Offshore hanging pile swing restraining device with automatic adjusting function and swing restraining method

Abstract

The invention belongs to the technical field of floating crane equipment in the maritime work industry, and particularly relates to an offshore pile lifting swing restraining device with an automatic adjusting function and a swing restraining method, and the device comprises a pile extractor connecting flange plate which is installed on a pile extractor and is a circular plate; the four steel cable lifting and lowering units are arranged on the lower portion of the pile extractor connecting flange plate at equal intervals in the circumferential direction with the center of the pile extractor connecting flange plate as the circle center, the length of the steel cable lifting and lowering units can be adjusted, and the four steel cable lifting and lowering units jointly hoist the swing restraining ball; the oil supply unit is located in the center of the lower portion of the pile extractor connecting flange plate and used for injecting oil into the swing restraining ball. The motion recognition detection unit comprises an original point detection unit and a motion recognition monitoring point P, the original point detection unit is located in the center of the lower portion of the pile puller connecting flange plate, and the motion recognition monitoring point P is located at the top of the swing suppression ball. The method is suitable for solving the technical problem that in the offshore pile hoisting operation process affected by wind power, the construction progress is slow due to swinging during pile hoisting positioning and butt joint of a pile feeder and a foundation pile.

Description

Technical Field

[0001] This invention belongs to the field of offshore floating crane equipment technology, and in particular to a device and method for suppressing the sway of offshore jacking piles with automatic adjustment function. Background Technology

[0002] In recent years, with the increasingly fierce competition for marine resources, countries around the world have conducted extensive research in marine engineering technology and basic research, especially in marine equipment, which is now gradually moving towards deeper waters, increasing the difficulty of construction. Harsh construction environments such as high waves and wind speeds significantly increase the difficulty of offshore piling. The fundamental reason is that the hoisting device sways greatly under the influence of waves and wind, making it difficult to accurately and efficiently align with the intended positioning target, prolonging operation time and increasing safety risks. As a crucial component of offshore infrastructure construction, offshore piling is subject to significant swaying of the hoisting device under the combined influence of wind and waves, especially increasing the difficulty of aligning the pile driver with the foundation pile. How to effectively suppress the swaying of the hoisting device and efficiently complete pile driving is a pressing problem that modern marine construction equipment urgently needs to solve.

[0003] Existing methods for suppressing pile sway primarily focus on controlling the stability of the crane vessel. The first method increases hull size and draft to improve stability and thus mitigate the swaying of the onboard pile-lifting machinery. However, while effective against swaying caused by waves and currents, this method is less effective against swaying caused by wind loads during offshore operations. The second method utilizes tension from steel cables directly applied to the hook. By adjusting the length and angle of the hook cables in the lifting device, the tension in different directions is controlled, thereby controlling sway. However, the first method is more costly and difficult to implement, while the second method requires real-time feedback for adjusting the hook angle and is affected by the response time of the control system algorithm, resulting in less effective results. Summary of the Invention

[0004] The purpose of this invention is to address the shortcomings of existing methods for suppressing the sway of offshore slings, such as the first method which has higher costs and is more difficult to implement, and the second method which requires real-time feedback for adjusting the angle of the hook with steel cables and is affected by the response time of the control system algorithm, resulting in poor performance. Therefore, this invention proposes an offshore sling suppression device and method with automatic adjustment function.

[0005] To achieve the above objectives, the present invention adopts the following technical solution:

[0006] The present invention provides a marine bollard sway suppression device with automatic adjustment function, comprising:

[0007] The pile driver connecting flange device is horizontally installed on the bottom end face of the pile driver and is used in conjunction with the tapered guide structure at the front end of the internally supported pile driver. The pile driver connecting flange device is horizontally installed on the bottom end face of the pile driver.

[0008] The steel cable lifting and lowering unit has four units, which are arranged at equal intervals around the center of the pile driver connecting flange device and below the pile driver connecting flange device. The four steel cable lifting and lowering units work together to lift the sway ball.

[0009] The oil supply unit, located at the lower center of the pile driver connecting flange device, is used to inject oil into the anti-swing ball;

[0010] The motion recognition and detection unit includes an origin detection unit and a motion recognition monitoring point P. The origin detection unit is located at the lower center of the pile driver connecting flange device, and the motion recognition monitoring point P is located at the top of the anti-swing ball.

