Marine platform active heave compensation mooring device and method of operation

Abstract

The application relates to a marine platform active heave compensation berthing device and a working method, and belongs to the technical field of marine platform and berthing ship butt joint. The lifting frame is fixed on the platform and connected with the liftable boarding cage through a track; a posture displacement sensor and a visual position measuring sensor respectively detect the platform heave and the relative displacement of the ship body, an active compensation controller drives the track roller to control the height of the boarding cage according to the signals, and synchronous motion with the berthing ship is realized; the structure transfers the compensation function to the platform side, so that the small berthing ship can be safely butt jointed without modification, and the sensor detection cooperates with the track transmission to ensure the lifting stability and butt joint accuracy.

Description

Technical Field

[0001] This invention relates to the field of docking technology between marine platforms and berthing vessels, and in particular to an active heave-compensation berthing device for marine platforms and its working method. Background Technology

[0002] With the development of docking technology between offshore platforms and berthing vessels, a technical solution has emerged that uses motion compensation ladders to achieve docking. This solution mainly utilizes the motion compensation function of the ladder to mitigate the relative heave caused by waves, thereby improving the safety of personnel and material transfer processes.

[0003] In related technologies, a dedicated large motion compensation berthing device is usually installed on the berthing ship to adjust the attitude of the ladder through active or passive means to adapt to the dynamic displacement changes between the hull and the platform.

[0004] However, the aforementioned motion compensation ladder device still has significant shortcomings in practical applications: On the one hand, because offshore platforms typically have high freeboard, they require berthing vessels to have corresponding structural dimensions and load-bearing capacity, which limits their applicability. Usually, only large vessels of specific types can complete the tasks of supplying materials and transferring personnel. On the other hand, existing equipment is difficult to adapt flexibly to various small berthing vessels, lacks versatility and adaptability, and restricts emergency response and daily operation capabilities in complex marine environments. Summary of the Invention

[0005] In response to the shortcomings of the existing production technologies, the applicant provides an active heave-compensation berthing device and its working method for marine platforms. This device enables safe and stable docking of any small berthing vessel with the marine platform, solving the problem of large relative motion amplitude when docking with a berthing vessel in a wave-turbulent environment. It facilitates marine operations such as material replenishment, personnel transport, and emergency rescue, and avoids the risk of personnel and materials falling into the water.

[0006] The technical solution adopted in this invention is as follows: An active heave compensation berthing device for marine platforms includes: The lifting frame is fixedly installed on the offshore platform and extends in the vertical direction; The riding cage is connected to the lifting frame via tracks and can move up and down along the height direction of the lifting frame; Track rollers are mounted on the lifting frame and mesh with the track for transmission, used to drive the lifting and lowering of the boarding cage; An attitude displacement sensor is installed on the marine platform to detect the heave motion signal of the marine platform; A visual position measurement sensor, mounted on the lifting frame or boarding cage, is used to detect the relative displacement between the berthed vessel and the offshore platform; An active heave compensation controller is electrically connected to the attitude displacement sensor, the visual position measurement sensor, and the drive element of the track rollers, respectively. The active heave compensation controller is configured to receive and analyze the heave motion signal and relative displacement, and control the track rollers to rotate in order to adjust the height of the boarding cage and compensate for the relative heave misalignment between the berthing vessel and the offshore platform.

[0007] As a further improvement to the above technical solution: The climbing cage is equipped with a climbing ramp, which includes: The first boarding ramp is detachably mounted on the side of the boarding cage facing the moored vessel. The second boarding ramp is detachably mounted on the side of the boarding cage facing the boarding deck of the offshore platform.

