Load transfer monitoring method and system for multi-vessel cooperative float-over operations

Abstract

The present application belongs to the technical field of load transfer monitoring, and discloses a load transfer monitoring method and system for multi-ship cooperative float-over operation. The load transfer process is divided into at least two monitoring stages according to the structural contact state, and different monitoring mechanisms are adopted for different stages to realize continuous monitoring of load transfer. By identifying the evolution law of the force path and the structural contact relationship in the load transfer process, the whole process is decomposed into multiple stage problems with clear physical mechanisms, and measurable physical quantities matching the dominant mechanical characteristics of each stage are selected to realize stage inversion of the load. The method for quantitatively monitoring the whole process of load transfer in the multi-ship cooperative float-over installation process is first proposed, which changes the operation from "experience control" to "data-driven control", effectively reducing the structural damage and operation risk caused by unknown load.

Description

Technical Field

[0001] This invention belongs to the field of load transfer monitoring technology, and in particular relates to a load transfer monitoring method and system for multi-vessel cooperative floating operations. Background Technology

[0002] As marine energy development moves towards deeper waters and larger scales, the weight of offshore superstructure modules is constantly reaching new highs. Traditional hoisting technologies, limited by their lifting capacity, can no longer meet the installation and dismantling needs of ultra-large modules. Floating installation technology, especially multi-vehicle collaborative floating installation technology suitable for ultra-wide and ultra-heavy modules, has a wide range of applications due to its strong operational capabilities and independence from hoisting equipment.

[0003] In multi-vehicle collaborative floating installation operations, the modules need to be handed over from the transport vessel to the installation vessel under complex sea conditions such as wind, waves, and currents, and then gradually transferred from the installation vessel to the jacket structure. During this process, two load transfer processes will occur. This process is characterized by large load changes and obvious transient characteristics, and it is the most risky and technically challenging key link in the entire multi-vehicle collaborative floating installation operation.

[0004] However, in current engineering practice, there is a lack of direct monitoring methods for the magnitude of load transfer during the float-over installation process. Current operations mainly rely on load adjustment calculations, operational experience, or indirect judgment of working conditions, lacking a real-time monitoring scheme that can reflect the actual load transfer process. This makes it impossible to quantitatively describe the entire process of the module from initial "non-contact" to final "full load-bearing." In the complex float-over installation environment, this lack of technology makes it difficult to grasp the load distribution status at various locations during the operation, and potential risks are difficult to identify in a timely manner.

[0005] In principle, load transfer can be clearly divided into two stages: In the initial stage of load transfer, no effective contact is established between the bottom of the receiver and the top of the cylinder wall. This is mainly manifested in the gradual decrease of the contact gap between the receiver and the outer cylinder wall, and the overall strain level of the outer cylinder wall structure is low. Conventional monitoring methods based on structural strain are insufficient to obtain effective load information. In the middle and later stages of load transfer, after the contact relationship between the bottom of the receiver and the top of the cylinder wall is established, the load is mainly transferred through key structural parts. The local structural strain changes significantly with the load, and the load transfer path and stress state undergo fundamental changes. Due to the significant differences in physical characteristics between the different stages, it is difficult to achieve effective coverage of the entire load transfer process using a single monitoring principle.

[0006] Therefore, there is an urgent need for a monitoring scheme that can combine the phased characteristics of the load transfer process, select monitoring methods that match the physical mechanism of different phases, and achieve continuous acquisition and accurate identification of the load transfer magnitude. This would compensate for the lack of load monitoring methods in existing multi-vessel collaborative floating installation operations and provide reliable data support for operational safety control and risk assessment.

[0007] Based on the above analysis, the problems and shortcomings of the existing technology are as follows:

[0008] (1) In multi-vessel collaborative floating installation operations, load transfer is a key safety control parameter throughout the entire process. However, there is no direct monitoring method for load transfer values ​​in existing engineering practices and research. Load changes can only be estimated based on experience and cannot reflect the actual operating conditions.

[0009] (2) In the early stage of load transfer, the receiver has not yet established contact with the outer cylinder wall, and the overall strain level of the structure is extremely low. Existing conventional monitoring methods based on strain or force sensing cannot obtain effective load information. During this stage, load transfer is in the "monitoring blind zone".

[0010] (3) In the later stage of load transfer, the receiver establishes contact with the outer cylinder wall, and the displacement change can no longer effectively reflect the load change. However, there is no systematic study on the relationship between the strain distribution of the outer cylinder wall of the LMU and the magnitude of load transfer, nor is there a monitoring scheme for the load transfer value in the existing technology. Summary of the Invention

[0011] To address the problems existing in the prior art, this invention provides a load transfer monitoring method for multi-ship cooperative floating operations.

[0012] This invention is implemented as follows: A load transfer monitoring method for multi-vessel cooperative floating operations includes:

[0013] Step 1: Division of Load Transfer Stages;

[0014] Step Two: Establishing the first-stage load transfer-displacement relationship;

[0015] Step 3: Real-time monitoring of the first stage load transfer;

[0016] Step 4: Establishing the load transfer-strain relationship in the second stage;

[0017] Step 5: Real-time monitoring of the second-stage load transfer;

[0018] Step Six: Continuous realization of full-process load transfer monitoring.