[0011] As a further preferred embodiment, the pile driver connecting flange device includes a transition flange sleeve and a connecting flange plate. The tapered sleeve of the transition flange sleeve is assembled with the tapered guide structure at the front end of the internally supported pile driver. It is installed with the tapered guide structure at the front end of the internally supported pile driver using an interference fit and heat fitting method, and is connected by radial set screws, which are installed perpendicular to the tapered surface. The connecting flange plate is a circular plate, and the connecting flange plate and the flange base of the transition flange sleeve have through holes that are evenly distributed. The connecting flange plate and the flange base of the transition flange sleeve are connected by bolts, with more than 6 bolts. The connecting flange plate is horizontally installed on the bottom end face of the pile driver.

[0012] The cable lifting and lowering unit includes a cable fixing bracket, a cable drum, a cable drive servo motor, and a cable. The cable fixing bracket and the cable drive servo motor are welded to the bottom surface of the pile driver connecting flange plate. The cable drum is located between the cable fixing bracket and the cable drive servo motor and is driven to rotate by the cable drive servo motor. The cable drive servo motor contains an encoder that can be used to obtain the lowering length of the cable. The cable is wound on the cable drum, with one end fixed to the cable drum and the other end fixedly connected to the lifting lug of the sway-suppressing ball. The drive servo motor contains an encoder. The geometric center of the cable drum is located at a radius R on the connecting flange plate, where R is the radius of the sway-suppressing ball.

[0013] As a further preferred embodiment, the oil supply unit includes a hydraulic oil drum support, an oil supply drive motor, a hydraulic oil drum, and an oil delivery pipe; the hydraulic oil drum support and the oil supply drive motor are welded to the bottom surface of the pile driver's connecting flange plate; the hydraulic oil drum is located between the hydraulic oil drum support and the oil supply drive motor and is driven to rotate by the oil supply drive motor; the oil delivery pipe is wound around the hydraulic oil drum; the geometric center of the hydraulic oil drum is located at the circular plate with a radius of r+r. o At this location, one end of the oil pipeline passes through the opening of the connecting flange plate and connects to the oil supply port of the pile driver, while the other end is connected to the oil inlet at the top of the sway ball.

[0014] As a further preferred option, the origin detection unit is fixedly installed at the center of the pile driver connecting flange plate, and the motion recognition monitoring point P is fixedly installed at the oil inlet on the top of the sway ball, at the connection point with the oil pipeline.

[0015] As a further preferred option, the coordinate origin detection unit includes an inertial measurement unit (IMU sensor) integrating an accelerometer and a gyroscope, and an ultrasonic anemometer. The gyroscope in the IMU sensor is used to measure the offset angle of the pendulum ball. An ultrasonic anemometer is installed at the center of the connecting flange plate of the pile driver. The ultrasonic anemometer is used to measure wind speed. Based on the coordinates of the motion identification monitoring point P, the spatial position and offset angle of the pendulum ball are identified in real time. Based on the real-time coordinate changes of the motion identification monitoring point P, the encoder inside the servo motor of the steel cable is fed back to obtain the required steel cable length L.

[0016] The present invention provides a method for suppressing the sway of a marine bollard with an automatic adjustment function, comprising the following steps:

[0017] S1. Initial lowering stage of the anti-sway device: When the pile driver is fixed to the pipe pile, the steel cable drum of the steel cable lifting and lowering unit in the anti-sway device is locked, the steel cable is fully retracted and wrapped around the surface of the steel cable drum, and the anti-sway ball is stationary and close to the pile driver connecting flange device.

[0018] S2. When the pile driver is hoisted by the boom ropes, the pile driver and the pipe pile are gradually lifted from a horizontal position to a vertical position. When the pipe pile is completely vertical, a three-dimensional coordinate system is constructed using the coordinate origin detection unit on the lower surface of the connecting flange plate, with the vertical upward direction as the z-axis and the extension direction of the end of the hoisting boom as the x-axis, and the right-hand rule to determine the y-axis. Simultaneously, four cable drive servo motors are started to rotate, driving the cable drum to rotate. The cable wound on the cable drum is gradually lowered, stopping after being lowered to a certain height. The initial cable length L is read from the encoder inside the drive servo motor. When the wind is low or stable, the coordinates (x0, y0, z0) of the IMU sensor relative to the initial marker point P are read. The offset angle is obtained by identifying the offset angle through the inertial measurement unit (IMU sensor). ;