[0008] The active heave compensation controller is configured to perform two-stage control: In the first stage, based on the combined signals from the visual position measurement sensor and the attitude displacement sensor, the track rollers are controlled to drive the boarding cage to rise and fall, so that the boarding cage remains relatively stationary with the berthing ship, and the first boarding ramp is controlled to open and be erected on the berthing ship, so that personnel and materials can be transferred from the berthing ship to the boarding cage. In the second stage, based on the heave and sag motion signal of the marine platform detected by the attitude displacement sensor, the track rollers are controlled to drive the boarding cage to rise smoothly to dock with the boarding deck of the marine platform, and the second boarding ramp is controlled to open so that personnel and materials can be transferred from the boarding cage to the boarding deck of the marine platform.

[0009] The track rollers are divided into inner rollers and outer rollers in axial length; The bottom of the climbing cage is connected to the inner rollers via the first four corner braces, and the top of the climbing cage is connected to the outer rollers via the second four corner braces. The axial length of the first quadrangular support is greater than the axial length of the second quadrangular support.

[0010] The inner and outer rollers are staggered along the height of the lifting frame, and the first and second corner braces are respectively connected to the corresponding track rollers, so that the riding cage remains vertically stable during the lifting process.

[0011] The visual position measurement sensor is used to acquire position image information of the berthing vessel relative to the offshore platform or lifting frame in real time, and the active heave compensation controller analyzes the relative displacement between the berthing vessel and the offshore platform based on the position image information.

[0012] The attitude displacement sensor is used to acquire the displacement time-history curve of the offshore platform under the action of waves in real time. The active heave compensation controller generates control commands based on the displacement time-history curve and drives the track rollers to make the boarding cage move synchronously with the offshore platform.

[0013] The boarding ramp is connected to a safety rope, one end of which is secured to the boarding cage and the other end to the boarding ramp.

[0014] A method for operating the active heave compensation berthing device for an offshore platform according to any one of claims 1 to 8 includes the following steps: The lifting frame is fixed to the offshore platform, and the boarding cage is connected to the lifting frame via tracks. The relative displacement between the berthed vessel and the offshore platform is obtained through a visual position measurement sensor, and the heave motion signal of the offshore platform is obtained through an attitude displacement sensor. The active heave compensation controller controls the rotation of the track rollers based on relative displacement and heave motion signals, driving the boarding cage to rise and fall, thus compensating for the relative heave misalignment between the berthed vessel and the offshore platform. When the boarding cage is stationary relative to the berthed ship, the first boarding ramp on the side of the boarding cage facing the berthed ship is opened to complete the transfer of personnel or materials from the berthed ship to the boarding cage. The active heave compensation controller controls the boarding cage to rise smoothly to dock with the boarding deck of the offshore platform based on the heave motion signal, and opens the second boarding ramp on the side of the boarding cage facing the boarding deck of the offshore platform to complete the transfer of personnel or materials from the boarding cage to the offshore platform.

[0015] As a further improvement to the above technical solution: When it is necessary to transfer from the offshore platform to the berthed vessel, the control sequence is reversed: first, control the boarding cage to descend and dock with the boarding deck of the offshore platform, and open the second boarding ramp to complete the entry of personnel and materials into the boarding cage; then control the boarding cage to descend and maintain relative stillness with the berthed vessel, and open the first boarding ramp to complete the transfer of personnel and materials to the berthed vessel.

[0016] The beneficial effects of this invention are as follows: This invention features a compact structure. By mounting the entire device on an offshore platform and using the independent structures of the lifting frame, tracks, and boarding cage, the active compensation function is transferred from the berthing vessel to the offshore platform. The berthing vessel only needs to approach and maintain a general position to complete the docking, thus breaking the limitations of vessel type and enabling any small berthing vessel to safely transfer personnel and materials.

[0017] This invention also has the following advantages: This invention constructs a complete motion perception and compensation system through the collaborative operation of a visual position measurement sensor and an attitude displacement sensor. Specifically, the visual sensor captures the relative displacement between the berthed vessel and the offshore platform in real time, while the attitude displacement sensor detects the heave motion of the offshore platform itself. The active heave compensation controller performs joint analysis of the two types of signals, enabling the boarding cage to remain relatively stationary with the berthed vessel in a wave-turbulent environment. This solves the technical problems of slow response and insufficient accuracy in traditional passive compensation methods.