[0019] Furthermore, the load transfer stage is divided as follows:

[0020] Before the float-over installation operation begins, the load transfer process is divided into a first stage and a second stage based on whether structural contact is established between the bottom of the receiver and the top of the LMU outer cylinder wall. The first stage is when the receiver has not yet made contact with the top of the outer cylinder wall; the second stage is when the receiver has made contact with the top of the outer cylinder wall and transfers the load through the outer cylinder wall structure.

[0021] The above-mentioned stage division is used to clarify the differences in load transfer paths and measurable physical quantities in different stages, providing a basis for the selection of subsequent monitoring methods.

[0022] Furthermore, the establishment of the load transfer-displacement relationship in the first stage:

[0023] In the first stage of load transfer, the receiver gradually moves downward with the load transfer, but has not yet come into contact with the top of the outer cylinder wall. The strain level of the outer cylinder wall shell is low, and the load change cannot be reflected by the structural strain. In this embodiment, the "relative displacement of the receiver" is selected as the monitoring physical quantity for load inversion in this stage.

[0024] Specifically, based on the internal structural parameters and equivalent stiffness characteristics of the LMU, a correspondence between the first-stage load transfer values ​​and the vertical displacement of the receiver is established, forming a load transfer-displacement relationship curve;

[0025] Subsequently, the load transfer-displacement relationship curve is fitted to determine the minimum resolvable displacement change under the target load monitoring accuracy requirements, and the required displacement measurement accuracy is determined accordingly.

[0026] Furthermore, real-time monitoring of the load transfer in the first stage:

[0027] In the actual multi-ship collaborative floating installation load transfer process, a laser displacement measurement method is arranged between the receiver and the top of the outer cylinder wall to measure the change in the relative vertical distance between the two in real time; after the collected displacement data is processed, the corresponding load transfer value is deduced based on the load transfer-displacement fitting relationship established in step two, thereby realizing real-time monitoring of the load transfer magnitude in the first stage.

[0028] Through the above steps, continuous perception of the load transfer process can be achieved before the structure has established contact and traditional monitoring methods are effective, thus avoiding the formation of monitoring blind spots in the early stages of load transfer.

[0029] Furthermore, the establishment of the load transfer-strain relationship in the second stage:

[0030] Once the receiver establishes contact with the top of the outer cylinder wall, the load transfer path changes. In the second stage, the load is mainly transferred through the steel structure of the outer cylinder wall, and the receiver displacement can no longer effectively characterize the load change. In this embodiment, the "structural strain of the key area of ​​the outer cylinder wall" is selected as the monitoring physical quantity for load inversion in the second stage.

[0031] Before implementation, a finite element analysis model of the outer cylinder wall was established based on the LMU structural form, and solid elements and shell elements were used to model and analyze the outer cylinder wall structure respectively. By applying vertical loads corresponding to the actual loads in the model, strain distribution cloud maps of the outer cylinder wall under various load conditions were obtained, and strain sensitive areas on the outer cylinder wall that are highly correlated with the changes in the top vertical load and have stable strain response were determined. Furthermore, a correspondence curve between the top vertical load of the outer cylinder wall and the strain value in the strain sensitive area was established.

[0032] Furthermore, real-time monitoring of the second-stage load transfer:

[0033] In the second stage of load transfer, strain measurement methods are deployed in the strain-sensitive area determined in step four to collect the strain changes of the outer cylinder wall under load in real time. After data processing, the collected strain data is used to deduce the corresponding load transfer value based on the load transfer-strain correspondence established in step four, so as to realize the real-time monitoring of the load transfer magnitude in the second stage.

[0034] Step Six: Continuous Implementation of Full-Process Load Transfer Monitoring

[0035] Steps three and five are implemented sequentially according to the load transfer time. In the first stage of load transfer, only the displacement monitoring method is used, and in the second stage, only the strain monitoring method is used. The two-stage methods are continuously connected in time to achieve continuous coverage of the entire load transfer process and ensure that the monitoring method in each stage matches the dominant mechanical mechanism.

[0036] Through the above-described method embodiments, key load information during the load transfer process can be accurately obtained under complex sea conditions and multi-vehicle collaborative operation conditions, providing reliable data support for operation safety control, risk warning and operation plan evaluation.

[0037] Another object of the present invention is to provide a load transfer monitoring system for multi-vessel cooperative float-over operations, comprising:

[0038] The partitioning module is used for the load transfer phase partitioning;

[0039] The first-stage relationship establishment module is used to establish the first-stage load transfer-displacement relationship;

[0040] The first-stage monitoring module is used for real-time monitoring of the first-stage load transfer.

[0041] The second-stage relationship establishment module is used to establish the second-stage load transfer-strain relationship;

[0042] The second-stage monitoring module is used for real-time monitoring of the second-stage load transfer.

[0043] The full-process load transfer monitoring module is used for the continuous implementation of full-process load transfer monitoring.

[0044] Another object of the present invention is to provide a computer device including a memory and a processor, the memory storing a computer program, which, when executed by the processor, causes the processor to perform the steps of the load transfer monitoring method for multi-ship cooperative floating overboard operations.

[0045] Another object of the present invention is to provide a computer-readable storage medium storing a computer program that, when executed by a processor, causes the processor to perform the steps of the load transfer monitoring method for multi-ship cooperative floating operations.

