Four-point integral hoisting balance control method for offshore pile stabilization platform

Abstract

The application provides a four-point integral hoisting balance control method of a marine pile stabilizing platform, and belongs to the technical field of hoisting balance control. The four-point integral hoisting balance control method of the marine pile stabilizing platform is characterized by the following. A split multi-level rigid balance hoisting beam is used to realize initial equal distribution of static load. A four-point independent hydraulic self-adaptive leveling assembly is used to complete real-time compensation of marine dynamic load. A multi-dimensional attitude sensing closed-loop control system is used to automatically collect, analyze and correct platform inclination and hoisting point load deviation. An underwater pre-alignment guide restraint tool is additionally arranged to reduce the influence of water flow deviation. The whole process realizes automatic balance adjustment without the need for continuous manual intervention, greatly reduces the operation difficulty of a floating crane, guarantees the centimeter-level pile sinking precision of subsequent large-diameter steel pipe piles, shortens the hoisting operation time on the sea, reduces safety hazards such as damage of a steel structure, breaking of a hoisting cable, overturning of a platform and underwater collision, is suitable for offshore harsh construction environments of EPCI projects integrating wind power and submarine data centers, the equipment is modularized and can be recycled and reused, and the comprehensive construction cost of a project is reduced.

Description

Technical Field

[0001] This invention belongs to the field of hoisting balance control technology, specifically relating to a four-point overall hoisting balance control method for an offshore stabilizing platform. Background Technology

[0002] Currently, the EPCI demonstration project for offshore wind power supporting the seabed data center in Lingang is often located in unprotected open sea areas far from the shoreline, characterized by strong winds, high waves, and significant differences in tidal currents year-round. The effective working days are only 154 days, with frequent typhoons and cold waves after August, making the window for offshore hoisting extremely scarce. The project utilizes a suspended pile stabilization platform to position four Φ2800mm, 56m long steel pipe piles. The overall dimensions of the pile stabilization platform are 28.3m × 28.3m, with a self-weight of approximately 130t. The overall truss structure has standard lifting lugs at the four corners, and conventional construction uses a floating crane for direct four-point single-cable hoisting. The existing four-point hoisting balance control technology has the following technical deficiencies in the open sea environment of this project: Traditional four-point direct lifting structures with non-rigid load distribution result in uneven weight distribution of the truss on the pile stabilization platform. The initial loads of the four corner lifting lugs naturally differ, leading to large load deviations during lifting. Local sling stress exceeds limits, and additional bending stress is generated in the truss's primary and secondary members. After multiple lifting operations, weld cracking and permanent deformation of members are likely to occur, the platform guide sleeve's concentricity will be compromised, and the subsequent positioning accuracy of the steel pipe piles will be directly out of control. This fails to meet the stringent requirements for pile top deviation and verticality in this project. Furthermore, continuous disturbances from sea waves and tidal currents to the floating crane hull further exacerbate the problem. The floating crane hook experienced irregular vertical and lateral displacement, and the four-point wire rope extension and contraction showed continuous discrepancies. The platform frequently tilted and twisted during the lifting process, with large tilt angles, significantly increasing the difficulty of aligning the underwater guide sleeve with the process piles. Multiple attitude adjustments consumed a large portion of the effective time window, and in extreme sea conditions, the lifting operation was abandoned, delaying the overall project by 149 days. The existing lifting operation relied solely on manual observation of the platform's tilt and manual adjustment of the floating crane winch speed for leveling. This manual response was delayed, and the attitude could not be corrected in real time under dynamic disturbances from wind and waves. Human judgment has significant errors, and there is no underwater auxiliary attitude constraint structure. During the lowering process above the seabed, the platform is subjected to significant displacement due to water flow impact, requiring underwater correction by divers, increasing the frequency of high-risk underwater operations. Most commercially available integral balance beams are fixed integral structures, and their dimensions are incompatible with the square pile-stabilizing platform of this construction project. They occupy a large area of ​​the ship's deck during transportation and take a long time to disassemble and assemble at sea. There is a lack of an independent hydraulic adaptive compensation mechanism, relying solely on the static load distribution of rigid beams, which cannot cope with dynamic load changes at sea. Attitude monitoring is limited to a single tilt sensor, which cannot simultaneously collect data on the load at four points and the height difference of the lifting points, and cannot form a closed-loop automatic control logic. The existing lifting process does not take into account the special requirements of the pre-piling method construction of the subsea data center project. After the pile-stabilizing platform is lifted, four Φ800mm process piles need to be precisely inserted. Traditional balance control methods have large alignment errors, which can easily damage the anti-corrosion coating of the process piles, resulting in additional costs for anti-corrosion repairs later. Furthermore, after the platform tilts, the guide frame openings shift, making it impossible to smoothly lower and drive the subsequent large-diameter steel pipe piles, resulting in pile jamming and work stoppage accidents.

[0003] In summary, the existing four-point hoisting balance control technology is statically adapted to the hoisting of land-based components, but it cannot adapt to the dynamic wind and wave conditions in unprotected offshore waters. It has weak load distribution capability, lagging attitude adjustment, insufficient alignment accuracy, and high safety risks, and cannot meet the high-precision, short-window, and high-safety overall hoisting construction requirements of the subsea data center stabilization platform of this project. There is an urgent need for a dynamic balance control method for the four-point overall hoisting of a square large truss stabilization platform. Summary of the Invention

[0004] The purpose of this invention is to overcome the shortcomings of existing technologies, such as uneven load distribution during four-point hoisting of offshore stabilized platforms, loss of attitude control due to wind and waves, large platform tilt angle, insufficient alignment accuracy of underwater guide sleeves, delayed response of manual leveling, easy deformation and damage of truss structures, and low utilization rate of offshore hoisting window period. This invention provides a method for overall balance control during four-point hoisting of offshore stabilized platforms. This invention achieves initial equal distribution of static loads through a split, multi-level rigid balance lifting beam, and completes real-time compensation for dynamic loads at sea with a four-point independent hydraulic adaptive leveling component. It is equipped with a multi-dimensional attitude perception closed-loop control system to automatically collect, analyze, and correct platform tilt and lifting point load deviations. Underwater pre-alignment and guidance constraint fixtures are added to reduce the impact of water flow deviations. The entire process achieves automated balance adjustment without continuous manual intervention, significantly reducing the difficulty of floating crane operation. It ensures the stability of the pile-stabilizing platform's attitude and balanced force at all four corners throughout the lifting process, accurately completing the alignment of process piles and guaranteeing centimeter-level pile driving accuracy for subsequent large-diameter steel pipe piles. This shortens the time required for offshore lifting operations and reduces safety hazards such as steel structure damage, sling breakage, platform overturning, and underwater collisions. It is suitable for the harsh offshore construction environment of the EPCI project integrating wind power and submarine data centers. The modular and reusable equipment reduces the overall construction cost of the project.

[0005] The present invention employs the following technical solution.

[0006] A four-point integral hoisting balance control method for an offshore stabilizing platform includes: Step 1: Conduct land-based prefabrication and assembly and static system verification before the four-point overall hoisting of the offshore stabilization platform; Step 2: After land-based prefabrication and assembly and system static verification, execute static rigidity equal-sharing balance control during the floating crane lifting stage; Step 3: After performing static rigid equal-sharing balance control during the floating crane lifting phase, perform dynamic wind and wave compensation balance control for the horizontal movement of the floating crane at sea. Step 4: After performing dynamic wind and wave compensation balance control for the horizontal movement of the floating crane at sea, perform fine alignment and leveling control of the underwater process piles above the seabed. Step 5: After performing precise alignment and leveling control of the underwater process piles above the seabed, dismantle the pile stabilization platform placement equipment and recover the system.