[0018] This invention divides the entire transshipment process into two stages: "ship-cage transfer" and "cage-platform transfer" through a two-stage control logic set by an active heave compensation controller. The first stage focuses on compensating for high-frequency random wave disturbances to ensure that the boarding cage moves synchronously with the berthing ship. The second stage smoothly raises the boarding cage according to the platform's heave pattern. This phased control strategy avoids the risk of shearing and squeezing caused by the direct relative movement between the platform and the ship during the transfer of personnel and materials, thus achieving a smooth transition.

[0019] The track rollers of this invention are divided into inner and outer rollers along their axial length. The bottom of the loading cage is connected to the inner rollers via a first quadrangular support rod that is longer than the top, while the top is connected to the outer rollers via a shorter second quadrangular support rod. This staggered connection method creates a stable load-bearing structure, effectively resisting the overturning moment caused by wave impact or uneven loading during the lifting and lowering of the loading cage, significantly improving the operational stability and safety of the device in harsh sea conditions. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the active heave compensation berthing device of this application.

[0021] Figure 2 This is a schematic diagram of the boarding cage structure in this application.

[0022] Figure 3 This is a schematic diagram of a docking vessel using an active heave compensation berthing device in one embodiment of this application.

[0023] Among them: 1. Attitude displacement sensor; 2. Offshore platform; 3. Active heave compensation controller; 4. Track roller; 5. Lifting frame; 6. Track; 7. Offshore platform boarding deck; 8. Boarding ramp; 9. Visual position measurement sensor; 10. Boarding cage; 11. Mooring vessel; 401. Inner roller; 402. Outer roller; 801, First boarding ramp; 802, Second boarding ramp; 1201, First corner brace; 1202, Second corner brace. Detailed Implementation

[0024] To make the above-mentioned objects, features, and advantages of the present invention more apparent and understandable, the specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. In the description of the present invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential," etc., indicating orientation or positional relationships, are based on the orientation or positional relationships shown in the accompanying drawings and are only for the convenience of describing the present invention and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention.

[0025] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0026] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0027] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0028] It should be noted that when an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. When an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only possible implementation.

[0029] like Figure 1 and Figure 3 As shown, the active heave compensation berthing device for marine platforms described in this embodiment is mounted on the marine platform 2 and is used to achieve safe and stable transfer of personnel and materials between the berthing vessel 11 and the marine platform 2. It mainly includes a lifting frame 5, a boarding cage 10, track rollers 4, tracks 6, an attitude displacement sensor 1, a visual position measurement sensor 9, and an active heave compensation controller 3.

[0030] In some embodiments, the lifting frame 5 is fixedly mounted on the offshore platform 2 and extends along the height direction as a supporting skeleton for the entire device; specifically, the lifting frame 5 may be a steel truss structure with sufficient structural strength and rigidity to bear the full load of the boarding cage 10 and its load; the height of the lifting frame 5 typically extends above the boarding deck 7 of the offshore platform to ensure that the boarding cage 10 can be raised and lowered to a position flush with the boarding deck 7 of the offshore platform.

[0031] In some embodiments, the boarding cage 10 is connected to the lifting frame 5 via tracks 6 and can move up and down along the height direction of the lifting frame 5. The boarding cage 10 is a cage-like structure with internal space for accommodating personnel and materials, and is surrounded by guardrails to ensure safety. The track 6 is a ring-shaped flexible transmission component, arranged along the height direction of the lifting frame 5, and fixedly connected to the riding cage 10. Specifically, one side of the track 6 is fixedly connected to the back of the riding cage 10, and the other side is engaged with the track roller 4.