[0046] Another objective of the present invention is to provide an information data processing terminal for implementing the load transfer monitoring system for multi-ship cooperative floating operations.

[0047] Based on the above technical solutions and the technical problems solved, the advantages and positive effects of the technical solution to be protected by this invention are as follows:

[0048] This invention proposes a phased load monitoring scheme based on the physical process of load transfer. The load transfer process is divided into at least two monitoring stages according to the structural contact state, and different monitoring mechanisms are used for different stages to achieve continuous monitoring of load transfer. By identifying the evolution law of the force path and structural contact relationship during load transfer, the entire process is decomposed into multiple stages with clear physical mechanisms. Measurable physical quantities matching the dominant mechanical characteristics of each stage are selected to achieve stage-by-stage load inversion. This invention is the first to propose a method for quantitative monitoring of the entire load transfer process during multi-vehicle collaborative floating installation, transforming the operation from "experience-based control" to "data-driven control," effectively reducing structural damage and operational risks caused by unknown loads.

[0049] In the first stage of load transfer, an innovative approach is adopted, based on the mapping relationship between "load transfer magnitude and relative displacement," using the relative displacement between the receiver and the top of the cylinder wall as the load characterization quantity. Based on this relationship, a laser displacement sensor is used to retrieve the load transfer values. Based on the equivalent stiffness characteristics of the system in the initial stage of load transfer, a curve relationship between the load and the receiver's downward displacement is constructed. By fitting the load-displacement curve, the problem of directly measurable load values ​​is transformed into high-precision, measurable displacement measurements. This effectively eliminates the monitoring blind spot in the initial stage of load transfer, enabling real-time perception of the initial phase of the load transfer process. This provides a quantitative basis for safety judgment in the initial stage of operation, significantly improving the completeness and reliability of the overall monitoring scheme.

[0050] In the second stage of load transfer, the mapping relationship between "load transfer magnitude and strain distribution in key areas of the LMU outer cylinder wall" was determined through finite element analysis. Based on this relationship, a monitoring method for inverting the load transfer magnitude using strain gauge output values ​​was proposed. The strain response of the LMU outer cylinder wall under different load conditions was simulated using the finite element method, strain-sensitive areas highly correlated with the vertical load height were identified, and a load-strain mapping relationship was established. This enabled high-precision monitoring of load transfer values ​​in the later stages of load transfer, providing direct evidence for identifying operational risks during the floating installation process and significantly improving the safety margin of the floating installation operation. Attached Figure Description

[0051] Figure 1 This is a flowchart of a load transfer monitoring method for multi-ship collaborative floating operations provided in an embodiment of the present invention.

[0052] Figure 2 This is a simplified two-stage diagram provided in an embodiment of the present invention; a represents the first stage of load transfer; b represents the second stage of load transfer.

[0053] Figure 3 This is a load transfer-displacement relationship curve provided in an embodiment of the present invention.

[0054] Figure 4 This is the first-stage laser sensor placement arrangement provided in this embodiment of the invention. 'a' represents the vertical position of the laser sensor placement; 'b' represents the lateral position of the laser sensor placement.

[0055] Figure 5 This is a diagram showing the relationship between the load on the top of the outer cylinder wall and the strain in the z-direction at the monitoring position, provided in an embodiment of the present invention.

[0056] Figure 6 This is the second-stage strain gauge arrangement provided in the embodiment of the present invention; a is the vertical position of the strain gauge installation; b is the lateral position of the strain gauge installation.

[0057] Figure 7 This is a structural block diagram of a load transfer monitoring system for multi-ship collaborative floating operations provided in an embodiment of the present invention.

[0058] Figure 8 This is the overall design diagram of the monitoring system provided in the embodiment of the present invention.

[0059] Figure 9 This is a structural diagram of the LMU unit provided in an embodiment of the present invention.

[0060] Figure 10 This is a finite element modeling diagram of the LMU unit provided in this embodiment of the invention.

[0061] Figure 11 This is a strain contour map in the Z direction under a 400MT load provided in an embodiment of the present invention.

[0062] Figure 12 This is a strain contour map in the Z direction under a 50MT load provided in an embodiment of the present invention.

[0063] Figure 13 This is a graphical representation of the load change monitoring values ​​provided in an embodiment of the present invention.

[0064] In the diagram: 1. Receiver; 2. Outer cylinder wall; 3. Reflecting surface; 4. Laser sensor; 5. Strain gauge; 6. Lifting object leg column; 7. LMU internal structure; 8. LMU base. Detailed Implementation

[0065] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0066] In existing multi-vehicle collaborative floating overlay operations, the load transfer path fundamentally changes with the structural contact state as the load is gradually transferred from the floating overlay vessel to the installed structure (such as LMU receiver 1 and its outer cylinder wall 2). Traditional engineering practices typically rely on structural strain or force inversion methods for monitoring only after the structure has established stable contact. However, in the initial stage of load transfer, because the structure has not yet formed an effective force channel, the strain level of the outer cylinder wall 2 is low and the signal-to-noise ratio is poor, making it difficult to perceive the load state at this stage and creating a significant blind spot in engineering monitoring. This problem is particularly prominent in multi-vehicle collaborative floating overlay operations. Once the initial load distribution is unbalanced, it can easily induce local overload of the structure, abnormal vessel attitude, or even overall instability, directly affecting the safety and success rate of the operation.