[0019] S3, Motion Recognition, Detection, and Adjustment Stage:

[0020] The relative wind speed and air temperature and humidity parameters between the pipe pile and the wind are obtained in real time by an ultrasonic anemometer, while the offset angle is measured by an inertial measurement unit. Based on the relative wind speed, air temperature and humidity parameters, and the offset angle, the wind resistance F(t) is calculated (the ultrasonic anemometer integrates sensors that can collect relative wind speed, air temperature, and humidity; through this sensor, the air density ρ can be calculated; combined with the offset angle of the pipe pile measured by the inertial measurement unit, the wind resistance F(t) is calculated using the formula = 0.5 * ρ * V² * A * Cd); according to different models of pile drivers, the total mass m1 of the pile driver and the lifted pipe pile, the weight m2 of the un-oiled sway ball, and the coordinates of point p are determined; the wind resistance F(t), the total mass m1 of the pile driver and the lifted pipe pile, the weight m2 of the un-oiled sway ball, the coordinates of the motion identification monitoring point p, and the offset angle are then combined. Together, they serve as input variables, which are then input into the preset sway control vibration equation. Solve the steady-state solution of the vibration equation for the sway control under the input variables, and analyze the key dimensionless parameters of the sway control from the steady-state solution, including: the mass ratio of the sway control device to the main structure in the steady-state state. The ratio of the sway suppression device to the natural frequency of the main structure and the damping ratio of the sway suppression device to the main structure. ;

[0021] S4. Sway Suppression Stage: Taking the minimum sway suppression amplitude as the optimal condition, solve for the optimal solution in step S3 to obtain the optimal frequency and damping ratio correlation function of the sway suppression device. and To obtain the optimal drop height of the sway control device and optimal oil delivery quality According to the optimal oil delivery quality Optimal drop height of the sway control device The calculation results are used to adjust the coordinates (x0, y0, z0) of the initial marker point P in real time by the coordinate origin detection unit. This result is then fed back to the cable servo drive motor to continue releasing or retracting the cable. Simultaneously, the oil pipe is slowly lowered or retracted at the same speed under the drive of the oil supply motor. When the sway-suppressing ball is adjusted to the optimal height, the oil supply pump is started, and the optimal oil delivery quality of the sway-suppressing device is determined. Control the oil pump to adjust the amount of oil filling and recovery inside the sway ball. After reaching the set steady-state oil volume and rope length, stop lowering the steel cable and supplying oil, and close the oil supply port of the sway ball.

[0022] As a further preferred option, in S3, the sway control vibration equation includes... and The coupling takes the following form:

[0023] ;

[0024] in This represents the horizontal offset of the pile driver and the pipe pile due to wind force. Let p be the angle between the initial marker point p in the sway control device and the vertical direction.

[0025] As a further preferred option, in S3, the key dimensionless parameters are analytically output from the steady-state solution of the system. , , The steps specifically include: , The ratio of the mass of the sway-suppressing device to the mass of the pile driver and the pipe pile; The ratio of the natural frequency of the sway suppression device to that of the pile driver and the overall pipe pile; The damping ratio of the sway suppression device, pile driver, and pipe pile as a whole is given; the steady-state solutions are determined using the Runge-Kutta method:

[0026] ;

[0027] ;

[0028] in , , and These represent the natural frequency and damping ratio of the pile driver and the overall pipe pile, respectively. To suppress the sway excitation frequency, the ratio of the natural frequency of the pile driver and the pipe pile is given. , , , All are constants. To collect parameters in real time, this value is a constant at a certain time t. Under the influence of, This is the offset magnitude, which is a constant at time t.

[0029] As a further preferred option, in S4, the optimal frequency and damping ratio formulas for the sway suppression device are as follows:

[0030] ;

[0031] Based on the above formula, the optimal cable lowering length can be determined as follows: ;

[0032] Optimal oil transfer quality: .

[0033] This invention provides an adjustable sway control device and method with damping effect, which is applicable to the technical problem of slow construction progress caused by the swaying of the pile positioning and the connection between the pile driver and the foundation pile during offshore pile lifting operations affected by wind.