[0032] In some embodiments, track rollers 4 are disposed on the lifting frame 5, usually in multiples, and are spaced apart along the height direction of the lifting frame 5; the track rollers 4 engage with the track 6 for transmission, and are used to drive the lifting cage 10 to rise and fall.

[0033] Furthermore, the track rollers 4 are driven to rotate by drive elements (such as motors, hydraulic motors, etc.), which in turn drive the track 6 to move through meshing, thereby causing the riding cage 10 to rise or fall. The meshing transmission between the track rollers 4 and the track 6 is smooth and has a strong load-bearing capacity, which can ensure that the riding cage 10 runs smoothly during the lifting and lowering process and avoid impact and vibration.

[0034] In some embodiments, the attitude displacement sensor 1 is disposed on the marine platform 2 to detect the heave motion signal of the marine platform 2. In practical applications, the attitude displacement sensor 1 can be an accelerometer, a gyroscope, a displacement sensor or a combination thereof, which can acquire the displacement history curve of the marine platform 2 under the action of waves in real time, that is, the heave displacement data of the marine platform 2 changing over time.

[0035] In some embodiments, the visual position measurement sensor 9 is disposed on the lifting frame 5 or the boarding cage 10 to detect the relative displacement between the berthing vessel 11 and the offshore platform 2; in practical applications, the visual position measurement sensor 9 can be an industrial camera, a laser vision sensor, etc., to acquire position image information of the berthing vessel 11 relative to the offshore platform 2 or the lifting frame 5 in real time. The installation position of the visual position measurement sensor 9 should enable it to clearly capture images of the hull or specific markers of the berthed vessel 11 in order to perform position analysis.

[0036] In some embodiments, the active heave compensation controller 3 is electrically connected to the attitude displacement sensor 1, the visual position measurement sensor 9, and the drive element of the track roller 4, respectively. The active heave compensation controller 3 can be a programmable logic controller, an industrial computer, or an embedded controller, with motion control algorithms and signal processing programs pre-installed inside. The active heave compensation controller 3 is configured to receive and analyze the heave motion signal detected by the attitude displacement sensor 1 and the relative displacement detected by the visual position measurement sensor 9, generate control commands based on the analysis results, control the track rollers 4 to rotate, adjust the height of the boarding cage 10, and compensate for the relative heave misalignment between the berthing vessel 11 and the offshore platform 2.

[0037] like Figure 2 As shown, the boarding cage 10 is provided with a boarding ramp 8, which includes a first boarding ramp 801 and a second boarding ramp 802. The first boarding ramp 801 is detachably set on the side of the boarding cage 10 facing the berthing vessel 11, and is used to be erected on the berthing vessel 11 when the boarding cage 10 docks with the berthing vessel 11 to form a passage for the transfer of personnel and materials. The second boarding ramp 802 is detachably installed on the side of the boarding cage 10 facing the boarding deck 7 of the offshore platform. It is used to be erected on the boarding deck 7 of the offshore platform when the boarding cage 10 docks with the boarding deck 7 of the offshore platform to form a passage for the transfer of personnel and materials. The first boarding ramp 801 and the second boarding ramp 802 can adopt a flip-up structure, be connected to the boarding cage 10 by a hinge, and be equipped with a drive mechanism (such as a hydraulic cylinder, electric push rod, etc.) to achieve automatic opening and closing.

