A monitoring system and monitoring method for offshore installation

Abstract

The present application relates to a kind of offshore installation monitoring system and monitoring method, wherein, offshore installation monitoring system, including monitoring end and receiving end;Monitoring end is installed in the plane center position of offshore structure, receiving end is installed on command ship, monitoring end is connected with receiving end communication;Monitoring end is used to monitor the attitude information of offshore structure in real time, and data information is sent to receiving end, wherein, attitude information includes the angle value of roll angle, pitch angle and azimuth angle;Receiving end is used to receive the data information sent by monitoring end, and decoding calculation obtains the corrected attitude information of offshore structure;Monitoring process is: correction monitoring end-install monitoring end-obtain attitude information-calculate the corrected attitude information-installation is completed;So set, the attitude of offshore structure installation process can be monitored in real time, ensure that the attitude of offshore structure installation process meets installation requirement, guarantee the installation quality of offshore structure, reduce use cost.

Description

Technical Field

[0001] This invention relates to the field of marine structure installation technology, and in particular to a monitoring system and method for marine installation. Background Technology

[0002] Currently, during the installation of offshore structures, it is necessary to monitor the attitude information of the offshore structure (i.e., the jacket) in real time. The installation accuracy requirements for offshore structures are ±0.3% (±0.17°) for levelness and ±3° for azimuth. During the hoisting process, it is necessary to measure the attitude information of the offshore structure in real time; before installation, the azimuth and levelness of the offshore structure are measured; after installation, the azimuth and levelness of the offshore structure (i.e., the jacket) need to be remeasured to ensure that the installation meets the design requirements and to guarantee the construction quality of the offshore structure.

[0003] The current industry standard is to use three GPS devices and one attitude sensor to monitor the position, azimuth, and attitude information of offshore structures in real time during installation. This results in high power supply requirements and high operating costs. Summary of the Invention

[0004] To address the shortcomings of existing technologies, the purpose of this invention is to provide a monitoring system and method for offshore installation. Its advantages include the ability to monitor the attitude of offshore structures in real time during installation, ensuring that the attitude of offshore structures meets installation requirements, guaranteeing the installation quality of offshore structures, and reducing operating costs.

[0005] The above-mentioned objective of this invention is achieved through the following technical solution: Firstly, this invention provides a monitoring system for offshore installation, comprising a monitoring end and a receiving end; the monitoring end is installed at the center of the plane of an offshore structure, and the receiving end is installed on a command vessel, with the monitoring end and the receiving end communicatively connected; the monitoring end is used to monitor the attitude information of the offshore structure in real time and send data information to the receiving end, wherein the attitude information includes roll angle, pitch angle, and azimuth angle values; the receiving end is used to receive the data information sent by the monitoring end and perform decoding calculations to obtain the corrected attitude information of the offshore structure.

[0006] Preferably, the marine installation monitoring system provided by the present invention includes a housing, an attitude sensor, a first wireless data transmission radio, and a power supply. The housing is configured to form an accommodating cavity, and the attitude sensor, the first wireless data transmission radio, and the power supply are all disposed within the accommodating cavity. The attitude sensor and the first wireless data transmission radio are both connected to the power supply, which supplies power to the attitude sensor and the first wireless data transmission radio. The attitude sensor is connected to the first wireless data transmission radio via a first data line, and the first data line is connected to a mounting interface disposed on the outer wall of the housing via a second data line. The first wireless data transmission radio is connected to a transmitting antenna disposed on the outer wall of the housing. The power supply is connected to a power switch disposed on the outer wall of the housing via a wire, and the power switch is used to control the switching of the power supply.

[0007] Preferably, in the marine installation monitoring system provided by the present invention, the attitude sensor is an electronic compass.

[0008] Preferably, the monitoring system for offshore installation provided by the present invention includes a receiving end comprising a second wireless data transmission radio, a computer, and a power supply. Both the second wireless data transmission radio and the computer are connected to the power supply, which powers both. The second wireless data transmission radio is connected to the computer via a data cable. The second wireless data transmission radio is wirelessly connected to the transmitting antenna via an antenna. The second wireless data transmission radio receives data information sent by the monitoring end and transmits the data information to monitoring software in the computer. The monitoring software decodes the data information and calculates the corrected attitude information of the offshore structure.