[0034] In this invention, when the pile driver and the pipe pile are subjected to wind load and sway, if subjected to a leftward wind, the pile driver and the pipe pile will sway to the left. Under the influence of the wind, the internal sway-suppressing device of the pipe pile will also sway to the left. However, since its mass is less than the total mass m1 of the pile driver and the pipe pile, its swaying inertial force is small, making the swaying amplitude of the internal sway-suppressing device smaller than that of the pipe pile. At the same time, a lag effect is generated, which in turn generates a reverse swaying force, thereby achieving the effect of suppressing the swaying of the pipe pile. Since the sway-suppressing ball is filled with liquid, during the swaying process, the liquid inside the sway-suppressing ball will again form a sway-suppressing device relative to the sway-suppressing ball. The liquid and the inner wall of the sway-suppressing ball will generate friction and consume energy, thereby reducing the swaying of the sway-suppressing ball, the pile driver, and the pipe pile. The motion recognition and detection unit can provide the swaying amplitude of the sway-suppressing ball in real time and feed it back to the drum motor and the oil supply pipe to directly adjust the length and weight, so that the sway-suppressing ball reaches the ideal position and ideal mass, thereby achieving sway suppression. The overall sway-suppressing device can achieve automatic adjustment more efficiently, with low equipment and operating costs and good sway suppression effect. Attached Figure Description

[0035] Figure 1 This is a schematic diagram of a marine sway suppression device with automatic adjustment function according to the present invention;

[0036] Figure 2 This is a schematic diagram of the process for a method to suppress the swaying of a marine jacking pile with automatic adjustment function according to the present invention. Detailed Implementation

[0037] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0038] like Figure 1 As shown, this invention discloses a marine pile lifting anti-sway device with an automatic adjustment function. The anti-sway device is installed at the bottom of the pile driver. The top of the pile driver has a hook connected to the crane wire, and the bottom is connected to the anti-sway device. Since the pile driver is an internally supported type, it is fixed to the pipe pile by friction between the outer composite rubber material of the pile driver and the inner wall of the pipe pile. When pressure is applied, the friction provides the lifting force. The anti-sway device is installed on the pile driver used for lifting foundation piles or driving piles. At the bottom of the pile driver, the pile driver connecting flange plate 1 is bolted together through four bolt holes. The anti-sway device includes the pile driver connecting flange plate 1, a steel cable lifting and lowering unit 2, an oil supply unit 3, an anti-sway ball 4, and a motion recognition and detection unit 5.

[0039] The pile driver connecting flange plate 1 is a circular plate with four through holes evenly distributed around its circumference. Bolts are tightened into the bottom threads of the pile driver through the four through holes. During installation, ensure that the pile driver connecting flange plate in the sway-suppressing device is installed horizontally. The purpose of this is to ensure that the four steel cables are lowered to the same length when the sway-suppressing ball is lowered.

[0040] In the motion recognition and detection unit 5, the origin detection unit 501 is fixedly installed at the center of the pile driver connecting flange plate 1, and the distance from the center of the pile driver connecting flange plate 1 is r+r. o There is a point with radius r o The oil supply unit 3 is fixedly installed on the pile driver connecting flange plate 1 at a distance r+r from the center of the round hole. o The hydraulic oil drum support 301 is installed on both sides of the round hole.

[0041] The motion recognition and detection unit 5 includes a coordinate origin detection unit 501 and a motion recognition monitoring point P 502. The origin detection unit 501 includes an inertial measurement unit (IMU sensor) integrating an accelerometer and a gyroscope, and an ultrasonic anemometer. The inertial measurement unit (IMU sensor) is used to measure the offset angle of the pendulum ball 4. An ultrasonic anemometer is installed at the center of the connecting flange plate 102 of the pile driver to measure wind speed. The motion identification monitoring point P 502 includes the initial marker point P, and the spatial position and offset angle of the pendulum ball are identified in real time based on the coordinates of point P.