[0007] Furthermore, step 1 specifically includes: The assembly of the split main balance lifting beam was completed on the leveled and hardened site of the prefabricated wharf at the marine base. The first-level central main lifting beam, the second-level load-bearing crossbeam and the third-level four-corner distribution short beam were hoisted in sequence. All high-strength anti-loosening bolts were tightened in place, and the hinge joint bearings were checked to rotate flexibly without jamming. Four sets of hydraulic adaptive leveling components were installed on the four corner supports of the third-level short beam, and high-pressure oil pipes were connected to the deck hydraulic pump station. The pipeline sealing pressure test was completed to confirm that there was no leakage. The slings at the lower ends of the four hydraulic components are reliably connected to the prefabricated lifting lugs at the four corners of the stabilizing platform. A buffer rubber pad is laid at the contact point between the slings and the lifting lugs. The three-axis tilt sensor, the laser ranging height difference sensor, and the underwater guide clamp are installed in sequence. All sensing sensors are connected to the main control terminal in the cab, and the main power supply and backup lithium battery are connected. Start the main control terminal and switch to static verification mode. The main hook of the floating crane is raised from the ground, and the entire stabilizing platform is lifted 100mm away from the jig and then paused, remaining stationary for 5 minutes. The main control terminal automatically collects the initial load at four points, the vertical height difference of the lifting points, and the bidirectional tilt data of the platform. It identifies the initial deviation caused by static assembly and automatically drives the corresponding servo hydraulic cylinder to extend and retract, adjusting the load difference at the four points to within 5%, controlling the vertical height difference of the lifting points to within 5mm, and returning the platform tilt angle to zero, thus completing the land static load distribution verification. After verification, the initial adjustment stroke parameters are recorded and saved to the main control program. The marine environment simulation test was initiated, artificially simulating the height difference fluctuation of the hoisting point caused by wind and waves, and testing the response speed of the hydraulic system, the stability of sensor data transmission, and the effectiveness of the audible and visual alarm function. After all the tests were passed, the stabilizing platform and the complete set of balancing tooling were lowered onto the SPMT modular vehicle and transferred to the flatbed transport ship. The tooling as a whole was transported by sea to the offshore construction area along with the platform.

[0008] Furthermore, step 2 specifically includes: The transport ship sails to the designated anchoring area for wind power construction. The anchor boat works with the floating crane to complete the precise positioning. RTK positioning locks the position of the ship's anchor cable. The main hook of the floating crane is lowered and shackled to the first-level main lifting lug of the balance beam. The safety factor of the main lifting sling is checked to ensure that it meets the requirements of the offshore lifting specifications. The main control terminal switches to the marine dynamic adaptive leveling mode, reads real-time data on wind speed, wave height, and tidal current speed, and the system automatically matches the hydraulic cylinder to adjust the response speed according to the sea conditions; the crane operator synchronously winds up the main winch of the floating crane and lifts the stabilizing platform at a uniform speed, with the lifting speed controlled within 2m per minute, and it is strictly forbidden to lift quickly to avoid instantaneous impact load; The entire lifting process utilizes a split-type four-stage balance beam that relies on hinged bearings for adaptive fine-tuning to achieve symmetrical mechanical distribution of the total load. The main control terminal continuously and synchronously collects data on the load, height difference, and platform tilt angle of the four lifting points. If the load at a certain lifting point increases or the vertical height difference widens during the lifting process, the terminal immediately issues an adjustment command, independently opening the corresponding hydraulic circuit electromagnetic proportional valve to drive the servo hydraulic cylinder to retract or extend, correcting the height difference of the lifting point in real time, and continuously controlling the bidirectional tilt angle of the platform within 0.3°, with the load deviation at the four points always below 5%. During the adjustment process, the other three hydraulic circuits maintain their original strokes and do not interfere with each other, avoiding secondary imbalance caused by simultaneous adjustment of multiple lifting points. After the stabilizing platform is completely detached from the transport ship's deck, the lifting operation is suspended and the platform is kept hovering for 3 minutes. The main control terminal automatically generates a hovering balance data report. Only after the operator verifies that the four-point load and tilt parameters all meet the specified limits can the sea translation and navigation process begin.

[0009] Furthermore, step 3 specifically includes: The floating crane slowly moves laterally using the anchor cable system to transfer the suspended pile stabilization platform to the area directly above the four precast process piles. Throughout the voyage, it is continuously impacted by lateral currents and swells, causing the floating crane hull to sway and the steel wire ropes at the lifting points to continuously extend and retract. The multi-dimensional attitude perception module completes full-dimensional data acquisition once per second. The laser rangefinder captures the changes in the height difference between the four corner lifting beams and the platform lifting lugs in real time. The three-axis tilt sensor synchronously monitors the instantaneous torsion and tilt of the platform. When the surge causes a sudden increase in the instantaneous load on one side of the lifting point and the platform tilt angle approaches the 0.3° threshold, the hydraulic pump station supplies oil to the corresponding oil circuit, and the servo hydraulic cylinder extends and retracts to compensate for the vertical length with the assistance of the accumulator. The marine environmental monitoring unit uploads real-time wind speed. When the on-site wind speed exceeds the warning threshold of 12m / s, the main control terminal triggers a yellow audible and visual alarm, automatically reduces the floating crane's horizontal movement speed, and increases the adjustment frequency of the hydraulic system. When the wind speed exceeds the safety limit of 15m, the system triggers a red audible and visual alarm, automatically locks all hydraulic oil circuits, locks the stroke of each lifting point hydraulic cylinder, and stops the floating crane from horizontal movement, waiting in place for the sea conditions to improve. During navigation, the four traction steel wire ropes of the underwater pre-alignment guide tool are kept in a slightly tensioned state. The small winch synchronously winds up and unwinds the steel wire ropes with the slight displacement of the platform, and assists in restraining the platform from large-scale lateral movement in the horizontal direction.

[0010] Furthermore, step 4 specifically includes: After the floating crane is moved horizontally to directly above the process pile, the pile stabilization platform is lowered. The lowering speed is reduced to 0.8m per minute. The platform is completely stopped at a water depth of 3m from the top of the process pile on the seabed. The underwater alignment and fine adjustment process is then initiated, and the main control terminal is switched to the underwater alignment and fine adjustment mode. The operator simultaneously starts four small winches on the deck and tightens four underwater traction steel wire ropes. The platform is initially positioned horizontally in the concentric area of ​​the four process piles through the guide clamps to counteract the lateral thrust of the strong tidal current at the bottom. At this time, the underwater diver goes into the water and transmits the alignment image of the four process piles and the platform guide sleeve to the display screen in the floating crane cab in real time through the underwater high-definition camera equipment. The operator, combining underwater footage with tilt and elevation data from the main control terminal, switches to manual hydraulic adjustment mode to individually control the minute extension and retraction of any corner servo hydraulic cylinder. Each adjustment stroke is controlled within 2mm, precisely correcting minor tilt and horizontal deviations of the platform. Repeated fine-tuning continues until the underwater camera shows all four process piles are perfectly concentric with the platform guide sleeve, the overall tilt angle of the platform is controlled within 0.1°, and the alignment error of the guide sleeve plane is ≤2cm, meeting the pre-set standards for pile driving accuracy. After alignment, the four underwater traction steel wire ropes are released simultaneously, leaving tension as a buffer for lowering. The floating crane lowers the platform at a uniform speed, and the four process piles are inserted into the guide sleeves at the four corners of the platform in sequence. During the lowering process, the hydraulic system continuously and automatically maintains a balanced state to prevent the platform from shifting and hitting the anti-corrosion layer of the process piles due to the impact of the tidal current during the lowering process.

[0011] Furthermore, step 5 specifically includes: After the stabilizing platform is fully lowered to the top of the four process piles and the temporary welding and fixing limit is completed, the main hook of the floating crane slowly releases the load of the sling, and the load data of the four sets of hydraulic components simultaneously return to the unloaded state; the divers remove the flexible guide clamp inside the guide sleeve underwater and retrieve the traction steel wire rope to the deck winch. The floating crane lowers its main hook, and the lower slings of the four sets of hydraulic adaptive leveling components are removed in sequence. The hydraulic pump station oil circuit is shut off, the hydraulic oil inside the pipeline is drained, and the quick-connect couplings of the oil pipes are disassembled. The three-level distribution short beam, the two-level load-bearing crossbeam, and the one-level central main lifting beam are disassembled in sequence. The high-strength bolts are collected and stored in a unified manner. The entire set of balance control tooling is modularly classified and stored on the deck of the transport ship for reuse during the subsequent dismantling and hoisting of the stabilizing platform. Export a complete set of lifting and balancing process data reports from the main control terminal, including load change curves at four points for each stage, platform tilt angle records, sea condition monitoring data, and hydraulic adjustment action records, as technical archives for project completion and acceptance; the entire system undergoes cleaning and anti-corrosion protection treatment, completing all balancing control procedures for this lifting operation.