[0009] Preferably, in the monitoring system for offshore installation provided by the present invention, the location P of the offshore structure is... ti (x ti ,y ti ,z ti The formula for calculating ) is:

[0010]

[0011] i = 1, 2, ..., n

[0012] In the formula, P si (x si ,y si ,z si P represents the coordinate system for the designated installation position; sc (x sc ,y sc ,z sc θ is the coordinate system defined by the center position.s The azimuth angle of the set installation position; P tc (x tc ,y tc ,z tc ) represents the center position of the marine structure; θ t The azimuth angle of a marine structure; r t The roll angle of a marine structure; p t The pitch angle of the offshore structure.

[0013] Preferably, in the marine installation monitoring system provided by the present invention, the monitoring software decodes the electronic compass data by converting it from hexadecimal to decimal, performs decoding calculations, obtains a string of 28 characters, and obtains the angle values ​​of the roll angle, the pitch angle, and the azimuth angle.

[0014] On the other hand, the present invention provides a monitoring method for a marine-installed monitoring system as described above, comprising the following steps:

[0015] The monitoring end is placed on a calibration platform for calibration to obtain the offset value of the roll angle Δr, the offset value of the pitch angle Δp, and the offset value of the azimuth angle Δθ.

[0016] Turn off the monitoring terminal and install it at the center of the plane of the marine structure;

[0017] Turn on the monitoring terminal and begin measuring the attitude information of the marine structure;

[0018] Open the electronic compass setting module of the monitoring software in the receiving end, input the offset value of the roll angle Δr, the offset value of the pitch angle Δp, and the offset value of the azimuth angle Δθ, receive the data information transmitted by the monitoring end, decode it and subtract the offset value, and calculate the angle values ​​of the roll angle, pitch angle and azimuth angle of the marine structure after correction.

[0019] After the installation of the offshore structure is completed, the power supply to the monitoring terminal is turned off, and the monitoring terminal is retrieved.

[0020] Preferably, the monitoring method provided by the present invention, before placing the monitoring end on the calibration platform for calibration to obtain the offset value Δr of the roll angle, the offset value Δp of the pitch angle, and the offset value Δθ of the azimuth angle, further includes:

[0021] Power on the monitoring terminal and configure the electronic compass and the first wireless data transmission radio of the monitoring terminal through the configuration interface. This includes setting the output frequency of the electronic compass and setting the channel, transmission rate, module address, and radio power of the first wireless data transmission radio.

[0022] Preferably, the monitoring method provided by the present invention, after opening the electronic compass setting module of the monitoring software in the receiving end, inputting the offset value of the roll angle Δr, the offset value of the pitch angle Δp, and the offset value of the azimuth angle Δθ, receiving the data information transmitted by the monitoring end, decoding and subtracting the offset values, calculating the corrected roll angle, pitch angle, and azimuth angle values ​​of the marine structure, and before turning off the power of the monitoring end and retracting the monitoring end after the marine structure is installed, further includes:

[0023] Open the main interface of the monitoring software, click File, select Record, and create a local txt file to save the monitoring data. The local txt file contains the measurement date, time, and the angle values ​​of the roll angle, pitch angle, and azimuth angle of the marine structure after correction.

[0024] Click "Read Data" on the main interface of the monitoring software. The software will then start displaying and visualizing the corrected roll angle, pitch angle, and azimuth angle values ​​of the marine structure in real time on the main interface, and simultaneously begin writing data to a created local txt file.

[0025] Preferably, the monitoring method provided by the present invention, after clicking to read data on the main interface of the monitoring software, starting to dynamically display and visualize the corrected roll angle, pitch angle, and azimuth angle values ​​of the marine structure on the main interface in real time, and simultaneously starting to write data to a created local txt file, after the marine structure is installed, before turning off the power to the monitoring terminal and retracting the monitoring terminal, further includes:

[0026] Open the alarm limit setting module of the monitoring software, and input the limit values ​​of the roll angle, the pitch angle and the azimuth angle. When the attitude of the marine structure exceeds the limit value during the installation process, the alarm limit setting module will issue an alarm message.