[0042] The oil supply unit 3 includes a hydraulic oil drum support 301, an oil supply drive motor 302, a hydraulic oil drum 303, and an oil delivery pipe 304; the hydraulic oil drum 303 is driven by the oil supply drive motor 302, which is fixedly mounted on the hydraulic oil drum support 301; the geometric center of the hydraulic oil drum 303 is located at a circular plate with a radius of r+r. o At one end of the oil pipeline 304, the oil supply port of the pile driver is connected to the oil supply port of the pile driver through the opening of the flange plate 1 of the pile driver, and the other end is connected to the oil inlet of the sway ball 5.

[0043] There are four cable lifting and lowering units 2 in total. These four units are symmetrically arranged along the outer axial direction of the pile driver connecting flange plate 1, with the center of the flange plate as the origin. Each cable lifting and lowering unit 2 includes: a cable fixing bracket 201, a cable drum 202, a cable drive motor 203, and a cable 204. The cable fixing bracket 201 is welded to the bottom surface of the pile driver connecting flange plate 1. The cable drive motor 203 is fixedly installed inside the cable fixing bracket 201. The cable drum 202 is driven by the cable drive motor 203 fixedly installed on the cable fixing bracket 201. The cables 204 are wound around the cable drum 202, with one end fixed to the cable drum 202 and the other end fixedly connected to the lug of the anti-swing ball 4. The geometric center of the cable drum 2 is located at a radius R of the circular plate, where R is the radius of the anti-swing ball 4.

[0044] The pendulum ball 4 is a hollow spherical shell structure made of metal. The radius of the pendulum ball 4 shell is R. Four lugs are evenly distributed around the equatorial circumference of the pendulum ball 4. The top of the pendulum ball 4 has a sealing opening.

[0045] The motion recognition detection unit 5 includes an origin detection unit 501 and a motion recognition monitoring point P 502. The origin detection unit 501 is fixedly installed at the center of the pile driver connecting flange plate 1, and the motion recognition monitoring point P 502 is fixedly installed at the top sealing port of the pendulum ball 4.

[0046] like Figure 2 As shown, a method for suppressing the sway of an offshore jib with automatic adjustment function is based on an offshore jib sway suppression device with automatic adjustment function. The method includes an initial lowering stage of the suppression device, a motion identification, detection and adjustment stage, and a suppression working stage, comprising the following steps:

[0047] S1. Initial lowering stage of the anti-sway device: First, the anti-sway device is fixed to the pile driver connecting flange with the pile driver using bolts. The steel cable drum 202 of the steel cable lifting and lowering unit 2 in the anti-sway device is locked, and the steel cable 204 is fully retracted and wound around the surface of the steel cable drum 202. The anti-sway ball 4 is stationary and close to the pile driver connecting flange 1. Then, the pile driver is fixed to the pipe pile, and the pile erection begins.

[0048] S2. When the pile driver is lifted by the crane boom ropes, the pile driver and the pipe pile are gradually lifted from a horizontal position to a vertical position. When the pipe pile is completely vertical, a fixed point is selected at the center 1 of the pile driver connecting flange plate of the anti-sway device as the coordinate origin detection unit 501. The vertical upward direction is taken as the z-axis, the extension direction of the end of the pile lifting boom is taken as the x-axis, and the right-hand rule is used to determine the y-axis to construct a three-dimensional coordinate system. The motion recognition detection unit 5 is activated. The coordinate origin detection unit 501 includes a gyroscope to identify the initial offset angle, and the coordinates of the initial marker point P in the motion recognition monitoring point P 502 are recorded. Four cable drive motors 203 are started to rotate, driving the cable drum 202 to rotate. The steel cable 204 wound on the cable drum 202 is gradually lowered under the gravity of the pendulum ball. After being lowered to a certain height, the cable drive motors stop. The movement identification monitoring point P502 on the surface of the pendulum ball 4 oil inlet is used as the initial marker point P. At the initial height, the coordinates (x0, y0, z0) and offset angle of the initial marker point P are identified and recorded. ;