[0012] Furthermore, the four-point overall hoisting balance control method for the offshore stabilizing platform is executed by the balance control system.

[0013] Furthermore, the balance control system includes a split four-level rigid main balance lifting beam module, a four-point independent hydraulic adaptive leveling component, a multi-dimensional attitude perception and acquisition module, a marine dynamic balance closed-loop main control terminal module, and an underwater pre-alignment guidance constraint tooling module. The split-type four-level rigid main balance lifting beam module is a layered cross-shaped split splicing structure, which is formed by bolting together three parts on site: the first-level central main lifting beam, the second-level symmetrical load-sharing cross beam, and the third-level four-corner distribution short beam. The overall outer contour dimensions match the square lifting point spacing of the pile stabilization platform. The four independent hydraulic adaptive leveling components consist of four identical sets of hydraulic adaptive leveling components, each corresponding to one of the four corner lifting points of the pile stabilization platform. The attitude perception and acquisition module is divided into three parts: the platform body perception unit, the beam height difference perception unit, and the marine environment monitoring unit. All sensors are connected to the main control terminal via Ethernet cables. The main control terminal of the marine dynamic balance closed-loop main control terminal module is an industrial explosion-proof control host with a touch screen, which is located inside the floating crane's cab; The underwater pre-alignment guidance constraint tooling module is equipped with four sets of detachable flexible guide clamps, which correspond to the guide sleeve positions of the four process piles on the stabilization platform. Each set of guide clamps consists of an arc-shaped rubber buffer liner, a lightweight steel clamp bracket, an underwater traction steel wire rope, and a water surface adjustment winch mechanism.

[0014] Furthermore, a single main lifting lug is set in the middle of the primary central main lifting beam to connect the main hook of the floating crane, and a wear-resistant buffer bushing is installed inside the main lifting lug; two sets of secondary symmetrical load-sharing crossbeams are hinged to both ends of the primary central main lifting beam; three-level four-corner distribution short beams are hinged to both ends of each secondary load-sharing crossbeam, and the ends of the four tertiary short beams correspond to the four corner lifting points of the stabilizing platform.

[0015] Furthermore, each hydraulic adaptive leveling assembly includes a servo hydraulic telescopic cylinder, a load sensing unit, a spherical articulated head, a buffer rubber pad, independent hydraulic oil pipes, an electromagnetic proportional regulating valve, and an independent accumulator. The upper end of the servo hydraulic telescopic cylinder is connected to the bottom support of the three-level distribution short beam through a spherical hinged lifting head, and the lower end is connected to the lifting lug of the stabilizing platform through a ring-shaped synthetic fiber sling. The load sensing unit is integrated inside the lower lifting head of the hydraulic cylinder to collect instantaneous load data of a single lifting point in real time. The buffer rubber pad covers the contact area between the sling and the platform lifting lug. Each set of hydraulic cylinders is equipped with an independent accumulator. The four sets of servo hydraulic telescopic cylinders share one integrated hydraulic pump station.

[0016] Furthermore, the platform body sensing unit includes a three-axis tilt sensor and a three-dimensional displacement monitoring module fixed at the cross position at the center of the truss of the stable pile platform. The three-axis tilt sensor synchronously collects the horizontal and vertical tilt angles of the platform, and the three-dimensional displacement module captures the horizontal lateral offset of the platform in real time; a stainless steel protective cage is set outside the sensor. The lifting beam height difference sensing unit includes a laser rangefinder sensor installed at the end of each of the four three-level distribution short beams to measure the vertical distance to the top surface of the lifting lug of the stabilizing platform and to provide real-time feedback of the vertical height difference data of the four lifting points. The marine environmental monitoring unit includes an integrated wind speed sensor, wave height sensor, and current velocity sensor deployed on the outer side of the bow of the floating crane vessel. It collects real-time sea condition data of the construction area and uploads it to the main control terminal simultaneously.

[0017] Furthermore, the guide clamp bracket is pre-installed on the inner wall of the guide sleeve of the stabilizing platform, with a rubber lining thickness of 50mm; one end of the four underwater traction steel wire ropes is connected to the reserved lifting ring on the outside of the clamp bracket, and the other end passes upward through the reserved guide hole of the stabilizing platform truss and is pulled up to the small winch on the floating deck.

[0018] The beneficial effects of the present invention are as follows, compared with the prior art: This invention, combined with the actual working conditions of the square truss, self-weight, and four-point overall hoisting of the stabilization platform of the offshore data center in Lingang, compares the balance control method of this invention with the traditional four-point direct hoisting process and the overall fixed balance beam hoisting process in a field comparative test. The invention is verified from six dimensions: structural safety control, hoisting accuracy control, offshore construction efficiency, construction cost, environmental adaptability, and equipment reusability. After adopting the split four-stage articulated balance beam of this invention with pre-positioned mechanical distribution and four-point independent hydraulic dynamic compensation scheme, the load difference of the four points can be stably controlled within a reasonable range of the total weight during the static lifting stage on land. The dynamic load fluctuation difference is low throughout the entire process of sea navigation and underwater lowering, and the slings are in a uniform state for a long time. Under stress conditions, there is no single-point overload; the truss structure only bears its own designed vertical load, without additional torsional or bending stress. After multiple repeated hoisting operations, the platform truss welds and members show no deformation or cracking. The levelness deviation of the platform top surface is stably controlled within a reasonable range, and the concentricity of the four corner guide sleeves always meets the design standards. This fundamentally solves the problem of permanent damage to the steel structure caused by hoisting imbalance, significantly extending the service life of the stabilizing platform. Simultaneously, the hydraulic components of this invention are equipped with a buffer rubber pad at the lower end, allowing for flexible contact between the slings and the platform lifting lugs. This prevents scratches on the platform and the anti-corrosion coating of the process piles throughout the hoisting process, eliminating the need for large-area anti-corrosion repairs after hoisting. Compared to traditional hard-contact steel cable hoisting, single-set stabilizing... The platform can save on labor and material costs for corrosion prevention and repair. With the adoption of the multi-dimensional closed-loop balance control system of this invention, the platform's bidirectional tilt angle is stably controlled within a very small range throughout the entire hoisting process, and the vertical dynamic height difference at the four corner hoisting points is low. Combined with the underwater pre-alignment flexible guide fixture to counteract the horizontal thrust of the tidal current, the alignment plane error of the underwater process piles is stably controlled within a reasonable range, fully meeting the pre-pile driving accuracy requirements of this project. It eliminates the need for prolonged underwater diving correction, shortens the underwater alignment diving operation time for a single hoisting, significantly reduces the frequency of high-risk operations such as underwater drowning and injuries from collisions with underwater components, and improves the level of safety management in offshore construction. This invention integrates an environmental monitoring unit, a hydraulic rapid compensation mechanism, and a horizontal guide fixture. The invention features a triple-layered wave-resistance structure; the entire balance control system operates automatically, reducing manpower; the main control terminal touch screen intuitively displays all data on four-point load, tilt angle, lifting point height difference, and sea state, eliminating the need for crane operators to visually observe and judge, the system automatically outputs balance adjustment commands, and the floating crane operator only needs to control the main winch to lift, lower, and move horizontally, without the need for complex coordinated leveling operations; the entire balance control equipment of this invention adopts a modular design, the split balance beam, hydraulic leveling components, sensing sensors, and underwater guide fixtures can all be separated and transported individually, occupying little transport deck area, eliminating the need for additional ship rental tonnage, and reducing shipping costs; the entire set of equipment can be used in its entirety.This invention establishes a multi-layered interlocking safety protection mechanism to comprehensively avoid various lifting risks. When the load at any lifting point exceeds 90% of the rated safe load, the main control terminal immediately issues an audible and visual alarm, simultaneously locking the floating crane's hoisting winch and hydraulic adjustment system to prevent further lifting and avoid sling breakage due to overload. If the platform's bidirectional tilt angle exceeds the safety limit, the system automatically locks the hydraulic circuit and floating crane operation, allowing only a slow descent of the platform to the transport ship to prevent continuous tilting from causing truss twisting and collapse. If the measured wind speed exceeds the operating limit, the system forcibly stops and locks, preventing the platform from overturning uncontrollably under strong winds and waves. If any hydraulic circuit pressure is abnormal or there is a leak in the oil pipe, the sensor immediately provides feedback and alarms, locking the corresponding hydraulic cylinder to prevent sudden loss of load at a single lifting point from causing the platform to capsize. The underwater flexible guide clamp provides full-process buffering and limiting, preventing the platform from shifting significantly and violently impacting the process piles, avoiding deformation and large-scale damage to the process piles' anti-corrosion measures. Attached Figure Description

[0019] Figure 1 This is a flowchart of the four-point overall hoisting balance control method for the offshore stabilizing platform of the present invention; Figure 2 This is a three-dimensional structural diagram of the offshore stabilization platform of the present invention. Detailed Implementation

[0020] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of this invention. The embodiments described in this application are merely some embodiments of this invention, and not all embodiments. Based on the spirit of this invention, other embodiments obtained by those skilled in the art without creative effort are all within the protection scope of this invention.