[0027] In summary, the beneficial technical effects of this invention are as follows: The monitoring system and method for marine installation provided in this application include a monitoring end and a receiving end; the monitoring end is installed at the center of the planar position of the marine structure, and the receiving end is installed on the command vessel, with the monitoring end and the receiving end being communicatively connected; the monitoring end is used to monitor the attitude information of the marine structure in real time and send data information to the receiving end, wherein the attitude information includes the angle values ​​of roll angle, pitch angle, and azimuth angle; the receiving end is used to receive the data information sent by the monitoring end and perform decoding calculations to obtain the corrected attitude information of the marine structure; the monitoring process is: calibrating the monitoring end - installing the monitoring end - acquiring attitude information - calculating the corrected attitude information - installation completed; this setup enables real-time monitoring of the attitude of the marine structure during the installation process, ensuring that the attitude of the marine structure during the installation process meets the installation requirements, guaranteeing the installation quality of the marine structure, and reducing the cost of use. Attached Figure Description

[0028] Figure 1 This is a schematic diagram of the structure of the monitoring system for marine installation provided in the first embodiment of the present invention.

[0029] Figure 2 This is a schematic diagram of the monitoring end in the marine installation monitoring system provided in the first embodiment of the present invention.

[0030] Figure 3 This is a diagram of the installation coordinate system of marine structures in the marine installation monitoring method provided in the first embodiment of the present invention.

[0031] Figure 4 This is a flowchart of the marine installation and monitoring method provided in the second embodiment of the present invention.

[0032] Figure 5 This is a diagram of the main interface of the monitoring software in the marine installation monitoring method provided in the second embodiment of the present invention.

[0033] Figure 6 This is a diagram of the serial port test module of the monitoring software in the marine installation monitoring method provided in the second embodiment of the present invention.

[0034] Figure 7 This is a diagram of the electronic compass setting module of the detection software in the marine installation monitoring method provided in the second embodiment of the present invention.

[0035] Figure 8 This is a diagram of the data transmission module of the monitoring software in the marine installation monitoring method provided in the second embodiment of the present invention.

[0036] Figure 9 It is the roll angle value in the calibration process of the marine installation monitoring method provided in the second embodiment of the present invention.

[0037] Figure 10 It is the pitch angle value in the calibration process of the marine installation monitoring method provided in the second embodiment of the present invention.

[0038] Figure 11 It is the heading angle value in the calibration process of the marine installation monitoring method provided in the second embodiment of the present invention.

[0039] In the diagram, 1 is the monitoring system; 10 is the monitoring terminal; 11 is the housing; 111 is the accommodating cavity; 112 is the setting interface; 113 is the power switch; 12 is the attitude sensor; 13 is the first wireless data transmission radio; 14 is the power supply; 15 is the transmitting antenna; 20 is the receiving terminal; 21 is the second wireless data transmission radio; 22 is the computer; 23 is the power supply; and 24 is the antenna. Detailed Implementation

[0040] The present invention will be further described in detail below with reference to the accompanying drawings.

[0041] First embodiment:

[0042] Reference Figure 1 and Figure 2 This invention discloses a monitoring system 1 for offshore installation, comprising a monitoring terminal 10 and a receiving terminal 20. The monitoring terminal 10 is installed at the center of the offshore structure, and the receiving terminal 20 is installed on a command vessel. The monitoring terminal 10 and the receiving terminal 20 are communicatively connected. The monitoring terminal 10 is used to monitor the attitude information of the offshore structure in real time and send data information to the receiving terminal 20. The attitude information includes the angle values ​​of roll, pitch, and heading. The receiving terminal 20 is used to receive the data information sent by the monitoring terminal 10 and perform decoding calculations to obtain the corrected attitude information of the offshore structure. This configuration enables real-time monitoring of the attitude of the offshore structure during installation, ensuring that the attitude of the offshore structure meets the installation requirements, guaranteeing the installation quality of the offshore structure, and reducing the operating cost.

[0043] It should be noted that the offshore structure can be a offshore jacket, and of course, the offshore structure can also be other offshore installations. This embodiment does not limit this.

[0044] The monitoring process of the offshore installation monitoring system 1 provided in this embodiment is as follows: the monitoring terminal 10 monitors the attitude information of the offshore structure in real time and sends data information to the receiving terminal 20. The receiving terminal 20 decodes the data information sent by the monitoring terminal 10 and calculates the corrected attitude information of the offshore structure. The corrected attitude information is displayed in real time so as to intuitively display the attitude information of the offshore structure. Finally, the position coordinates of the offshore structure are obtained through the attitude information until the position coordinates of the offshore structure coincide with the installation position coordinates of the placement area, and the installation of the offshore structure is completed.