[0049] S3. Motion Recognition, Detection, and Adjustment Stage: Based on the real-time acquisition of the relative wind speed between the pipe pile and the wind, as well as the air temperature and humidity parameters by the ultrasonic anemometer, and the offset angle measured by the inertial measurement unit. Then, the wind resistance F(t) is obtained (the ultrasonic anemometer integrates sensors that can collect relative wind speed, air temperature, and humidity. Through this sensor, the air density ρ can be calculated. Combined with the pipe pile offset angle measured by the inertial measurement unit, the wind resistance F(t) = 0.5 * ρ * V² * A * Cd is calculated using the formula). According to different models of pile drivers, the total mass m1 of the pile driver and the pipe pile being lifted, the weight m2 of the un-oiled sway ball, and the coordinates of point p are determined. The wind resistance F(t), the total mass m1 of the pile driver and the pipe pile being lifted, the weight m2 of the un-oiled sway ball, the coordinates of the motion identification monitoring point p, and the offset angle are then combined. Together, they serve as input variables, which are then input into the preset sway control vibration equation. Solve the steady-state solution of the vibration equation for the sway control under the input variables, and analyze the key dimensionless parameters of the sway control from the steady-state solution, including: the mass ratio of the sway control device to the main structure (total mass of the pile driver and the hoisted pipe pile) under steady-state conditions. The ratio of the sway suppression device to the natural frequency of the main structure and the damping ratio of the sway suppression device to the main structure. ;

[0050] The oscillation control equation contains and The coupling takes the following form:

[0051] ;

[0052] in This represents the horizontal offset of the pile driver and the pipe pile due to wind force. The angle between the initial marker point p in the sway control device and the vertical direction;

[0053] The key dimensionless parameters are analytically output from the steady-state solution of the system. , , The steps specifically include: , The ratio of the mass of the sway-suppressing device to the mass of the pile driver and the pipe pile; The ratio of the natural frequency of the sway suppression device to that of the pile driver and the overall pipe pile; The damping ratio of the sway suppression device, pile driver, and pipe pile as a whole is given; the steady-state solutions are determined using the Runge-Kutta method:

[0054] ;

[0055] ;

[0056] in , , and These represent the natural frequency and damping ratio of the pile driver and the overall pipe pile, respectively. To suppress the sway excitation frequency, the ratio of the natural frequency of the pile driver and the pipe pile is given. , , , All are constants. To collect parameters in real time, this value is a constant at a certain time t. Under the influence of, This is the offset magnitude, which is a constant at time t;

[0057] S4. Sway Suppression Stage: Taking the minimum sway suppression amplitude as the optimal condition, solve for the optimal solution in step S3 to obtain the optimal frequency and damping ratio correlation function of the sway suppression device. and To obtain the optimal drop height of the sway control device and optimal oil delivery quality According to the optimal oil delivery quality Optimal drop height of the sway control device Based on the calculation results, the coordinate origin detection unit 501 adjusts the initial marker point P coordinates (x0, y0, z0) in real time and feeds the results back to the cable drive motor 203 to continue releasing or retracting the cable 204. Simultaneously, the oil pipe 304 is slowly lowered or retracted at the same speed under the drive of the oil supply drive motor 302. When the sway ball 4 is adjusted to the optimal height, the oil supply pump is simultaneously activated, adjusting the oil supply quality according to the optimal oil delivery quality of the sway device. Control the oil pump to adjust the amount of oil filling and recovery inside the sway ball 4. After reaching the set steady-state oil volume and rope length, stop lowering the steel cable and supplying oil, and close the oil supply port of the sway ball 4.

[0058] The formulas for the optimal frequency and damping ratio of the sway suppression device are as follows:

[0059] ;

[0060] Based on the above formula, the optimal cable lowering length can be determined as follows: ;

[0061] Optimal oil transfer quality: .

[0062] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A marine heap sway suppression device with automatic adjustment function, characterized in that, include: The pile driver connecting flange device (1) is horizontally installed on the bottom end face of the pile driver and is used in conjunction with the tapered guide structure at the front end of the internally supported pile driver. The pile driver connecting flange device (1) is horizontally installed on the bottom end face of the pile driver. The steel cable lifting and lowering unit (2) has multiple units, which are arranged at equal intervals around the center of the pile driver connecting flange device (1) and are used to extend and retract the length. The four steel cable lifting and lowering units (2) together lift the sway ball (4). The oil supply unit (3) is located at the lower center of the pile driver connecting flange device (1) and is used to inject oil into the pendulum ball (4); The motion recognition detection unit (5) includes a coordinate origin detection unit (501) and a motion recognition monitoring point P (502). The coordinate origin detection unit (501) is located at the lower center of the pile driver connecting flange plate (102), and the motion recognition monitoring point P (502) is located at the top of the sway ball (4).