[0021] like Figure 1 and Figure 2 As shown, this invention proposes a four-point overall hoisting balance control method for offshore stabilization platforms, including: Step 1: Conduct land-based prefabrication and assembly and static system verification before the four-point overall hoisting of the offshore stabilization platform; In a preferred but non-limiting embodiment of the present invention, step 1 specifically includes: The assembly of the split main balance lifting beam was completed on the leveled and hardened site of the prefabricated wharf at the marine base. The first-level central main lifting beam, the second-level load-bearing crossbeam and the third-level four-corner distribution short beam were hoisted in sequence. All high-strength anti-loosening bolts were tightened in place, and the hinge joint bearings were checked to rotate flexibly without jamming. Four sets of hydraulic adaptive leveling components were installed on the four corner supports of the third-level short beam, and high-pressure oil pipes were connected to the deck hydraulic pump station. The pipeline sealing pressure test was completed to confirm that there was no leakage. The slings at the lower ends of the four hydraulic components are reliably connected to the prefabricated lifting lugs at the four corners of the stabilizing platform. A buffer rubber pad is laid at the contact point between the slings and the lifting lugs to avoid damaging the anti-corrosion coating of the platform. The three-axis tilt sensor, the laser rangefinder height difference sensor, and the underwater guide clamp are installed in sequence. All the sensing sensors are connected to the main control terminal in the cab, and the main power supply and backup lithium battery are turned on. Start the main control terminal and switch to static verification mode. Slowly raise the main hook of the floating crane on the ground, lift the entire stabilizing platform 100mm away from the jig, and then pause, maintaining stillness for 5 minutes. The main control terminal automatically collects the initial load at four points, the vertical height difference of the lifting points, and the bidirectional tilt data of the platform. It identifies the initial deviation caused by static assembly, automatically drives the corresponding servo hydraulic cylinder to extend and retract, adjusts the load difference at the four points to within 5%, controls the vertical height difference of the lifting points to within 5mm, and returns the platform tilt angle to zero, completing the land static load distribution verification. After verification, record the initial adjustment stroke parameters and save them to the main control program. The marine environment simulation test was initiated, artificially simulating the height difference fluctuation of the lifting point caused by wind and waves, and testing the response speed of the hydraulic system, the stability of sensor data transmission, and the effectiveness of the audible and visual alarm function. After all the verifications were qualified, the stabilizing platform and the complete set of balancing tooling were lowered onto the SPMT modular vehicle and transferred to a 7,000-ton flatbed transport ship. The tooling was transported by sea along with the platform to the offshore construction area near the port, eliminating the need for secondary assembly of the lifting beam at sea.

[0022] Step 2: After land-based prefabrication and assembly and system static verification, execute static rigidity equal-sharing balance control during the floating crane lifting stage; In a preferred but non-limiting embodiment of the present invention, step 2 specifically includes: The transport ship sails to the designated anchoring area for wind power construction. The anchor boat works with the floating crane to complete the precise positioning. RTK positioning locks the position of the ship's anchor cable to avoid damage to the submarine cable. The main hook of the floating crane is lowered and shackled to the first-level main lifting lug of the balance beam. The safety factor of the main lifting sling is checked to ensure that it meets the requirements of the offshore lifting specifications. The main control terminal switches to the marine dynamic adaptive leveling mode, reads real-time data on wind speed, wave height, and tidal current speed, and the system automatically matches the hydraulic cylinder to adjust the response speed according to the sea conditions; the crane operator slowly and synchronously winds up the floating crane main winch and lifts the stabilizing platform at a uniform speed, with the lifting speed controlled within 2m per minute, and it is strictly forbidden to lift quickly to avoid instantaneous impact load; The entire lifting process utilizes a split-type four-stage balance beam that relies on hinged bearings for adaptive fine-tuning to achieve symmetrical mechanical distribution of the total load. The main control terminal continuously and synchronously collects data on the load, height difference, and platform tilt angle of the four lifting points. If the load at a certain lifting point increases or the vertical height difference widens during the lifting process, the terminal immediately issues an adjustment command, independently opening the corresponding hydraulic circuit electromagnetic proportional valve to drive the servo hydraulic cylinder to retract or extend, correcting the height difference of the lifting point in real time, and continuously controlling the bidirectional tilt angle of the platform within 0.3°, with the load deviation at the four points always below 5%. During the adjustment process, the other three hydraulic circuits maintain their original strokes and do not interfere with each other, avoiding secondary imbalance caused by simultaneous adjustment of multiple lifting points. After the stabilizing platform is completely detached from the transport ship's deck, the lifting operation is suspended and the platform is kept hovering for 3 minutes. The main control terminal automatically generates a hovering balance data report. Only after the operator verifies that the four-point load and tilt parameters all meet the specified limits can the sea translation and navigation process begin.

[0023] Step 3: After performing static rigid equal-sharing balance control during the floating crane lifting phase, perform dynamic wind and wave compensation balance control for the horizontal movement of the floating crane at sea. In a preferred but non-limiting embodiment of the present invention, step 3 specifically includes: The floating crane slowly moves laterally using the anchor cable system, transferring the suspended pile stabilization platform to the area directly above the four precast process piles. Throughout the voyage, it is continuously impacted by lateral currents and swells, causing the floating crane hull to sway slightly, which in turn causes the steel wire ropes at the lifting points to continuously extend and retract. The multi-dimensional attitude perception module completes full-dimensional data acquisition once per second. The laser rangefinder captures the changes in the height difference between the four corner lifting beams and the platform lifting lugs in real time. The three-axis tilt sensor synchronously monitors the instantaneous torsion and tilt of the platform. When the surge causes a sudden increase in the instantaneous load on one side of the lifting point and the platform tilt angle approaches the 0.3° threshold, the hydraulic pump station quickly supplies oil to the corresponding oil circuit. The servo hydraulic cylinder, with the assistance of the accumulator, quickly extends and retracts to compensate for the vertical length, offsetting the imbalance caused by the extension and retraction of the wire rope, without waiting for manual adjustment by the floating crane winch. The marine environmental monitoring unit uploads real-time wind speed. When the on-site wind speed exceeds the warning threshold of 12m / s, the main control terminal triggers a yellow audible and visual alarm, automatically reduces the floating crane's horizontal movement speed, and increases the adjustment frequency of the hydraulic system. When the wind speed exceeds the safety limit of 15m, the system triggers a red audible and visual alarm, automatically locks all hydraulic oil circuits, locks the stroke of each lifting point hydraulic cylinder, stops the floating crane's horizontal movement, and waits in place for the sea conditions to improve, thus eliminating the risk of the platform losing control and capsizing under strong winds and waves. During navigation, the four traction steel wire ropes of the underwater pre-alignment guide tool are kept in a slightly tensioned state. The small winch synchronously winds up and unwinds the steel wire ropes with the slight displacement of the platform, which helps to restrain the platform from large-scale lateral movement in the horizontal direction, reduces the adjustment load of the hydraulic leveling system, and reduces the wear and tear caused by frequent start-stop of the hydraulic cylinder.