[0045] Further, in this embodiment, the monitoring terminal 10 includes a housing 11, an attitude sensor 12, a first wireless data transmission radio 13, and a power supply 14. The housing 11 is configured to form an accommodating cavity 111. The attitude sensor 12, the first wireless data transmission radio 13, and the power supply 14 are all disposed within the accommodating cavity 111. The attitude sensor 12 and the first wireless data transmission radio 13 are both connected to the power supply 14. The power supply 14 is used to supply power to the attitude sensor 12 and the first wireless data transmission radio 13. The attitude sensor 12 is connected to the first wireless data transmission radio 13 via a first data line. The first data line is connected to a setting interface 112 disposed on the outer wall of the housing 11 via a second data line. The first wireless data transmission radio 13 is connected to a transmitting antenna 15 disposed on the outer wall of the housing 11. The power supply 14 is connected to a power switch 113 disposed on the outer wall of the housing 11 via a wire. The power switch 113 is used to control the switching of the power supply 14.

[0046] Specifically, the antenna 24 interface of the first wireless data transmitter 13 is connected to the transmitting antenna 15. Both the attitude sensor 12 and the first wireless data transmitter 13 are connected to an external computer through the setting interface 112. During use, the power switch 113 of the power supply 14 is turned on, and the power supply 14 provides power to the attitude sensor 12 and the first wireless data transmitter 13. The computer is used to set the output frequency of the attitude sensor 12 and the channel, transmission rate, module address, and transmission power of the first wireless data transmitter 13. The attitude sensor 12 measures the attitude information of the marine structure and transmits the acquired attitude information of the marine structure to the receiving end 20 through the first wireless data transmitter 13 and the transmitting antenna 15.

[0047] For example, attitude sensor 12 is an electronic compass. Of course, attitude sensor 12 can also be other measuring instruments, as long as they can measure the attitude information of marine structures.

[0048] Furthermore, in this embodiment, the receiving end 20 includes a second wireless data transmission radio 21, a computer 22, and a power supply 23. Both the second wireless data transmission radio 21 and the computer 22 are connected to the power supply 23, which provides power to the second wireless data transmission radio 21 and the computer 22. The second wireless data transmission radio 21 is connected to the computer 22 via a data cable. The second wireless data transmission radio 21 is wirelessly connected to the transmitting antenna 15 via antenna 24. The second wireless data transmission radio 21 receives data information sent by the monitoring end 10 and transmits the data information to the monitoring software in the computer 22. The monitoring software decodes the data information and calculates the corrected attitude information of the marine structure.

[0049] During use, the second wireless data radio 21 receives data information sent by the monitoring terminal 10 and transmits the data information to the monitoring software in the computer 22. The monitoring software decodes the data information, calculates the corrected attitude information of the marine structure, displays the corrected attitude information in real time and provides a visual display so as to intuitively show the attitude information of the marine structure, and records the corrected attitude information to a local txt file.

[0050] The monitoring software decodes the electronic compass data by converting it from hexadecimal to decimal, performing decoding calculations to obtain a 28-character string, which yields the angle values ​​for roll, pitch, and azimuth.

[0051] The working principle of the marine installation monitoring system 1 provided in this embodiment is as follows:

[0052] (1) Coordinate system for installation of offshore structures

[0053] The offshore installation process involves hoisting, moving, and securing offshore structures. During this process, it is necessary to monitor the attitude information of the offshore structures in real time to ensure their safe movement and placement in the designated location.

[0054] First, establish the coordinate system for the installation location in the designated area. Based on the designed principal axis, set the coordinate system for the installation location, with the y-axis as the principal axis, the x-axis pointing perpendicular to the y-axis according to the right-hand rule, and the z-axis vertical, with upwards being positive. Installation location P. si (x si ,y si ,z si ), with the center position being P. sc (x xc ,y sc ,z sc ), with an azimuth angle of θ s ,like Figure 3 .

[0055] Secondly, establish the coordinate system for the offshore structure. Based on the principal axis of the design, set the coordinate system with the y-axis as the principal axis, the x-axis pointing perpendicular to the y-axis according to the right-hand rule, and the z-axis vertical, with upwards being positive. The position of the offshore structure is P. ti (x ti ,y ti ,z ti ), with the center position being P. tc (x tc ,y tc ,z tc ), with an azimuth angle of θ t .

[0056] The installation process of offshore structures is the process of determining the location P of the offshore structure. ti (x ti ,y ti ,z ti ) and the installation position P in the placement area si (x si ,y si ,z si The azimuth angle of the offshore structure is θ, and the alignment is as follows: t The azimuth angle of the positioning position is θ s The process of doing so.