2. The offshore sway suppression device with automatic adjustment function according to claim 1, characterized in that: The pile driver connecting flange device (1) includes a transition flange sleeve (101) and a connecting flange plate (102). The tapered sleeve of the transition flange sleeve (101) is assembled with the tapered guide structure at the front end of the internally supported pile driver. It is installed with the tapered guide structure at the front end of the internally supported pile driver by an interference fit and heat fitting method, and is connected by radial set screws. The radial set screws are installed perpendicular to the tapered surface. The connecting flange plate (102) is a circular plate. The connecting flange plate (102) and the flange base of the transition flange sleeve (101) have through holes. The through holes are evenly distributed. The connecting flange plate (102) and the flange base of the transition flange sleeve (101) are connected by bolts. The number of bolts is greater than 6. The connecting flange plate (102) is installed horizontally on the bottom end face of the pile driver.

3. The offshore sway suppression device with automatic adjustment function according to claim 2, characterized in that: The cable lifting and lowering unit (2) includes a cable fixing bracket (201), a cable drum (202), a cable drive servo motor (203), and a cable (204). The cable fixing bracket (201) and the cable drive servo motor (203) are welded to the bottom surface of the pile driver connecting flange plate (102). The cable drum (202) is located between the cable fixing bracket (201) and the cable drive servo motor (203) and is driven to rotate by the cable drive servo motor (203). The cable drive servo motor (203) contains an encoder for obtaining the lowering length of the cable (204). The cable (204) is wound on the cable drum (202) and one end is fixed to the cable drum (202), and the other end is fixedly connected to the lug of the pendulum ball (4).

4. The offshore sway suppression device with automatic adjustment function according to claim 3, characterized in that: The oil supply unit (3) includes a hydraulic oil drum support (301), an oil supply drive motor (302), a hydraulic oil drum (303), and an oil supply pipe (304). The hydraulic oil drum support (301) and the oil supply drive motor (302) are welded to the bottom surface of the pile driver connecting flange plate (102). The hydraulic oil drum (303) is located between the hydraulic oil drum support (301) and the oil supply drive motor (302) and is driven to rotate by the oil supply drive motor (302). The oil supply pipe (304) is wound around the hydraulic oil drum (303). One end of the oil supply pipe (304) passes through the opening of the connecting flange plate (102) and connects to the oil supply port of the pile driver. The other end is connected to the oil inlet at the top of the sway ball (4).

5. A marine pile sway suppression device with automatic adjustment function according to claim 4, characterized in that: The coordinate origin detection unit (501) is fixedly installed at the center of the pile driver connecting flange plate (102), and the motion identification monitoring point P (502) is fixedly installed at the top oil inlet of the pendulum ball (4) and at the connection with the oil pipeline (304).

6. A marine pile sway suppression device with automatic adjustment function according to claim 5, characterized in that: The coordinate origin detection unit (501) includes an inertial measurement unit integrating an accelerometer and a gyroscope, and an ultrasonic anemometer. The inertial measurement unit is used to measure the offset angle of the pendulum ball (4). An ultrasonic anemometer is installed at the center of the connecting flange plate (102) of the pile driver. The spatial position and offset angle of the pendulum ball are identified in real time based on the coordinates of the motion identification monitoring point P (502).