[0024] Step 4: After performing dynamic wind and wave compensation balance control for the horizontal movement of the floating crane at sea, perform fine alignment and leveling control of the underwater process piles above the seabed. In a preferred but non-limiting embodiment of the present invention, step 4 specifically includes: After the floating crane is moved horizontally to directly above the process pile, the pile stabilization platform is slowly lowered. The lowering speed is reduced to 0.8m per minute. The platform is completely stopped at a water depth of 3m from the top of the process pile on the seabed. The underwater alignment and fine adjustment process is then initiated, and the main control terminal is switched to the underwater alignment and fine adjustment mode. The operator simultaneously starts four small winches on the deck and tightens four underwater traction steel wire ropes. The platform is initially positioned horizontally in the concentric area of ​​the four process piles through the guide clamps to counteract the lateral thrust of the strong tidal current at the bottom. At this time, the underwater diver goes into the water and transmits the alignment image of the four process piles and the platform guide sleeve to the display screen in the floating crane cab in real time through the underwater high-definition camera equipment. The operator, combining underwater footage with tilt and elevation data from the main control terminal, switches to manual hydraulic adjustment mode to individually control the minute extension and retraction of any corner servo hydraulic cylinder. Each adjustment stroke is controlled within 2mm, precisely correcting minor tilt and horizontal deviations of the platform. Repeated fine-tuning continues until the underwater camera shows all four process piles are perfectly concentric with the platform guide sleeve, the overall tilt angle of the platform is controlled within 0.1°, and the alignment error of the guide sleeve plane is ≤2cm, meeting the pre-set standards for pile driving accuracy. After alignment, the four underwater traction steel wire ropes are released slowly and synchronously, leaving a slight tension as a buffer for lowering. The floating crane lowers the platform slowly and evenly, and the four process piles are inserted into the guide sleeves at the four corners of the platform in sequence. During the lowering process, the hydraulic system continuously and automatically maintains the balance to prevent the platform from shifting and hitting the anti-corrosion layer of the process piles due to the impact of the tidal current during the lowering process.

[0025] Step 5: After performing precise alignment and leveling control of the underwater process piles above the seabed, dismantle the pile stabilization platform placement equipment and recover the system.

[0026] In a preferred but non-limiting embodiment of the present invention, step 5 specifically includes: After the stabilizing platform is fully lowered to the top of the four process piles and the temporary welding and fixing limit is completed, the main hook of the floating crane slowly releases the load of the sling, and the load data of the four sets of hydraulic components simultaneously return to the unloaded state; the divers remove the flexible guide clamp inside the guide sleeve underwater and retrieve the traction steel wire rope to the deck winch. The floating crane lowers its main hook, and the lower slings of the four sets of hydraulic adaptive leveling components are removed in sequence. The hydraulic pump station oil circuit is shut off, the hydraulic oil inside the pipeline is drained, and the quick-connect couplings of the oil pipes are disassembled. The three-level distribution short beam, the two-level load-bearing crossbeam, and the one-level central main lifting beam are disassembled in sequence. The high-strength bolts are collected and stored in a unified manner. The entire set of balance control tooling is modularly classified and stored on the deck of the transport ship for reuse during the subsequent dismantling and hoisting of the stabilizing platform. Export a complete set of lifting and balancing process data reports from the main control terminal, including load change curves at four points for each stage, platform tilt angle records, sea condition monitoring data, and hydraulic adjustment action records, as technical archives for project completion and acceptance; the entire system undergoes cleaning and anti-corrosion protection treatment, completing all balancing control procedures for this lifting operation.

[0027] This invention employs a four-fold collaborative balance control logic: mechanical static equalization, hydraulic dynamic compensation, attitude closed-loop automatic correction, and underwater horizontal constraint. It addresses hoisting imbalance issues in a layered manner, without any numerical calculation dependency, and operates fully automatically. Relying on a split-type four-stage cross-shaped balanced lifting beam with symmetrical hinged structure, it mechanically distributes the total hoisting load evenly across the four lifting points, eliminating the initial load difference caused by uneven platform weight distribution at the moment of lifting. This reduces hydraulic adjustment workload at the hardware level and avoids long-term high-load stress on single-point slings. The hinged joint bearings allow for slight angle self-adaptation, eliminating the additional torsional stress on the truss caused by the rigid lifting beam's forced constraint. Four independent servo hydraulic cylinders correspond to the four lifting points, each with a completely independent oil circuit, allowing for individual adjustment of the vertical height of a single lifting point. This addresses real-time dynamic height differences and load variations caused by sea waves and ship swaying. Rapid compensation; equipped with an independent accumulator to cope with instantaneous surge impacts, short-term fluctuations do not require continuous oil supply from the pump station, significantly improving the adjustment response speed; multi-dimensional attitude data are simultaneously collected by sensors for tilt angle, laser elevation difference, load, and environment, and the main control terminal compares the data with preset safety thresholds in real time. If the deviation exceeds the standard, an adjustment command is automatically issued. No manual observation or adjustment of the floating crane winch is required throughout the process, eliminating the risk of imbalance caused by lag in manual operation and judgment errors. The tilt and load control accuracy is far higher than that of traditional manual leveling processes; relying on the underwater flexible guide clamp and traction steel wire rope to form a horizontal limiting structure, it offsets the lateral thrust of the seabed current, significantly reduces the horizontal offset of the platform, reduces the bidirectional adjustment load of the hydraulic system, achieves millimeter-level precise alignment underwater, protects the process piles and the anti-corrosion structure of the platform, and avoids pile jamming and collision damage accidents.

[0028] In a preferred but non-limiting embodiment of the present invention, the four-point overall hoisting balance control method for the offshore stabilizing platform is executed by the balance control system.

[0029] In a preferred but non-limiting embodiment of the present invention, the balance control system includes a split four-level rigid main balance lifting beam module, a four-point independent hydraulic adaptive leveling component, a multi-dimensional attitude perception and acquisition module, a marine dynamic balance closed-loop main control terminal module, and an underwater pre-alignment guidance constraint tooling module. The split-type four-level rigid main balance lifting beam module is a layered cross-shaped split splicing structure. It does not use an integral welded beam. It is formed by bolting three parts on site: the first-level central main lifting beam, the second-level symmetrical load-sharing crossbeam, and the third-level four-corner distribution short beam. The overall outer contour dimensions match the 28.3m square lifting point spacing of the pile stabilization platform. In a preferred but non-limiting embodiment of the present invention, a single main lifting lug is provided in the middle of the primary central main lifting beam for connecting the main hook of the floating crane. A wear-resistant buffer bushing is provided inside the main lifting lug to reduce the impact wear of the wire rope during lifting. Two sets of secondary symmetrical load-sharing beams are respectively hinged to both ends of the primary central main lifting beam. Self-lubricating joint bearings are provided at the hinge positions to allow small-angle adaptive deflection and eliminate the additional bending moment caused by assembly size errors. Tertiary four-corner distribution short beams are hinged to both ends of each secondary load-sharing beam, and the ends of the four tertiary short beams correspond to the four corner lifting points of the stabilizing platform.

[0030] All levels of the lifting beams are welded from low-alloy high-strength marine engineering steel, with a box-shaped closed structure and internal longitudinal and transverse reinforcing ribs, providing high bending and torsional resistance. All splicing positions use 8.8 grade high-strength anti-loosening bolts, eliminating the need for open flame welding during offshore assembly. Two crane operators can complete the assembly of the entire lifting beam within 30 minutes. Hydraulic leveling component installation supports are reserved at the four corners of the bottom of the lifting beam, and the supports are integrally welded to ensure connection strength.

[0031] The core function of this module is to complete the four-level symmetrical distribution of the total load during the static stage of hoisting and lifting, eliminate the initial load difference at the four points from the mechanical structure level, avoid single-point sling overload, and reduce the additional stress on the truss from the source.

[0032] The four independent hydraulic adaptive leveling components consist of four identical sets of hydraulic adaptive leveling components, each corresponding to one of the four corner lifting points of the pile stabilization platform. In a preferred but non-limiting embodiment of the present invention, each hydraulic adaptive leveling assembly includes a servo hydraulic telescopic cylinder, a high-precision load sensing unit, a spherical hinged lifting head, a buffer rubber pad, an independent hydraulic oil pipe, an electromagnetic proportional regulating valve, and a small independent accumulator. The upper end of the servo hydraulic telescopic cylinder is connected to the bottom support of the three-stage distribution short beam via a spherical hinged head, and the lower end is connected to the lifting lug of the stabilizing platform via a ring-shaped synthetic fiber sling. The spherical hinged head can achieve micro-rotation in multiple directions, adapting to slight platform tilt and avoiding lateral shear force on the hydraulic cylinder. The load sensing unit is integrated inside the lower lifting head of the hydraulic cylinder to collect instantaneous load data of a single lifting point in real time. A buffer rubber pad covers the contact area between the sling and the platform lifting lug, protecting the anti-corrosion coating of the platform and buffering the instantaneous impact load from wind and waves. Each set of hydraulic cylinders is equipped with a small independent accumulator, which can automatically buffer and extend without starting the hydraulic pump under short-term wind and wave impact, maintaining the stability of the lifting point length. The four sets of servo hydraulic telescopic cylinders share an integrated hydraulic pump station, which integrates four sets of independent electromagnetic proportional regulating valves. Each hydraulic oil circuit is independently controlled and does not interfere with each other. The extension stroke of a single lifting point hydraulic cylinder can be adjusted individually to adjust the vertical height difference of the lifting point.

