal fusion through a Kalman filter algorithm. This complementary approach ensures the IMU provides high-frequency motion information, guaranteeing real-time data transmission; while the miniature wave measuring radar provides low-frequency but high-precision absolute position information for periodic IMU calibration, eliminating accumulated errors. This fusion strategy enables the device to provide long-term stable and high-precision wave height, period, and direction data while maintaining a high data refresh rate. The wave height measurement accuracy achieved through fusion processing can reach the centimeter level, and the wave period measurement accuracy can reach the 0.1-second level, fully meeting the requirements of high-precision wave compensation control. In terms of software and data processing, this invention employs a robust data fusion algorithm capable of real-time health monitoring and fault diagnosis of sensor data. When a sensor malfunctions or its data is distorted, the algorithm can automatically reduce its weight or isolate it, and use data from other normal sensors for compensation calculations. Carrier motion compensation ensures the continuous and stable operation of the entire system. The device also has a self-calibration function, automatically correcting sensor zero bias and scaling factor errors during operation, further improving long-term reliability.

[0024] While specific embodiments of the invention have been described in detail by way of examples, those skilled in the art should understand that the examples are for illustrative purposes only and not intended to limit the scope of the invention. Those skilled in the art should understand that modifications can be made to the above embodiments without departing from the scope and spirit of the invention. The scope of the invention is defined by the appended claims.

Claims

1. A marine wave compensation measurement device, characterized in that, The system includes a floating body unit, a sensor integration unit, a data processing and transmission unit, a power management unit, and radar sensors. The floating body unit is cylindrical in shape, sealed against seawater, provides power to the equipment, and is fixed to the side of the ship. The floating body unit is optimized for hydrodynamics to ensure good wave-following and stability in waves. The sensor integration unit compactly integrates multiple sensors into a sealed, waterproof cavity. The data processing and transmission unit receives raw data from various sensors, runs built-in data fusion and wave parameter calculation algorithms, and transmits the processed results to the pier's compensation control system in real time. The power management unit provides a stable and reliable power supply to the entire device. The power management unit employs a low-power design and includes a power monitoring module to ensure continuous operation over extended periods. The power management unit is fixed to the boarding pier. The radar sensors consist of three sets arranged in a known geometric array, simultaneously measuring the sea surface height at three points to obtain three sets of time-series data with phase differences, providing comprehensive wave field information for the pier's compensation system.

2. The marine wave compensation measurement device according to claim 1, characterized in that, The sensors include an inertial measurement unit (IMU), an electronic compass, a GPS module, and a miniature wave measuring radar.

3. The marine wave compensation measurement device according to claim 1, characterized in that, The sensors are rigidly connected to each other.

4. The marine wave compensation measurement device according to claim 1, characterized in that, The data processing and transmission unit runs the built-in data fusion and wave parameter calculation algorithms, and transmits the processed results to the compensation control system of the trestle in real time via wired or wireless means.

5. The marine wave compensation measurement device according to claim 1, characterized in that, The device is fixed to the boarding bridge by a rigid bracket or a flexible cable.

6. The marine wave compensation measurement device according to claim 1, characterized in that, The cavity is filled with shock-absorbing material to absorb and isolate external impact energy.

7. The marine wave compensation measurement device according to claim 1, characterized in that, The cavity is sealed using O-rings or sealant.

8. A marine wave compensation measurement device according to claim 2, characterized in that, The electronic compass and inertial sensor perform data fusion.

9. A marine wave compensation measuring device according to any one of claims 1-8, characterized in that, The cavity is equipped with a temperature control unit, a heater, and a radiator.

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