[0057] Among them, the location P of the marine structure ti (x ti ,y ti ,z ti The formula for calculating ) is:

[0058]

[0059] i = 1, 2, ..., n

[0060] In the formula, P si (x si ,y si ,z si P represents the coordinate system for the designated installation position; sc (x sc ,y sc ,z sc θ is the coordinate system defined by the center position. s The azimuth angle of the set installation position;

[0061] P tc (x tc ,y tc ,z tc ) represents the center position of the marine structure; θ t The heading of a marine structure; r tThe roll angle of a marine structure; p t The pitch angle of a marine structure.

[0062] During the installation of offshore structures, one GPS antenna is installed at the center position P of the offshore structure. tc (x tc ,y tc ,z tc The electronic compass measures the roll, pitch, and heading angles of the offshore structure in real time. Since the azimuth and center position of the offshore structure are known, the position of the offshore structure can be calculated in real time.

[0063] (2) Electronic compass data decoding

[0064] The data output by the electronic compass is a hexadecimal string containing 14 bytes, as shown in Table 1.

[0065] Table 1 Conversion of Electronic Compass Data

[0066]

[0067]

[0068] The hexadecimal to decimal conversion is required, followed by decoding and calculation to obtain a 28-character string representing the angle values ​​for roll, pitch, and heading. The data field contains 18 characters representing the pitch, roll, and heading angle values, grouped in 6-byte blocks. The roll angle value is represented by the character 001425, the pitch by 101259, and the heading by 024846. The format is SXXXYY, where S is the sign bit (0 for positive, 1 for negative), XXX is the three-digit integer value, and YY is the decimal value. Therefore, the roll angle is 14.25°, the pitch angle is -12.59°, and the heading angle is 248.46°.

[0069] (3) Attitude output format

[0070] Posture information includes roll, pitch, and heading.

[0071] The monitoring terminal 10 transmits the acquired attitude information of the marine structure to the receiving terminal 20. The monitoring software in the computer 22 of the receiving terminal 20 can transmit the roll, pitch, and heading angle values ​​and transmit them to the command software for marine installation process control, so as to display the attitude data of the marine structure.

[0072] It should be noted that the marine installation monitoring system 1 provided in this embodiment can be used not only for the installation of marine structures, but also for the attitude correction of survey vessels.

[0073] When used for attitude correction of the survey vessel, both the monitoring end 10 and the receiving end 20 are installed on the survey vessel. The attitude sensor 12 of the monitoring end 10 is used to monitor the attitude data of the survey vessel in real time. The attitude data of the survey vessel mainly includes the angle values ​​of heave, roll, pitch and heading. The monitoring end 10 transmits the acquired attitude data of the survey vessel to the receiving end 20. The monitoring software in the computer 22 of the receiving end 20 can transmit the angle values ​​of heave, roll, pitch and heading to the measurement software connected to the receiving end 20 in a specific format for attitude correction of the survey vessel during the measurement process.

[0074] Heave is calculated based on angles and distances. It is primarily used for attitude correction of research vessels during oceanographic surveys. The rolling of a research vessel due to waves causes the survey equipment fixed to the hull to rise and fall. In sea states 2-3, research vessels typically have a beam of 6-7 meters, a roll angle within 0°-7°, and a pitch angle within 0°-5°. In this state, the amplitude of the hull's rise and fall is approximately ±0.52 meters, significantly greater than the ±0.05 meters amplitude at the hull center. Therefore, calculating heave using angles and distances already provides high accuracy.

[0075] h e =D h sin(r s )+d1cos(r s )-d1

[0076] In the formula, h e To investigate the heave value of the equipment, D h r is the distance from the survey equipment to the center of the survey vessel in the x-direction. s d1 is the roll angle of the survey vessel, and d1 is the water depth of the transducer of the shipborne measuring equipment.

[0077] The characters roll, pitch, heading, and heave are combined into a string according to a specific format and sent out. This string can be sent to navigation software or measurement software through the receiving end 20.

[0078] Second embodiment:

[0079] Continue to refer to Figures 4 to 8 The second embodiment provides a monitoring method for the marine installation monitoring system 1 as described in the first embodiment, comprising the following steps:

[0080] S101. Place the monitoring terminal 10 on the calibration platform for calibration to obtain the offset values ​​of roll angle Δr, pitch angle Δp, and azimuth angle Δθ.