[0033] The hydraulic pump station is placed in the main deck operating area of ​​the floating crane, equipped with a waterproof and salt spray-proof protective enclosure, which is suitable for the high humidity and high salt corrosion environment at sea. The pump station has a built-in air-cooled heat dissipation device, and there is no high temperature shutdown failure during continuous 4 hours of operation at sea. All hydraulic pipelines are made of marine corrosion-resistant double-layer steel wire high-pressure oil pipes, and quick connectors are equipped with an automatic sealing and locking structure, so there is no hydraulic oil leakage during disassembly and assembly.

[0034] The attitude perception and acquisition module is divided into three parts: platform body perception unit, beam height difference perception unit and marine environment monitoring unit. All sensors are connected to the main control terminal through waterproof industrial Ethernet cables, and the data is transmitted synchronously in real time without delay or lag. In a preferred but non-limiting embodiment of the present invention, the platform body sensing unit includes a triaxial tilt sensor and a three-dimensional displacement monitoring module fixed at the cross position of the center of the truss of the stable pile platform. The triaxial tilt sensor synchronously collects the horizontal and longitudinal tilt angles of the platform, and the three-dimensional displacement module captures the horizontal lateral offset of the platform in real time. A stainless steel protective cage is set outside the sensor to avoid damage to the wire rope and tooling during hoisting. The sensor's acquisition accuracy is 0.01° for tilt angle and 1mm for horizontal displacement. The lifting beam height difference sensing unit includes a laser rangefinder sensor installed at the end of each of the four three-level distribution short beams to measure the vertical distance to the top surface of the lifting lug of the stabilizing platform and provide real-time feedback of the vertical height difference data of the four lifting points. The height difference measurement accuracy is 0.5mm, which serves as the core basis for the extension and retraction adjustment of the hydraulic cylinder. The marine environmental monitoring unit includes an integrated wind speed sensor, wave height sensor, and current velocity sensor deployed on the outer side of the bow of the floating crane vessel. It collects real-time sea condition data of the construction area and uploads it to the main control terminal. The system automatically switches the balance control mode according to the sea condition and adjusts the response speed of the hydraulic cylinder in the case of strong winds and waves.

[0035] The entire sensing module is powered by an independent lithium battery, which can continue to work for 30 minutes after the ship's main power is interrupted, ensuring uninterrupted data collection during the hoisting process.

[0036] The main control terminal of the marine dynamic balance closed-loop main control terminal module is an industrial explosion-proof control host with a touch screen. It is located inside the floating crane cab, which makes it convenient for the crane operator to view data and switch control modes in real time. The host has a built-in closed-loop balance control program, which is divided into three levels of working logic: static equal distribution mode, marine dynamic adaptive leveling mode, and underwater fine adjustment mode. There is no complicated manual calculation operation, and it runs fully automatically. The main control terminal synchronously receives load data from four sets of hydraulic components, tilt data from tilt sensors, elevation difference data from laser ranging, and environmental sea state data. It has built-in adaptive adjustment logic and compares the load and elevation difference thresholds of each lifting point in real time. When the load difference between any two lifting points exceeds 5% of the total lifting weight, or the vertical elevation difference between any lifting point exceeds 10mm, or the bidirectional tilt angle of the platform exceeds 0.3°, the terminal automatically outputs adjustment commands, independently controls the corresponding oil circuit electromagnetic proportional adjustment valve, drives the servo hydraulic cylinder to extend and retract, and automatically reduces the load, elevation difference, and tilt deviation. All adjustment actions are synchronously recorded and stored, and complete lifting process data can be exported for construction acceptance archiving.

[0037] The main control terminal is equipped with a manual / automatic switching button. In automatic mode, the entire process is autonomously balanced and adjusted. In manual mode, the operator can independently control the lifting and lowering of any hydraulic cylinder in any corner for fine-tuning of the underwater process pile alignment. The terminal is equipped with a dual audible and visual alarm device. When the load at the lifting point exceeds the safety threshold, the platform tilts by more than 1°, or the wind speed exceeds the operating limit, the device will automatically sound an audible and visual alarm and lock the hydraulic system, stopping the lifting and lowering operation to avoid safety accidents.

[0038] The underwater pre-alignment guidance constraint tooling module is equipped with four sets of detachable flexible guide clamps, which correspond to the guide sleeve positions of the four process piles on the pile stabilization platform. Each set of guide clamps consists of an arc-shaped rubber buffer liner, a lightweight steel clamp bracket, an underwater traction steel wire rope, and a water surface adjustment winch mechanism.

[0039] In a preferred but non-limiting embodiment of the present invention, the clamp bracket of the guide clamp is pre-installed on the inner wall of the guide sleeve of the stabilizing platform, with a rubber lining thickness of 50mm to prevent damage to the anti-corrosion coating of the pile body when the process pile is inserted; one end of the four underwater traction steel wire ropes is connected to the reserved lifting ring on the outside of the clamp bracket, and the other end passes upward through the reserved guide hole of the stabilizing platform truss and is pulled up to the small winch on the floating deck; when the hoisting is lowered to a water depth of 3m above the seabed, the operators simultaneously tighten the four traction steel wire ropes to restrain the platform from horizontal displacement, counteract the lateral thrust of the tidal current, and complete the platform attitude locking with the hydraulic leveling system to ensure that the guide sleeve and the underwater process pile are concentrically aligned, reducing the amount of underwater correction work for divers.

[0040] This invention employs a split-type four-stage cross-hinged balance beam, abandoning the traditional integral fixed balance beam. It features modular design for easy disassembly and rapid assembly at sea. The four-stage symmetrical load-sharing structure ensures even distribution of static loads. The self-lubricating hinged bearings adaptively eliminate assembly errors, avoiding additional stress on the truss. It is suitable for the lifting point spacing of square, large-span, stabilized piling platforms. Its universal modular design allows for adaptation to square offshore truss platforms of different sizes. It incorporates four completely independent hydraulic adaptive leveling components. Each hydraulic cylinder is equipped with an independent oil circuit, accumulator, and load sensing unit, allowing for independent adjustment of each lifting point without interference. This balances the need for instantaneous wind and wave impact buffering and continuous attitude correction, overcoming the technical shortcomings of traditional unified oil circuit synchronous adjustment which cannot individually correct single-point imbalances. A multi-dimensional attitude perception system is integrated to simultaneously collect four core data types: lifting point height difference, platform bidirectional tilt angle, single-point load, and sea wind speed and wave current. A three-level closed-loop control program is established, automatically adjusting the response speed according to sea conditions. It features automatic locking when exceeding limits and audible and visual safety alarms. The system features a warning function and fully automated balancing throughout the entire process, lowering the technical threshold for floating crane operators. It incorporates underwater pre-alignment flexible guiding constraint fixtures to counteract the lateral thrust of tidal currents from the horizontal direction. Combined with hydraulic vertical leveling, it achieves six-degree-of-freedom attitude synchronous control, significantly improving the alignment accuracy of underwater process piles, reducing high-risk underwater diving correction operations, and lowering safety risks during offshore construction. All components of the entire balance control system are reusable, allowing for multiple batches of pile-stabilizing platform hoisting and subsequent platform dismantling and hoisting after a single purchase, eliminating the need for disposable consumables. It is adaptable to various square auxiliary truss platform hoisting conditions in offshore wind power and submarine data centers, demonstrating strong versatility and significantly reducing project construction equipment investment costs. Adapted to the project's open-sea, short-window construction characteristics, it offers rapid balance adjustment response and shortens hoisting and alignment time, effectively utilizing limited effective offshore working days to ensure on-time delivery of the submarine data center within the 149-day total construction period. This addresses the technical shortcomings of traditional hoisting and leveling methods, which are time-consuming and wasteful of the construction window.