[0038] like Figure 2 and Figure 3 As shown, to prevent the riding cage 10 from tipping over during the lifting process, in one specific embodiment, an anti-tipping structure with staggered connection is adopted; specifically, the track roller 4 is divided into two parts in the axial length: inner roller 401 and outer roller 402; the inner roller 401 and outer roller 402 are staggered along the height direction of the lifting frame 5, that is, the installation positions of the inner roller 401 and outer roller 402 are staggered in the height direction. Furthermore, the bottom of the boarding cage 10 is connected to the inner roller 401 via the first quadrangular support rod 1201, and the top of the boarding cage 10 is connected to the outer roller 402 via the second quadrangular support rod 1202. Both the first quadrangular support rod 1201 and the second quadrangular support rod 1202 are rigid rods, one end of which is fixedly connected to the boarding cage 10, and the other end is connected to the corresponding track roller 4 (usually connected to the axle of the track roller 4 via a bearing or slider, so that the quadrangular support rod can move with the boarding cage 10 as it rises and falls). The axial length of the first quadrangular support rod 1201 is greater than the axial length of the second quadrangular support rod 1202. This application uses such unequal-length support rods in conjunction with staggered rollers to form a stable force-bearing structure, which can effectively resist the overturning moment generated by wave impact, off-center loading or wind and wave current during the lifting and lowering of the boarding cage 10, thereby improving the operational stability and safety of the device in harsh sea conditions.

[0039] like Figure 2 As shown, the boarding ramp 8 is connected to a safety rope 13. One end of the safety rope 13 is fixed to the boarding cage 10, and the other end is fixed to the boarding ramp 8. In practical applications, the safety rope 13 can be a steel wire rope or a high-strength fiber rope, which serves to prevent falls and prevent the boarding ramp 8 from accidentally falling off or slipping, providing the last physical protection barrier for the transfer of personnel and materials.

[0040] In this embodiment, the active heave compensation controller 3 is configured to execute a two-stage control strategy to achieve safe and stable personnel and material transfer: Phase 1 (Boat-Cage Transfer Phase): The active heave compensation controller 3 simultaneously receives signals from the visual position measurement sensor 9 and the attitude displacement sensor 1, and performs joint analysis on the two types of signals. The visual position measurement sensor 9 captures the relative displacement between the berthing vessel 11 and the offshore platform 2 in real time, while the attitude displacement sensor 1 detects the heave motion of the offshore platform 2 itself in real time. Based on the analysis results, the active heave compensation controller 3 controls the tracked rollers 4 to drive the boarding cage 10 to rise and fall, keeping the boarding cage 10 relatively stationary with respect to the berthing vessel 11. Once the boarding cage 10 is stably docked with the berthing vessel 11, the active heave compensation controller 3 controls the first boarding ramp 801 to open and be erected on the berthing vessel 11. At this point, personnel and supplies can be smoothly transferred from the berthing vessel 11 to the boarding cage 10. In this phase, the boarding cage 10 effectively acts as a "motion compensation platform," actively following the movement of the berthing vessel 11 to eliminate the relative motion caused by waves, enabling the transfer of personnel and supplies to be completed in a stable state.

[0041] The second stage (cage-to-platform transfer stage): After all personnel and supplies have entered the boarding cage 10, the active heave compensation controller 3, based on the heave motion signal of the offshore platform detected by the attitude displacement sensor 1, controls the track rollers 4 to drive the boarding cage 10 to rise smoothly. In this stage, the active heave compensation controller 3 generates control commands synchronized with the heave motion of the offshore platform 2 based on the displacement time-history curve provided by the attitude displacement sensor 1, ensuring that the boarding cage 10 maintains synchronized movement with the offshore platform 2 during its ascent, avoiding relative misalignment due to asynchronous movement. When the boarding cage 10 rises to a position level with the offshore platform boarding deck 7, the active heave compensation controller 3 stops the track rollers 4 from rotating, and then opens the second boarding ramp 802, setting it up on the offshore platform boarding deck 7. Personnel and supplies are then smoothly transferred to the offshore platform boarding deck 7 via the boarding cage 10 and the second boarding ramp 802.

[0042] When it is necessary to transfer personnel and supplies from offshore platform 2 to berthed vessel 11, the control sequence of the above two stages is reversed. That is: first, control the boarding cage 10 to descend and dock with the boarding deck 7 of the offshore platform, and open the second boarding ramp 802 to complete the entry of personnel and supplies into the boarding cage 10; then control the boarding cage 10 to descend and maintain relative stillness with berthed vessel 11, and open the first boarding ramp 801 to complete the transfer of personnel and supplies to berthed vessel 11.