[0081] Specifically, the monitoring terminal 10 is placed on the calibration platform and statically observed for 1 hour. The roll drift value Δr and pitch drift value Δp of the monitoring terminal 10 are measured in a static state. The y-axis of the monitoring terminal 10 is aligned with true north, and static observation is performed for 1 hour. The heading value is measured and compared with true north to calculate the heading drift value Δθ. Simultaneously, during the calibration of the monitoring terminal 10, the offset values ​​of the electronic compass roll angle Δr, pitch angle Δp, and azimuth angle Δθ are obtained.

[0082] For example, during the installation monitoring of a offshore jacket, the attitude information during the installation process is monitored with an accuracy of 0.01° and an azimuth angle accuracy of 0.1°. That is, the offset value of the electronic compass roll angle Δr is 0.01°, the offset value of the pitch angle Δp is 0.01°, and the offset value of the azimuth angle Δθ is 0.1°.

[0083] S102. Turn off the monitoring terminal 10 and install it at the center of the plane of the offshore structure.

[0084] Specifically, the monitoring terminal 10 is turned off, and the monitoring terminal 10 is installed at the center position P of the offshore structure. tc (x tc ,y tc ,z tc ).

[0085] S103. Turn on the monitoring terminal 10 and start measuring the attitude information of the marine structure.

[0086] S104. Open the electronic compass setting module of the monitoring software in the receiver 20, input the offset values ​​of roll angle Δr, pitch angle Δp and azimuth angle Δθ, decode the data information transmitted by the receiver 10 and subtract the offset values, and calculate the corrected roll angle, pitch angle and azimuth angle values ​​of the marine structure.

[0087] Specifically, open the electronic compass settings module of the monitoring software, input the roll offset value Δr, pitch offset value Δp, and heading offset value Δθ of the electronic compass; select the serial port for receiving data, open the serial port, receive the data sent by the monitoring terminal 10, decode it, subtract the offset value, and calculate the roll, pitch, and heading angle values ​​r of the marine structure. t p t θ t .

[0088] S105. After the installation of the offshore structure is completed, turn off the power supply 14 of the monitoring terminal 10 and retrieve the monitoring terminal 10.

[0089] Specifically, after the installation of the offshore structure is completed, the data transmission module, electronic compass setting module, and main interface of the monitoring software are turned off, and the recorded local txt file is backed up; the power supply 14 of the monitoring terminal 10 is turned off, and the monitoring terminal 10 is retracted.

[0090] Furthermore, in this embodiment, before placing the monitoring terminal 10 on the calibration platform for calibration to obtain the roll angle offset value Δr, pitch angle offset value Δp, and azimuth angle offset value Δθ, step S101 further includes: turning on the monitoring terminal 10 and configuring the electronic compass and the first wireless data transmission radio 13 of the monitoring terminal 10 through the configuration interface 112 of the monitoring terminal 10, including configuring the output frequency of the electronic compass and configuring the channel, transmission rate, module address, and radio power of the first wireless data transmission radio 13.

[0091] Specifically, power switch 113 of power supply 14 is turned on, power supply 14 supplies power to attitude sensor 12 and first wireless data transmission radio 13, and external computer 22 sets the output frequency of attitude sensor 12 and the channel, transmission rate, module address and transmission power of first wireless data transmission radio 13, and attitude sensor 12 measures the attitude information of marine structures in real time.

[0092] In step S103, after powering on the monitoring terminal 10 and starting to measure the attitude information of the marine structure, and before S104, after opening the electronic compass setting module of the monitoring software in the receiving terminal 20, inputting the roll angle offset value Δr, pitch angle offset value Δp, and azimuth angle offset value Δθ, decoding the data information transmitted by the monitoring terminal 10, subtracting the offset values, and calculating the corrected roll angle, pitch angle, and azimuth angle values ​​of the marine structure, the following steps are also included: powering on the receiving terminal 20, opening the serial port test module of the monitoring software in the computer 22, selecting the serial port for receiving data, opening the serial port, performing a communication test between the monitoring terminal 10 and the receiving terminal 20, and after successfully receiving the data sent by the monitoring terminal 10, closing the serial port and shutting down the serial port test module.