[0067] This method, starting from the load transfer mechanism, divides the load transfer process into two stages with significantly different mechanical characteristics according to the structural contact state. For the differences in the dominant physical quantities in each stage, a matching load inversion mechanism is constructed to achieve continuous monitoring throughout the entire process. In the first stage, receiver 1 has not yet formed structural contact with the top of the outer cylinder wall 2. The load is mainly released gradually through the internal support system, and the outer cylinder wall 2 hardly participates in bearing the load; its strain response is insufficient to reflect load changes. At this time, the vertical displacement generated by receiver 1 under load is the most direct and sensitive external manifestation of load changes. Based on the 7 parameters and equivalent stiffness characteristics of the LMU's internal structure, this method establishes a quantitative correspondence between the load transfer amount and the relative displacement of receiver 1, and clarifies the mapping mechanism between displacement resolution and load monitoring accuracy through numerical fitting. In actual operation, the relative displacement change between receiver 1 and the top of the outer cylinder wall 2 is acquired in real time through non-contact displacement measurement methods, thereby inverting the load transfer process in the first stage and enabling quantifiable engineering perception capabilities for the previously unmonitorable initial stage.

[0068] Once receiver 1 establishes contact with the top of the outer cylinder wall 2, the load transfer path shifts from the internal support to the steel structure of the outer cylinder wall 2. The dominant mechanical mechanism changes, and the displacement of receiver 1 gradually stabilizes, no longer sensitively reflecting load changes. For the second stage, this method shifts to using the strain of the outer cylinder wall 2 structure as the core monitoring physical quantity. Finite element analysis clarifies the strain distribution characteristics of the outer cylinder wall 2 under different load conditions, identifying strain-sensitive regions with stable and highly linear relationships between strain and the top vertical load, and establishing an inverse relationship between load and strain. In actual operation, real-time strain acquisition in this region allows for continuous acquisition of load transfer information for the second stage.

[0069] By sequentially linking displacement monitoring and strain monitoring mechanisms in time and complementing each other in terms of mechanical mechanisms, this method achieves continuous coverage of the entire load transfer process, ensuring that the monitoring methods are always consistent with the actual load-bearing mechanism. This fundamentally solves the problem of the load transfer process being invisible and uncontrollable in multi-vessel collaborative floating operations, providing reliable engineering support for safety decision-making and risk warning in complex offshore installation operations.

[0070] like Figure 1 As shown in the figure, a load transfer monitoring method for multi-vehicle cooperative floating overboard operations provided by an embodiment of the present invention includes the following steps:

[0071] S101: Load transfer stage division;

[0072] S102: Establishment of the first stage load transfer-displacement relationship;

[0073] S103: Real-time monitoring of the first stage load transfer;

[0074] S104: Establishment of the load transfer-strain relationship in the second stage;

[0075] S105: Real-time monitoring of the second-stage load transfer;

[0076] S106: Continuous realization of full-process load transfer monitoring.

[0077] The load transfer stage division provided in this embodiment of the invention:

[0078] Before the float-over installation operation begins, it is determined whether structural contact has been established between the bottom of receiver 1 and the top of the LMU outer cylinder wall 2. Figure 2 The load transfer process is divided into a first stage and a second stage. In the first stage, the receiver 1 has not yet made contact with the top of the outer cylinder wall 2. In the second stage, the receiver 1 has made contact with the top of the outer cylinder wall 2 and the load is transferred through the structure of the outer cylinder wall 2.

[0079] The above-mentioned stage division is used to clarify the differences in load transfer paths and measurable physical quantities in different stages, providing a basis for the selection of subsequent monitoring methods.

[0080] The first-stage load transfer-displacement relationship establishment provided by the embodiments of the present invention:

[0081] In the first stage of load transfer, receiver 1 gradually moves downward with the load transfer, but has not yet come into contact with the top of the outer cylinder wall 2. The strain level of the outer cylinder wall 2 is low, and the load change cannot be reflected by the structural strain. In this embodiment, the "relative displacement of receiver 1" is selected as the monitoring physical quantity for load inversion in this stage.

[0082] Specifically, based on the seven parameters of the LMU's internal structure and its equivalent stiffness characteristics, a correspondence between the first-stage load transfer values ​​and the vertical displacement of receiver 1 is established, forming a load transfer-displacement relationship curve, such as... Figure 3 As shown; this relationship curve can be obtained through theoretical calculation, numerical analysis or experimental calibration, and usually exhibits nonlinear variation characteristics;

[0083] Subsequently, the load transfer-displacement relationship curve is fitted to determine the minimum resolvable displacement change under the target load monitoring accuracy requirements, and the required displacement measurement accuracy is determined accordingly.

[0084] Real-time monitoring of the first-stage load transfer provided by this embodiment of the invention:

[0085] In the actual multi-ship coordinated floating installation load transfer process, a laser displacement measurement device is arranged between receiver 1 and the top of the outer cylinder wall 2 to measure the change in the relative vertical distance between the two in real time. The actual arrangement diagram is shown below. Figure 4 As shown; after the collected displacement data is processed, the corresponding load transfer value is deduced based on the load transfer-displacement fitting relationship established in S102, thereby realizing real-time monitoring of the load transfer magnitude in the first stage.