[0043] The working principle of this application is as follows: Active compensation motion principle: The relative displacement between the berthing vessel 11 and the offshore platform 2 is obtained by the visual position measurement sensor 9. The active heave compensation controller 3 uses this relative displacement as the target value and drives the track rollers 4 to rotate through the closed-loop control algorithm, so that the boarding cage 10 follows the movement of the berthing vessel 11 in real time, so that the two are relatively stationary, thereby completing the smooth docking. Smooth lifting principle: The displacement time-history curve of the marine platform 2 is obtained by the attitude displacement sensor 1. The active heave compensation controller 3 uses the time-history curve as a reference trajectory to drive the track rollers 4 so that the boarding cage 10 lifts and lowers according to the same motion law as the marine platform 2, ensuring that the boarding cage 10 always remains synchronized with the marine platform 2 during the lifting and lowering process, and avoiding relative motion. Anti-overturning principle: By dividing the track roller 4 into inner roller 401 and outer roller 402 along its axial length, and by connecting the bottom and top of the riding cage 10 to the inner and outer rollers in a staggered manner through the first quadrangular support rod 1201 and the second quadrangular support rod 1202 of unequal length, a stable force-bearing structure is formed, which effectively prevents the riding cage 10 from overturning or colliding due to external forces during the lifting and lowering process.

[0044] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0045] The embodiments described above are merely illustrative of implementation methods of the present invention, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these all fall within the protection scope of the present invention. Therefore, the protection scope of this invention patent should be determined by the appended claims.

Claims

1. An active heave compensation berthing device for an offshore platform, characterized in that, include: The lifting frame (5) is fixedly installed on the offshore platform (2) and extends in the height direction; The riding cage (10) is connected to the lifting frame (5) via the track (6) and can move up and down along the height direction of the lifting frame (5); Track rollers (4) are mounted on the lifting frame (5) and mesh with the track (6) for transmission, and are used to drive the climbing cage (10) to rise and fall. An attitude displacement sensor (1) is installed on the marine platform (2) to detect the heave motion signal of the marine platform (2); A visual position measurement sensor (9) is installed on the lifting frame (5) or boarding cage (10) to detect the relative displacement between the berthed vessel (11) and the offshore platform (2); An active heave compensation controller (3) is electrically connected to the attitude displacement sensor (1), the visual position measurement sensor (9), and the drive element of the track roller (4). The active heave compensation controller (3) is configured to receive and analyze the heave motion signal and relative displacement, and control the track roller (4) to rotate in order to adjust the height of the boarding cage (10) and compensate for the relative heave misalignment between the berthing vessel (11) and the offshore platform (2).

2. The active heave compensation berthing device for offshore platforms according to claim 1, characterized in that, The boarding cage (10) is provided with a boarding ramp (8), the boarding ramp (8) comprising: The first boarding ramp (801) is detachably mounted on the side of the boarding cage (10) facing the moored vessel (11); The second boarding ramp (802) is detachably mounted on one side of the boarding cage (10) facing the boarding deck (7) of the marine platform.

3. The active heave compensation berthing device for offshore platforms according to claim 2, characterized in that, The active heave compensation controller (3) is configured to perform two-stage control: In the first stage, based on the combined signal of the visual position measurement sensor (9) and the attitude displacement sensor (1), the track roller (4) is controlled to drive the boarding cage (10) to rise and fall, so that the boarding cage (10) and the berthing ship (11) remain relatively stationary, and the first boarding ramp (801) is controlled to open and be erected on the berthing ship (11) so that personnel and materials can be transferred from the berthing ship (11) to the boarding cage (10); In the second stage, based on the heave motion signal of the marine platform detected by the attitude displacement sensor (1), the track roller (4) is controlled to drive the boarding cage (10) to rise smoothly to dock with the boarding deck (7) of the marine platform, and the second boarding ramp (802) is controlled to open so that personnel and materials can be transferred from the boarding cage (10) to the boarding deck (7) of the marine platform.