[0093] Further, in this embodiment, S104, after opening the electronic compass setting module of the monitoring software in the receiver 20, inputting the roll angle offset value Δr, the pitch angle offset value Δp, and the azimuth angle offset value Δθ, decoding the data information transmitted by the monitoring terminal 10 and subtracting the offset values, and calculating the corrected roll angle, pitch angle, and azimuth angle values ​​of the marine structure, S105, after the marine structure installation is completed, before turning off the power supply 14 of the monitoring terminal 10 and retracting the monitoring terminal 10, the following steps are also included:

[0094] S1041. Open the main interface of the monitoring software, click File, select Record, and create a local txt file to save the monitoring data. The local txt file contains the measurement date, time, and the angle values ​​r of the roll, pitch, and azimuth angles of the marine structure after correction. t p t θ t .

[0095] S1042. Click "Read Data" on the main interface of the monitoring software. The software will then start displaying and visualizing the corrected roll angle, pitch angle, and azimuth angle of the marine structure in real time on the main interface. At the same time, it will start writing data to the created local txt file.

[0096] Specifically, clicking "Start" on the main interface of the monitoring software will display the roll, pitch, and heading angle values ​​(r) of the offshore structure. t p t θ t Click "Read Data" to begin dynamically displaying the roll, pitch, and heading angle values ​​(r) of offshore structures in real time on the main interface. t p t θ t It then visualizes the data and begins writing data to a created local txt file.

[0097] Among them, S1042, after clicking to read data on the main interface of the monitoring software, the roll angle, pitch angle and azimuth angle values ​​of the corrected marine structure are displayed and visualized in real time on the main interface, and the data is written to the created local txt file, S105, after the marine structure is installed, before turning off the power 14 of the monitoring terminal 10 and retracting the monitoring terminal 10, also includes: S1043, opening the alarm limit setting module of the monitoring software, inputting the limit values ​​of roll angle, pitch angle and azimuth angle, when the attitude exceeds the limit value during the installation of the marine structure, the alarm limit setting module issues an alarm message.

[0098] Specifically, in S1042, after clicking "Read Data" on the main interface of the monitoring software, the roll, pitch, and azimuth angles of the corrected marine structure are displayed and visualized in real time on the main interface. Simultaneously, data is written to a created local txt file. Then, in S1043, the alarm limit setting module of the monitoring software is opened, and the limit values ​​for roll, pitch, and azimuth are entered. Before the alarm limit setting module issues an alarm message when the attitude exceeds the limit during the installation of the marine structure, the following steps are also included: opening the data transmission module of the monitoring software, selecting the serial port for output data, and opening the serial port; entering the distance from the measurement point to the center in the x-axis direction, and clicking "Start" to automatically calculate the heave value h. e Select the Simred data format, click Send Data, and begin sending the values ​​of roll, pitch, heading, and heave via serial port. t p t θ t h e It is sent to the command software for controlling the installation process at sea.

[0099] The monitoring method provided in this embodiment is as follows: Taking the monitoring of the installation process of a offshore jacket as an example, the power switch 113 of the monitoring terminal 10 is turned on. The electronic compass output frequency is set to 5Hz through the setting interface 112. The first wireless data transmission radio 13 is set to a transmission baud rate of 2400, a channel of 433MHz, a maximum transmission power, and a module address of 1. The receiver 20 is turned on, and the second wireless data transmission radio 21 is also set to a transmission baud rate of 2400, a channel of 433MHz, a maximum transmission power, and a module address of 1. The monitoring terminal 10 is placed on the calibration platform and aligned with the orientation of the calibration platform. The roll and pitch of the calibration platform are set to zero, and the heading of the calibration platform is pointed to due north to obtain the roll angle. The offset values ​​Δr, Δp, and Δθ of the pitch angle, pitch angle, and azimuth angle are calculated. The serial port test module of the monitoring software on computer 22 is opened, and data sent by monitoring terminal 10 can be received, indicating normal serial communication. The serial port test module is then closed. The electronic compass setting module of the monitoring software is opened, the serial port information is set, and data sent by monitoring terminal 10 is received and decoded to calculate the corrected roll, pitch, and heading angle values. The main interface of the monitoring software is opened, file is clicked, records are selected, and a local file "test.txt" is created to save the monitoring data. The main interface of the monitoring software is clicked "Start," then "Read Data," and the real-time dynamic display of the roll, pitch, and heading angle values ​​r of monitoring terminal 10 is started on the main interface. t p t θ tThe data was visualized, and data was simultaneously written to the created "test.txt" file. After recording for one hour, the monitoring software's main interface was powered off to stop recording and the monitoring terminal 10 was closed. The recorded roll, pitch, and heading angle values ​​were analyzed. After removing obvious outliers, their arithmetic mean values ​​were calculated to be 1.05°, -0.81°, and 2.5°, respectively. Figures 9 to 11 As shown; turn off monitoring terminal 10 and install it at the center position P of the offshore jacket. tc (x tc ,y tc ,z tc (). Power on monitoring terminal 10 and receiving terminal 20. Open the electronic compass settings module, select serial port, and enter the offset values ​​for roll, pitch, and heading as 1.05, -0.81, and 2.5, respectively. The center position P of the jacket installation. sc (7880.02, 7054.51, 6.85), azimuth angle is 341.5°; create a "survey1.txt" file, click to start the monitoring software, and input the roll, pitch, and heading angle values; click to read data to start monitoring the jacket installation and record the measurement data; open the data transmission module, accurately measure the distance from the measurement point to the center of the offshore jacket as 9.13m, input it into the data transmission module, automatically calculate the heave value, and send the roll, pitch, heading, and heave data outward in Simred format, inputting the data into the command software for offshore installation process control to provide real-time attitude data of the offshore jacket; during the offshore jacket placement and installation process, open the alarm limit setting module of the monitoring software, input the limit value of the roll angle as ±0.17°, the limit value of the pitch angle as ±0.17°, and the limit value of the heading angle as 341.5°±3°; when the attitude exceeds the limit value during the jacket installation process, an alarm message is issued. After the offshore jacket installation is completed, shut down the data transmission module, electronic compass setting module, and main interface of the monitoring software, and back up the "survey1.txt" file. Turn off the power supply 14 of the monitoring terminal 10, retract the monitoring terminal 10, and place it in a cool, dry place.