[0041] It should be recognized that embodiments of the present invention may be implemented or carried out by computer hardware, a combination of hardware and software, or by computer instructions stored in a non-transitory computer-readable storage medium.

[0042] The method can be implemented using standard programming techniques, including a non-transitory computer-readable storage medium configured with a computer program in the computer program, wherein the storage medium is configured such that the computer operates in a specific and predefined manner.

[0043] Each program can be implemented in a high-level procedural or object-oriented programming language to communicate with the computer system; however, if required, the program can be implemented in assembly or machine language.

[0044] In any case, the language can be either compiled or interpreted.

[0045] Furthermore, for this purpose, the program can run on programmed application-specific integrated circuits.

[0046] The processes described herein (or variations and / or combinations thereof) can be executed under the control of one or more computer systems configured with executable instructions, and can be implemented by hardware or a combination thereof as code (e.g., executable instructions, one or more computer programs, or one or more applications) that commonly executes on one or more processors. The computer program includes a plurality of instructions executable by one or more processors.

[0047] Furthermore, the method can be implemented in any suitable computing platform, including but not limited to personal computers, minicomputers, mainframes, workstations, networked or distributed computing environments, standalone or integrated computer platforms, or in communication with charged particle tools or other imaging devices.

[0048] Various aspects of the present invention can be implemented in machine-readable code stored on a non-transitory storage medium or device, whether portable or integrated into a computing platform, such as a hard disk, optical read and / or write storage medium, RAM, ROM, etc., such that it can be read by a programmable computer, and when the storage medium or device is read by the computer, it can be used to configure and operate the computer to perform the processes described herein.

[0049] Furthermore, machine-readable code, or parts thereof, can be transmitted via wired or wireless networks.

[0050] When such media includes instructions or programs that combine with a microprocessor or other data processor to implement the steps described above, the invention described herein includes these and other different types of non-transitory computer-readable storage media.

[0051] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

Claims

1. A four-point integral hoisting balance control method for an offshore stabilizing platform, characterized in that, include: Step 1: Conduct land-based prefabrication and assembly and static system verification before the four-point overall hoisting of the offshore stabilization platform; Step 2: After land-based prefabrication and assembly and system static verification, execute static rigidity equal-sharing balance control during the floating crane lifting stage; Step 3: After performing static rigid equal-sharing balance control during the floating crane lifting phase, perform dynamic wind and wave compensation balance control for the horizontal movement of the floating crane at sea. Step 4: After performing dynamic wind and wave compensation balance control for the horizontal movement of the floating crane at sea, perform fine alignment and leveling control of the underwater process piles above the seabed. Step 5: After performing precise alignment and leveling control of the underwater process piles above the seabed, dismantle the pile stabilization platform placement equipment and recover the system.

2. The four-point overall hoisting balance control method for an offshore stabilizing platform according to claim 1, characterized in that, Step 1 specifically includes: The assembly of the split main balance lifting beam was completed on the leveled and hardened site of the prefabricated wharf at the marine base. The first-level central main lifting beam, the second-level load-bearing crossbeam and the third-level four-corner distribution short beam were hoisted in sequence. All high-strength anti-loosening bolts were tightened in place, and the hinge joint bearings were checked to rotate flexibly without jamming. Four sets of hydraulic adaptive leveling components were installed on the four corner supports of the third-level short beam, and high-pressure oil pipes were connected to the deck hydraulic pump station. The pipeline sealing pressure test was completed to confirm that there was no leakage. The slings at the lower ends of the four hydraulic components are reliably connected to the prefabricated lifting lugs at the four corners of the stabilizing platform. A buffer rubber pad is laid at the contact point between the slings and the lifting lugs. The three-axis tilt sensor, the laser ranging height difference sensor, and the underwater guide clamp are installed in sequence. All sensing sensors are connected to the main control terminal in the cab, and the main power supply and backup lithium battery are connected. Start the main control terminal and switch to static verification mode. The main hook of the floating crane is raised from the ground, and the entire stabilizing platform is lifted 100mm away from the jig and then paused, remaining stationary for 5 minutes. The main control terminal automatically collects the initial load at four points, the vertical height difference of the lifting points, and the bidirectional tilt data of the platform. It identifies the initial deviation caused by static assembly and automatically drives the corresponding servo hydraulic cylinder to extend and retract, adjusting the load difference at the four points to within 5%, controlling the vertical height difference of the lifting points to within 5mm, and returning the platform tilt angle to zero, thus completing the land static load distribution verification. After verification, the initial adjustment stroke parameters are recorded and saved to the main control program. The marine environment simulation test was initiated, artificially simulating the height difference fluctuation of the hoisting point caused by wind and waves, and testing the response speed of the hydraulic system, the stability of sensor data transmission, and the effectiveness of the audible and visual alarm function. After all the tests were passed, the stabilizing platform and the complete set of balancing tooling were lowered onto the SPMT modular vehicle and transferred to the flatbed transport ship. The tooling as a whole was transported by sea to the offshore construction area along with the platform.

3. The four-point overall hoisting balance control method for an offshore stabilizing platform according to claim 2, characterized in that, Step 2 specifically includes: The transport ship sails to the designated anchoring area for wind power construction. The anchor boat works with the floating crane to complete the precise positioning. RTK positioning locks the position of the ship's anchor cable. The main hook of the floating crane is lowered and shackled to the first-level main lifting lug of the balance beam. The safety factor of the main lifting sling is checked to ensure that it meets the requirements of the offshore lifting specifications. The main control terminal switches to the marine dynamic adaptive leveling mode, reads real-time data on wind speed, wave height, and tidal current speed, and the system automatically matches the hydraulic cylinder to adjust the response speed according to the sea conditions; the crane operator synchronously winds up the main winch of the floating crane and lifts the stabilizing platform at a uniform speed, with the lifting speed controlled within 2m per minute, and it is strictly forbidden to lift quickly to avoid instantaneous impact load; The entire lifting process utilizes a split-type four-stage balance beam that relies on hinged bearings for adaptive fine-tuning to achieve symmetrical mechanical distribution of the total load. The main control terminal continuously and synchronously collects data on the load, height difference, and platform tilt angle of the four lifting points. If the load at a certain lifting point increases or the vertical height difference widens during the lifting process, the terminal immediately issues an adjustment command, independently opening the corresponding hydraulic circuit electromagnetic proportional valve to drive the servo hydraulic cylinder to retract or extend, correcting the height difference of the lifting point in real time, and continuously controlling the bidirectional tilt angle of the platform within 0.3°, with the load deviation at the four points always below 5%. During the adjustment process, the other three hydraulic circuits maintain their original strokes and do not interfere with each other, avoiding secondary imbalance caused by simultaneous adjustment of multiple lifting points. After the stabilizing platform is completely detached from the transport ship's deck, the lifting operation is suspended and the platform is kept hovering for 3 minutes. The main control terminal automatically generates a hovering balance data report. Only after the operator verifies that the four-point load and tilt parameters all meet the specified limits can the sea translation and navigation process begin.

4. The four-point overall hoisting balance control method for an offshore stabilizing platform according to claim 3, characterized in that, Step 3 specifically includes: The floating crane slowly moves laterally using the anchor cable system to transfer the suspended pile stabilization platform to the area directly above the four precast process piles. Throughout the voyage, it is continuously impacted by lateral currents and swells, causing the floating crane hull to sway and the steel wire ropes at the lifting points to continuously extend and retract. The multi-dimensional attitude perception module completes full-dimensional data acquisition once per second. The laser rangefinder captures the changes in the height difference between the four corner lifting beams and the platform lifting lugs in real time. The three-axis tilt sensor synchronously monitors the instantaneous torsion and tilt of the platform. When the surge causes a sudden increase in the instantaneous load on one side of the lifting point and the platform tilt angle approaches the 0.3° threshold, the hydraulic pump station supplies oil to the corresponding oil circuit, and the servo hydraulic cylinder extends and retracts to compensate for the vertical length with the assistance of the accumulator. The marine environmental monitoring unit uploads real-time wind speed. When the on-site wind speed exceeds the warning threshold of 12m / s, the main control terminal triggers a yellow audible and visual alarm, automatically reduces the floating crane's horizontal movement speed, and increases the adjustment frequency of the hydraulic system. When the wind speed exceeds the safety limit of 15m, the system triggers a red audible and visual alarm, automatically locks all hydraulic oil circuits, locks the stroke of each lifting point hydraulic cylinder, and stops the floating crane from horizontal movement, waiting in place for the sea conditions to improve. During navigation, the four traction steel wire ropes of the underwater pre-alignment guide tool are kept in a slightly tensioned state. The small winch synchronously winds up and unwinds the steel wire ropes with the slight displacement of the platform, and assists in restraining the platform from large-scale lateral movement in the horizontal direction.