4. The active heave compensation berthing device for offshore platforms according to claim 1, characterized in that, The track roller (4) is divided into two parts in axial length: an inner roller (401) and an outer roller (402); The bottom of the climbing cage (10) is connected to the inner roller (401) via the first four-corner support rod (1201), and the top of the climbing cage (10) is connected to the outer roller (402) via the second four-corner support rod (1202). The axial length of the first quadrangular support (1201) is greater than the axial length of the second quadrangular support (1202).

5. The active heave compensation berthing device for offshore platforms according to claim 4, characterized in that, The inner roller (401) and outer roller (402) are staggered along the height direction of the lifting frame (5). The first quadrangular support rod (1201) and the second quadrangular support rod (1202) are respectively connected to the corresponding track roller (4), so that the climbing cage (10) remains vertically stable during the lifting process.

6. The active heave compensation berthing device for offshore platforms according to claim 1, characterized in that, The visual position measurement sensor (9) is used to acquire position image information of the berthing vessel (11) relative to the marine platform (2) or the lifting frame (5) in real time. The active heave compensation controller (3) analyzes the relative displacement between the berthing vessel (11) and the marine platform (2) based on the position image information.

7. The active heave compensation berthing device for offshore platforms according to claim 1, characterized in that, The attitude displacement sensor (1) is used to acquire the displacement time history curve of the marine platform (2) under the action of waves in real time. The active heave compensation controller (3) generates control commands according to the displacement time history curve and drives the track rollers (4) to make the boarding cage (10) move synchronously with the marine platform (2).

8. The active heave compensation berthing device for offshore platforms according to claim 2, characterized in that, The boarding ramp (8) is connected to a safety rope (13), one end of which is fixed to the boarding cage (10) and the other end is fixed to the boarding ramp (8).

9. A method for operating the active heave compensation berthing device for an offshore platform according to any one of claims 1 to 8, characterized in that, Includes the following steps: The lifting frame (5) is fixed to the offshore platform (2), and the boarding cage (10) is connected to the lifting frame (5) by the tracks (6); The relative displacement between the berthed vessel (11) and the offshore platform (2) is obtained by the visual position measurement sensor (9), and the heave motion signal of the offshore platform (2) is obtained by the attitude displacement sensor (1). The active heave compensation controller (3) controls the rotation of the track rollers (4) based on the relative displacement and heave motion signals, drives the boarding cage (10) to rise and fall, and compensates for the relative heave misalignment between the berthed vessel (11) and the offshore platform (2). When the boarding cage (10) and the berthed ship (11) are relatively stationary, the first boarding ramp (801) on the side of the boarding cage (10) facing the berthed ship (11) is opened to complete the transfer of personnel or materials from the berthed ship (11) to the boarding cage (10); According to the heave motion signal, the active heave compensation controller (3) controls the boarding cage (10) to rise smoothly to dock with the boarding deck (7) of the offshore platform, opens the second boarding ramp (802) on the side of the boarding cage (10) facing the boarding deck (7) of the offshore platform, and completes the transfer of personnel or materials from the boarding cage (10) to the offshore platform (2).

10. The operating method of the active heave compensation berthing device for offshore platforms according to claim 9, characterized in that, When it is necessary to transfer from the offshore platform (2) to the berthed vessel (11), the control sequence is reversed: first, control the boarding cage (10) to descend and dock with the boarding deck (7) of the offshore platform, and open the second boarding ramp (802) to complete the entry of personnel and materials into the boarding cage (10); then control the boarding cage (10) to descend and remain relatively stationary with the berthed vessel (11), and open the first boarding ramp (801) to complete the transfer of personnel and materials to the berthed vessel (11).

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