[0086] Through the above steps, continuous perception of the load transfer process can be achieved before the structure has established contact and traditional monitoring methods are effective, thus avoiding the formation of monitoring blind spots in the early stages of load transfer.

[0087] The second-stage load transfer-strain relationship establishment provided by the embodiments of the present invention:

[0088] After the receiver 1 establishes contact with the top of the outer cylinder wall 2, the load transmission path changes. In the second stage, the load is mainly transmitted through the steel structure of the outer cylinder wall 2, and the displacement of the receiver 1 can no longer effectively characterize the load change. In this embodiment, the "structural strain of the key area of ​​the outer cylinder wall 2" is selected as the monitoring physical quantity for load inversion in the second stage.

[0089] Before implementation, a finite element analysis model of the outer cylinder wall 2 was established based on the LMU structural form, and solid elements and shell elements were used to model and analyze the outer cylinder wall 2 structure respectively. By applying vertical loads corresponding to the actual loads in the model, strain distribution cloud maps of the outer cylinder wall 2 under various load conditions were obtained, and strain-sensitive regions on the outer cylinder wall 2 that are highly correlated with the changes in the top vertical load and have stable strain responses were determined. Furthermore, a correspondence curve between the top vertical load of the outer cylinder wall 2 and the strain values ​​in the strain-sensitive regions was established, such as... Figure 5 As shown; the analysis results indicate that within the load range, the load-strain relationship can be approximated as a linear relationship, which is suitable for load inversion calculation;

[0090] Real-time monitoring of the second-stage load transfer provided in this embodiment of the invention:

[0091] In the second stage of load transfer, strain measurement devices are deployed in the strain-sensitive area determined in S104 to collect real-time data on the strain changes of the outer cylinder wall 2 under load. The actual deployment is as follows: Figure 6 As shown; after data processing, the collected strain data is used to deduce the corresponding load transfer value based on the load transfer-strain correspondence established in S104, thereby realizing real-time monitoring of the load transfer magnitude in the second stage.

[0092] S106: Continuous Realization of Full-Process Load Transfer Monitoring

[0093] S103 and S105 are implemented sequentially according to the load transfer time. In the first stage of load transfer, only the displacement monitoring method is used, and in the second stage, only the strain monitoring method is used. The two-stage methods are continuously connected in time to achieve continuous coverage of the entire load transfer process and ensure that the monitoring method in each stage matches the dominant mechanical mechanism.

[0094] Through the above-described method embodiments, key load information during the load transfer process can be accurately obtained under complex sea conditions and multi-vehicle collaborative operation conditions, providing reliable data support for operation safety control, risk warning and operation plan evaluation.

[0095] This invention provides a load transfer monitoring structure for multi-ship cooperative floating operations, including a receiver, a load-bearing structure, an outer cylinder structure, an elastic load-bearing component, and a guiding constraint component;

[0096] The receiver is located at the lower part of the floating object and is used to bear the vertical load of the floating object;

[0097] The load-bearing structure is located below the receiver and is used to transfer vertical loads to the foundation structure;

[0098] The outer cylinder structure surrounds the outside of the receiver and is fixedly connected to the load-bearing structure.

[0099] The elastic load-bearing component is disposed between the receiver and the load-bearing structure and is used to bear and release the vertical load before the receiver and the load-bearing structure form a rigid contact.

[0100] The guiding constraint component is disposed between the receiver and the outer cylinder structure and is used to limit the lateral displacement of the receiver;

[0101] The load transfer mechanism shifts from being dominated by the elastic bearing component to being dominated by the bearing structure through the change in the bearing state between the elastic bearing component and the bearing structure.

[0102] The elastic load-bearing component is used to bear the main vertical load when the receiver and the load-bearing structure are not in direct contact, and to gradually withdraw from the load-bearing state after contact is formed;

[0103] The guiding constraint component is used to ensure that the receiver produces only controlled vertical displacement under load, thereby suppressing lateral sway.

[0104] The load transfer monitoring structure for multi-ship coordinated floating operations also includes a displacement sensing unit, a strain sensing unit, and a stage matching unit.

[0105] The displacement sensing unit is used to acquire the displacement response of the receiver relative to the supporting structure;

[0106] The strain sensing unit is used to acquire the strain response of the load-bearing structure under load.

[0107] The stage matching unit is used to selectively activate the displacement sensing unit or the strain sensing unit based on the contact state between the receiver and the supporting structure.

[0108] The stage matching unit allows only one sensing unit to output the dominant information required for load inversion at any given time. The stage matching unit makes matching decisions based on whether a stable contact state is formed between the receiver and the load-bearing structure.

[0109] As shown in Figures 2, 4, 6 and 9, this device is an integrated floating monitoring unit, mainly composed of the floating object leg column 6, LMU receiver 1, LMU outer cylinder wall 2, LMU internal structure, LMU base 8, laser sensor 4, reflective surface 3 and strain gauge 5 measurement components.

[0110] The LMU receiver 1 is located at the lower end of the buoyancy support leg 6, forming a stable force and positioning relationship with the buoyancy support. Its outer side is provided with an LMU outer cylinder wall 2. In some embodiments, a top gap is maintained between the outer cylinder wall 2 and the receiver 1 (e.g., ...). Figure 2As shown in Figure 2a), this gap is used to reduce assembly stress and avoid rigid interference; in another embodiment, the gap is eliminated to form a fitted structure (as shown in Figure 2b) to enhance overall rigidity.