5. The four-point overall hoisting balance control method for an offshore stabilizing platform according to claim 4, characterized in that, Step 4 specifically includes: After the floating crane is moved horizontally to directly above the process pile, the pile stabilization platform is lowered. The lowering speed is reduced to 0.8m per minute. The platform is completely stopped at a water depth of 3m from the top of the process pile on the seabed. The underwater alignment and fine adjustment process is then initiated, and the main control terminal is switched to the underwater alignment and fine adjustment mode. The operator simultaneously starts four small winches on the deck and tightens four underwater traction steel wire ropes. The platform is initially positioned horizontally in the concentric area of ​​the four process piles through the guide clamps to counteract the lateral thrust of the strong tidal current at the bottom. At this time, the underwater diver goes into the water and transmits the alignment image of the four process piles and the platform guide sleeve to the display screen in the floating crane cab in real time through the underwater high-definition camera equipment. The operator, combining underwater footage with tilt and elevation data from the main control terminal, switches to manual hydraulic adjustment mode to individually control the minute extension and retraction of any corner servo hydraulic cylinder. Each adjustment stroke is controlled within 2mm, precisely correcting minor tilt and horizontal deviations of the platform. Repeated fine-tuning continues until the underwater camera shows all four process piles are perfectly concentric with the platform guide sleeve, the overall tilt angle of the platform is controlled within 0.1°, and the alignment error of the guide sleeve plane is ≤2cm, meeting the pre-set standards for pile driving accuracy. After alignment, the four underwater traction steel wire ropes are released simultaneously, leaving tension as a buffer for lowering. The floating crane lowers the platform at a uniform speed, and the four process piles are inserted into the guide sleeves at the four corners of the platform in sequence. During the lowering process, the hydraulic system continuously and automatically maintains a balanced state to prevent the platform from shifting and hitting the anti-corrosion layer of the process piles due to the impact of the tidal current during the lowering process.

6. The four-point overall hoisting balance control method for an offshore stabilizing platform according to claim 5, characterized in that, Step 5 specifically includes: After the stabilizing platform is fully lowered to the top of the four process piles and the temporary welding and fixing limit is completed, the main hook of the floating crane slowly releases the load of the sling, and the load data of the four sets of hydraulic components simultaneously return to the unloaded state; the divers remove the flexible guide clamp inside the guide sleeve underwater and retrieve the traction steel wire rope to the deck winch. The floating crane lowers its main hook, and the lower slings of the four sets of hydraulic adaptive leveling components are removed in sequence. The hydraulic pump station oil circuit is shut off, the hydraulic oil inside the pipeline is drained, and the quick-connect couplings of the oil pipes are disassembled. The three-level distribution short beam, the two-level load-bearing crossbeam, and the one-level central main lifting beam are disassembled in sequence. The high-strength bolts are collected and stored in a unified manner. The entire set of balance control tooling is modularly classified and stored on the deck of the transport ship for reuse during the subsequent dismantling and hoisting of the stabilizing platform. Export a complete set of lifting and balancing process data reports from the main control terminal, including load change curves at four points for each stage, platform tilt angle records, sea condition monitoring data, and hydraulic adjustment action records, as technical archives for project completion and acceptance; the entire system undergoes cleaning and anti-corrosion protection treatment, completing all balancing control procedures for this lifting operation.

7. The four-point integral hoisting balance control method for an offshore stabilizing platform according to claim 6, characterized in that, The four-point overall hoisting balance control method for offshore stabilization platforms is executed by the balance control system.

8. The four-point overall hoisting balance control method for an offshore stabilizing platform according to claim 7, characterized in that, The balance control system includes a split four-level rigid main balance lifting beam module, a four-point independent hydraulic adaptive leveling component, a multi-dimensional attitude perception and acquisition module, a marine dynamic balance closed-loop main control terminal module, and an underwater pre-alignment guidance constraint tooling module. The split-type four-level rigid main balance lifting beam module is a layered cross-shaped split splicing structure, which is formed by bolting together three parts on site: the first-level central main lifting beam, the second-level symmetrical load-sharing cross beam, and the third-level four-corner distribution short beam. The overall outer contour dimensions match the square lifting point spacing of the pile stabilization platform. The four independent hydraulic adaptive leveling components consist of four identical sets of hydraulic adaptive leveling components, each corresponding to one of the four corner lifting points of the pile stabilization platform. The attitude perception and acquisition module is divided into three parts: the platform body perception unit, the beam height difference perception unit, and the marine environment monitoring unit. All sensors are connected to the main control terminal via Ethernet cables. The main control terminal of the marine dynamic balance closed-loop main control terminal module is an industrial explosion-proof control host with a touch screen, which is located inside the floating crane's cab; The underwater pre-alignment guidance constraint tooling module is equipped with four sets of detachable flexible guide clamps, which correspond to the guide sleeve positions of the four process piles on the pile stabilization platform. Each set of guide clamps consists of an arc-shaped rubber buffer liner, a lightweight steel clamp bracket, an underwater traction steel wire rope, and a water surface adjustment winch mechanism.

9. The four-point overall hoisting balance control method for an offshore stabilizing platform according to claim 8, characterized in that, A single main lifting lug is set in the middle of the primary central main lifting beam to connect the main hook of the floating crane. The main lifting lug is equipped with a wear-resistant buffer bushing. Two sets of secondary symmetrical load-sharing crossbeams are hinged to both ends of the primary central main lifting beam. Each secondary load-sharing crossbeam is hinged to both ends of a tertiary four-corner distribution short beam. The ends of the four tertiary short beams correspond to the four corner lifting points of the stabilizing platform.

10. The four-point integral hoisting balance control method for an offshore stabilizing platform according to claim 9, characterized in that, Each hydraulic adaptive leveling assembly includes a servo hydraulic telescopic cylinder, a load sensing unit, a spherical articulated head, a buffer rubber pad, independent hydraulic oil pipes, an electromagnetic proportional regulating valve, and an independent accumulator. The upper end of the servo hydraulic telescopic cylinder is connected to the bottom support of the three-level distribution short beam through a spherical hinged lifting head, and the lower end is connected to the lifting lug of the stabilizing platform through a ring-shaped synthetic fiber sling. The load sensing unit is integrated inside the lower lifting head of the hydraulic cylinder to collect instantaneous load data of a single lifting point in real time. The buffer rubber pad covers the contact area between the sling and the platform lifting lug. Each set of hydraulic cylinders is equipped with an independent accumulator. Four sets of servo hydraulic telescopic cylinders share one integrated hydraulic pump station. The platform's sensing unit includes a triaxial tilt sensor and a three-dimensional displacement monitoring module fixed at the cross-shaped position at the center of the truss of the stable platform. The triaxial tilt sensor synchronously collects the platform's lateral and longitudinal tilt angles, and the three-dimensional displacement module captures the platform's horizontal lateral offset in real time. A stainless steel protective cage is installed outside the sensor. The lifting beam height difference sensing unit includes a laser rangefinder sensor installed at the end of each of the four three-level distribution short beams to measure the vertical distance to the top surface of the lifting lug of the stabilizing platform and to provide real-time feedback of the vertical height difference data of the four lifting points. The marine environmental monitoring unit includes an integrated wind speed sensor, wave height sensor, and current velocity sensor deployed on the outer side of the bow of the floating crane vessel to collect real-time sea condition data of the construction area and upload it to the main control terminal simultaneously. The guide clamp bracket is pre-installed on the inner wall of the guide sleeve of the stabilizing platform, with a rubber lining thickness of 50mm; one end of the four underwater traction steel wire ropes is connected to the reserved lifting ring on the outside of the clamp bracket, and the other end passes upward through the reserved guide hole of the stabilizing platform truss and is pulled up to the small winch on the floating deck.

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