7. A method for suppressing the sway of a marine heap sway suppression device with automatic adjustment function as described in claim 1 or 4, characterized in that, Includes the following steps: S1. Initial lowering stage of the sway suppressing device: When the pile driver is fixed to the pipe pile, the steel cable drum (202) of the steel cable lifting and lowering unit (2) in the sway suppressing device is locked, the steel cable (204) is completely retracted and wrapped around the surface of the steel cable drum (202), and the sway suppressing ball (4) is stationary and close to the pile driver connecting flange device (1). S2. When the pile driver is lifted by the crane arm rope, the pile driver and the pipe pile are gradually lifted from the horizontal position to the vertical direction. When the pipe pile is completely vertical, the coordinate origin detection unit (501) on the lower surface of the connecting flange plate (102) is used to construct a three-dimensional coordinate system with the vertical upward direction as the z-axis and the extension direction of the end of the pile lifting arm as the x-axis, and the right-hand rule is used to determine the y-axis. At the same time, the four steel cable drive servo motors (203) are started to rotate, which drives the steel cable drum (202) to rotate. The steel cable (204) wound on the steel cable drum (202) is gradually lowered and stopped after being lowered to a certain height. The initial winding and unwinding steel cable length L is read according to the encoder inside the drive servo motor (203). When the wind force is small or stable, the coordinates (x0, y0, z0) of the IMU sensor relative to the initial mark point P are read. The offset angle is obtained by identifying the offset angle through the inertial measurement unit. ; S3, Motion Recognition, Detection, and Adjustment Stage: The relative wind speed and air temperature and humidity parameters between the pipe pile and the wind are obtained in real time by an ultrasonic anemometer, while the offset angle is measured by an inertial measurement unit. Based on the relative wind speed, air temperature and humidity parameters, and the offset angle, the wind resistance F(t) is calculated. According to different pile driver models, the total mass m1 of the pile driver and the suspended pipe pile, the weight m2 of the un-oiled anti-swing ball, and the coordinates of point p are determined. The wind resistance F(t), the total mass m1 of the pile driver and the suspended pipe pile, the weight m2 of the un-oiled anti-swing ball, the coordinates of the motion identification monitoring point p, and the offset angle are then combined. Together, they serve as input variables, which are then input into the preset sway control vibration equation. Solve the steady-state solution of the vibration equation for the sway control under the input variables, and analyze the key dimensionless parameters of the sway control from the steady-state solution, including: the mass ratio of the sway control device to the main structure in the steady-state state. The ratio of the sway suppression device to the natural frequency of the main structure and the damping ratio of the sway suppression device to the main structure. ; S4. Sway Suppression Stage: Taking the minimum sway suppression amplitude as the optimal condition, solve for the optimal solution in step S3 to obtain the optimal frequency and damping ratio correlation function of the sway suppression device. and To obtain the optimal drop height of the sway control device and optimal oil delivery quality According to the optimal oil delivery quality Optimal drop height of the sway control device The calculation results are used to adjust the coordinates (x0, y0, z0) of the initial marker point P in real time by the coordinate origin detection unit (501), and the results are fed back to the steel cable servo drive motor (203) to continue to release or retract the steel cable (204). At the same time, the oil pipe (304) is slowly lowered or retracted at the same speed under the drive of the oil supply drive motor (302). When the sway ball (4) is adjusted to the optimal height, the oil supply pump is started at the same time, and the oil supply quality is adjusted according to the optimal oil supply quality of the sway device. Control the oil pump to adjust the amount of oil filling and recovery inside the sway ball (4). After reaching the set steady-state oil volume and rope length, stop lowering the steel cable and supplying oil, and close the oil supply port of the sway ball (4).

8. The method for suppressing the sway of a marine pile sway suppression device with automatic adjustment function according to claim 7, characterized in that: In S3, the sway control vibration equation includes and The coupling takes the following form: ； in This represents the horizontal offset of the pile driver and the pipe pile due to wind force. Let p be the angle between the initial marker point p in the sway control device and the vertical direction.

9. The method for suppressing the sway of a marine pile sway suppression device with automatic adjustment function according to claim 7, characterized in that: In S3, the key dimensionless parameters are analytically output from the steady-state solution of the system. , , The steps include: , The ratio of the mass of the sway-suppressing device to the mass of the pile driver and the pipe pile; The ratio of the natural frequency of the sway suppression device to that of the pile driver and the overall pipe pile; The damping ratio of the sway suppression device, pile driver, and pipe pile as a whole is given; the steady-state solutions are determined using the Runge-Kutta method: ； ； in , , and These represent the natural frequency and damping ratio of the pile driver and the overall pipe pile, respectively. To suppress the sway excitation frequency, the ratio of the natural frequency of the pile driver and the pipe pile is given. , , , All are constants. To collect parameters in real time, this value is a constant at a certain time t. Under the influence of, This is the offset magnitude, which is a constant at time t.

10. The method for suppressing the sway of a marine heap sway suppression device with automatic adjustment function according to claim 7, characterized in that: In S4, the formulas for the optimal frequency and damping ratio of the sway suppressor are as follows: ； Based on the above formula, the optimal cable lowering length is determined as follows: ; Optimal oil transfer quality: .

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