[0111] A laser sensor 4 is arranged on the outside of the outer cylinder wall 2 of the LMU. The laser sensor 4 is positioned opposite to the reflective surface 3 set on the top of the receiver 1 or the bottom of the floating object (as shown in Figure 4a). It is used for non-contact measurement of the relative displacement between the receiver 1 and the outer cylinder.

[0112] In terms of circumferential arrangement, the laser sensors 4 are distributed at equal angles along the circumference, preferably 3 at 120° intervals (as shown in Figure 4b), or 4 at 90° intervals (as shown in Figure 6b), to achieve multi-directional displacement detection and attitude calculation.

[0113] Strain gauges 5 are installed on the outer wall 2 of the LMU or at key stress locations inside it (as shown in Figure 6a) to acquire information on structural stress and micro-deformation in real time.

[0114] The internal structure of the LMU includes elastic support components and a guide structure, which ensures that the receiver 1 only produces controlled micro-displacement under load without unstable offset. The bottom is fixedly connected to the base platform through the LMU base 8 (as shown in Figure 9).

[0115] When the buoyant object's legs 6 are in normal working condition, its weight and external load are transmitted to the LMU receiver 1 through the legs, and further to the LMU's internal structure and base. Due to the internal elastic support and guiding mechanism, the receiver 1 will produce a small displacement and micro-deformation proportional to the load under the action of the load.

[0116] Laser sensor 4 emits a laser beam toward reflector 3 in real time and receives the reflected signal. Based on the round-trip time or phase change, it calculates the distance change between receiver 1 and outer cylinder wall 2, thereby obtaining axial and radial displacement information. Through synchronous measurement by multiple laser sensors 4 in different angular directions, the spatial displacement vector and attitude change of receiver 1 can be calculated, realizing indirect monitoring of the force state of the floating object.

[0117] Simultaneously, strain gauge 5 measurement components acquire strain signals from the outer cylinder wall 2 or key internal components of the LMU to reflect the structural stress distribution and stress changes. This strain information is cross-checked and fused with laser displacement data to improve the stability and reliability of the measurement.

[0118] When the floating object is affected by waves, wind loads, off-center loads, or changes in operating conditions, the changes in the load on its legs will cause corresponding micro-displacement and micro-deformation in receiver 1. Laser sensor 4 and strain gauge 5 will synchronously sense and output the change signals. After filtering, calibration, and fusion by the data processing unit, the load changes, tilting trends, and structural status information of the floating object are obtained, thereby realizing real-time monitoring and early warning of the safety status of the floating system.

[0119] This structure achieves high-precision, low-interference monitoring of the force and attitude of the floating object by integrating non-contact laser measurement, circumferential multi-point arrangement, and structural strain monitoring. It avoids the problems of traditional direct-loaded sensors being susceptible to environmental influences and wear, and improves the reliability and safety of the system in long-term operation. It is particularly suitable for online monitoring scenarios in complex environments such as marine floating structures.

[0120] like Figure 7 As shown in the figure, an embodiment of the present invention provides a load transfer monitoring system for multi-vehicle cooperative overboarding operations, comprising:

[0121] The partitioning module is used for the load transfer phase partitioning;

[0122] The first-stage relationship establishment module is used to establish the first-stage load transfer-displacement relationship;

[0123] The first-stage monitoring module is used for real-time monitoring of the first-stage load transfer.

[0124] The second-stage relationship establishment module is used to establish the second-stage load transfer-strain relationship;

[0125] The second-stage monitoring module is used for real-time monitoring of the second-stage load transfer.

[0126] The full-process load transfer monitoring module is used for the continuous implementation of full-process load transfer monitoring.

[0127] Another object of the present invention is to provide a computer device including a memory and a processor, the memory storing a computer program, which, when executed by the processor, causes the processor to perform the steps of the load transfer monitoring method for multi-ship cooperative floating overboard operations.

[0128] Another object of the present invention is to provide a computer-readable storage medium storing a computer program that, when executed by a processor, causes the processor to perform the steps of the load transfer monitoring method for multi-ship cooperative floating operations.

[0129] Another objective of the present invention is to provide an information data processing terminal for implementing the load transfer monitoring system for multi-ship cooperative floating operations.

[0130] II. Overall Design of the Monitoring System

[0131] In the implementation of the above monitoring methods, the overall hardware design of the monitoring system is divided into the data acquisition stage and the data processing stage according to the functional flow.

[0132] During the data acquisition phase, displacement measurement data from the first-stage monitoring location and multiple strain measurement data from the second-stage monitoring location are acquired in parallel and then integrated into the data acquisition device. The core function of this phase is to achieve the synchronous acquisition of multiple physical quantities at the same time reference, providing the original data foundation for subsequent staged load inversion.

[0133] During the data processing phase, the data is transmitted from the acquisition device to the data processing module. Based on the current load transfer stage, the corresponding load-displacement or load-strain inversion model is invoked for calculation. The processed load transfer results are then displayed in real-time on the host interface for operational status monitoring and safety decision support. A schematic diagram of the overall system is shown below. Figure 8 As shown.

[0134] Example 1: Load Transfer Stage Division Based on Structural Contact State

[0135] In large-scale offshore modular multi-vessel collaborative floating installation operations, the floating object is transferred from the transport vessel to the work vessel or from the work vessel to the jacket structure of the object through the LMU (Low-Mount Unit). The structure of the LMU unit used in offshore engineering includes a top receiver 1 structure, an outer cylinder wall 2, and a complex internal rubber and steel structure, as shown in the schematic diagram. Figure 9 As shown:

[0136] Before the operation began, based on the design drawings and installation conditions, it was determined that there was a vertical gap between the bottom of receiver 1 and the top of the LMU outer cylinder wall 2 in the initial state. During the towing operation, the relative positional changes between receiver 1 and the top of the outer cylinder wall 2 were acquired in real time to determine whether a stable structural contact had been formed between the two, thus serving as the sole basis for dividing the load transfer phase.

[0137] Before receiver 1 establishes structural contact with the top of outer cylinder wall 2, the load is gradually released mainly through the internal load-bearing system of the LMU unit, and outer cylinder wall 2 does not participate in the main load-bearing. After contact is established, the load transfer path changes, and outer cylinder wall 2 becomes the main load-bearing component. In this way, the two stages with different dominant force mechanisms in the load transfer process are clearly distinguished, providing a reliable mechanical criterion for subsequent use of different load inversion methods.

[0138] Example 2: First-stage load transfer-displacement inversion relationship establishment example

[0139] Prior to implementation, a structural mechanics analysis was conducted on receiver 1 and its internal load-bearing system for a specific LMU structure, simplifying it into an equivalent vertical load-bearing model. By calculating the vertical displacement generated by receiver 1 under different load levels, the correspondence between the load transfer amount and the relative vertical displacement of receiver 1 was obtained, and this relationship exhibited monotonically changing in the first stage.

[0140] In this embodiment, the load-displacement relationship curve is fitted according to the maximum allowable load error requirement for the floating operation. This process reversely determines the sensitive range of displacement changes for load inversion and clarifies the resolution required for displacement monitoring. This process makes the load inversion model practically applicable in engineering applications, rather than merely remaining at the theoretical analysis level.

[0141] Example 3: Real-time monitoring of load transfer in the first stage

[0142] In actual multi-vehicle coordinated floating operations, a relative displacement monitoring device is installed between receiver 1 and the top of the outer cylinder wall 2 to acquire the changes in the vertical distance between the two in real time. During the monitoring process, displacement data is continuously collected and updated only in the stage before stable structural contact is detected, to avoid the displacement saturation after contact from interfering with load inversion.

[0143] After processing, the collected displacement data is directly substituted into the load transfer-displacement correspondence established in Example 2 to invert the load transfer amount at the current stage in real time. Through this example, continuous monitoring of the load transfer process can be achieved in the early stages when traditional strain monitoring cannot yet play a role, avoiding the risk of invisible loads in the early stages of operation.

[0144] Example 4: Establishment of the Second-Stage Load Transfer-Strain Inversion Relationship

[0145] After receiver 1 forms structural contact with the top of outer cylinder wall 2, the load is gradually transmitted downwards through the steel structure of outer cylinder wall 2. For this stage, a finite element model of the structural mechanics of outer cylinder wall 2 is established before implementation. The strain distribution of outer cylinder wall 2 under different vertical load conditions is analyzed to identify regions with stable strain response and high correlation to changes in the top load.

[0146] Within the strain-sensitive region, the structural strain variation patterns under different load levels are statistically analyzed to establish a correspondence between vertical load and strain. This correspondence is used for the second-stage load inversion, and its establishment process is physically independent of the first-stage displacement inversion mechanism, avoiding distortion of the inversion results due to changes in the mechanical mechanism.

[0147] Example 5: Real-time monitoring of load transfer in the second stage

[0148] After the load transfer enters the second stage, strain monitoring methods are deployed in the strain-sensitive area determined in Example 4 to collect the strain changes of the outer cylinder wall 2 under load in real time. During the monitoring process, the displacement data of receiver 1 is no longer accepted; only the structural strain is used as the basis for load inversion to ensure that the monitored physical quantities are consistent with the actual load-bearing path.

[0149] After processing, the collected strain data is substituted into the established load-strain correspondence to invert the load transfer amount at the current stage in real time. This embodiment ensures that load change information can still be accurately obtained even when the structure has established contact and the load is transferred through the steel structure, avoiding the failure of displacement monitoring methods at this stage.

[0150] Example 6: Continuous Monitoring of the Entire Load Transfer Process

[0151] In the complete multi-ship coordinated floating operation, the stage of load transfer is determined in real time according to the stage determination method in Example 1. In the first stage, only the load inversion mechanism based on the relative displacement of receiver 1 is activated; when structural contact is detected, it automatically switches to the load inversion mechanism based on the strain of the outer cylinder wall 2, and the two types of inversion results are not numerically superimposed.

[0152] By employing the aforementioned sequential switching method, only the load monitoring method matching the current dominant mechanical mechanism is used at any given time, achieving seamless temporal coverage of the entire load transfer process. This embodiment demonstrates that the method of the present invention can operate stably under complex sea conditions and multi-vehicle collaborative conditions, providing continuous and reliable load data support for the safety control and risk assessment of float-over operations.

[0153] Evidence related to the technical effects obtained by the embodiments of the present invention.

[0154] In Phase 1, the relationship between the vertical displacement of the LMU and the load transfer value, as measured experimentally, is as follows: Figure 3 As shown:

[0155] Figure 3 The detailed relationship between the data from laser sensor 4 and the change in vertical load in the first stage can be directly fitted, so the specific value of the vertical load can be directly deduced from the sensor data.

[0156] In the second stage, finite element modeling of the structure is performed, with modeling details as follows: Figure 10 As shown. After completing the modeling, loads consistent with actual engineering conditions were applied, and the finite element analysis results are as follows. Figure 11 and Figure 12 To be displayed.

[0157] like Figure 10 As shown, a finite element model of the outer shell and internal load-bearing structure of the floating load monitoring unit was established. The outer shell, support plate, and internal load-bearing components were discretized into a single mesh. Vertical loads under different working conditions were applied to the model to analyze the stress and strain response distribution characteristics of the structure during load transfer. Strain contour maps of the structure under different load levels were obtained through finite element calculations, as shown below. Figure 11 and Figure 12 As shown.

[0158] Depend on Figure 11 It is evident that the outer shell exhibits a distinct layered strain distribution along the axial direction, forming a stable circumferential strain band within a specific height range. This region corresponds to the main path for the transmission of vertical loads from receiver 1 to the load-bearing structure, and the strain response shows significant sensitivity to load variations. Further combining... Figure 12 A magnified view of the local strain distribution reveals that the sensitive area is located in the outer shell near the outside of the support plate. Its strain level is higher than that of the adjacent area and its distribution is continuous and stable, making it suitable as a strain monitoring location for load inversion.

[0159] Accordingly, Figure 6 As shown in Figure a, the strain-sensitive region is selected as the vertical placement location for the sensor; as... Figure 6 As shown in Figure b, multiple strain monitoring points are arranged along the circumference of the shell in the circumferential direction to reduce the influence of local uneven stress on the measurement results and improve the stability and representativeness of the load inversion results.

[0160] After selecting the strain monitoring locations, the average Z-axis strain values ​​of the corresponding regions were extracted by applying different vertical load conditions to the model, and a mapping relationship between Z-axis strain and vertical load was established. Finite element results show that within the working range of load transfer, this mapping relationship exhibits an approximately linear variation characteristic; therefore, this relationship can be used as the basis for the second-stage load inversion.

[0161] Meanwhile, during the first stage of load transfer, receiver 1 has not yet formed a stable structural contact with the load-bearing structure; the load mainly causes vertical displacement changes in receiver 1 through the elastic load-bearing system. Combined with... Figure 5 The vertical displacement-load relationship curve shown can establish the correspondence between displacement and load, thereby realizing the displacement inversion of the first stage load.

[0162] Therefore, as Figure 10 and Figure 5 As shown, displacement inversion and strain inversion mechanisms can be used to perform staged inversion calculations of the load transfer process for both the non-contact stage and the contact stage, respectively, to obtain the specific values ​​of the load transfer.

[0163] Figure 13The time history curve of load change during the actual monitoring process is given. It can be seen that the monitoring results show a continuous upward trend with the progress of the operation and there is no obvious jump, indicating that the process of stage switching and inversion mechanism switching is smooth and stable.

[0164] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any modifications, equivalent substitutions, and improvements made by those skilled in the art within the scope of the technology disclosed in the present invention, and within the spirit and principles of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A load transfer monitoring structure for multi-ship cooperative floating overboard operations, characterized in that, Includes receiver, load-bearing structure, outer cylinder structure, elastic load-bearing components, and guide constraint components; The receiver is located at the lower part of the floating object and is used to bear the vertical load of the floating object; The load-bearing structure is located below the receiver and is used to transfer vertical loads to the foundation structure; The outer cylinder structure surrounds the outside of the receiver and is fixedly connected to the load-bearing structure. The elastic load-bearing component is disposed between the receiver and the load-bearing structure and is used to bear and release the vertical load before the receiver and the load-bearing structure form a rigid contact. The guiding constraint component is disposed between the receiver and the outer cylinder structure and is used to limit the lateral displacement of the receiver; The load transfer mechanism shifts from being dominated by the elastic bearing component to being dominated by the bearing structure through the change in the bearing state between the elastic bearing component and the bearing structure. The elastic load-bearing component is used to bear the main vertical load when the receiver and the load-bearing structure are not in direct contact, and to gradually withdraw from the load-bearing state after contact is formed; The guiding constraint assembly is used to ensure that the receiver produces only controlled vertical displacement under load, thereby suppressing lateral sway. The load transfer monitoring structure for multi-ship coordinated floating operations also includes a displacement sensing unit, a strain sensing unit, and a stage matching unit. The displacement sensing unit is used to acquire the displacement response of the receiver relative to the supporting structure; The strain sensing unit is used to acquire the strain response of the load-bearing structure under load. The stage matching unit is used to selectively activate the displacement sensing unit or the strain sensing unit based on the contact state between the receiver and the supporting structure.

2. The structure as described in claim 1, characterized in that, The stage matching unit allows only one sensing unit to output the dominant information required for load inversion at any given time.

3. The structure as described in claim 1, characterized in that, The stage matching unit makes matching judgments based on whether a stable contact state is formed between the receiver and the supporting structure.

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