[0100] The marine installation monitoring system 1 and monitoring method provided in this application include a monitoring terminal 10 and a receiving terminal 20. The monitoring terminal 10 is installed at the center of the marine structure, and the receiving terminal 20 is installed on the command vessel. The monitoring terminal 10 and the receiving terminal 20 are communicatively connected. The monitoring terminal 10 is used to monitor the attitude information of the marine structure in real time and send data information to the receiving terminal 20. The attitude information includes the angle values ​​of roll angle, pitch angle, and azimuth angle. The receiving terminal 20 is used to receive the data information sent by the monitoring terminal 10 and perform decoding calculations to obtain the corrected attitude information of the marine structure. The monitoring process is as follows: calibrate the monitoring terminal 10 - install the monitoring terminal 10 - acquire attitude information - calculate the corrected attitude information - installation completed. This setup enables real-time monitoring of the attitude of the marine structure during installation, ensuring that the attitude of the marine structure meets the installation requirements, guaranteeing the installation quality of the marine structure, and reducing the operating cost.

[0101] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0102] Finally, it should be noted that the above embodiments are merely examples for clearly illustrating the present invention and are not intended to limit the implementation. Those skilled in the art will recognize that other variations or modifications can be made based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations. However, obvious variations or modifications derived therefrom are still within the scope of protection of this invention.

Claims

1. A monitoring system for marine installation, characterized in that: Including the monitoring end and the receiving end; The monitoring terminal is installed at the center of the plan of the offshore structure, the receiving terminal is installed on the command ship, and the monitoring terminal and the receiving terminal are communicatively connected. The monitoring terminal is used to monitor the attitude information of the marine structure in real time and send data information to the receiving terminal. The attitude information includes the angle values ​​of roll angle, pitch angle and azimuth angle. The receiving end is used to receive the data information sent by the monitoring end and perform decoding calculations to obtain the corrected attitude information of the marine structure.

2. The monitoring system for marine installation according to claim 1, characterized in that: The monitoring terminal includes a housing, an attitude sensor, a first wireless data transmission radio, and a power supply. The housing is configured to form an accommodating cavity. The attitude sensor, the first wireless data transmission radio, and the power supply are all disposed within the accommodating cavity. The attitude sensor and the first wireless data transmission radio are both connected to the power supply. The power supply is used to power the attitude sensor and the first wireless data transmission radio. The attitude sensor is connected to the first wireless data transmission radio via a first data line. The first data line is connected to a mounting interface disposed on the outer wall of the housing via a second data line. The first wireless data transmission radio is connected to a transmitting antenna disposed on the outer wall of the housing. The power source is connected to a power switch located on the outer wall of the housing via a wire. The power switch is used to control the switching of the power source.

3. The monitoring system for marine installation according to claim 2, characterized in that: The attitude sensor is an electronic compass.

4. The monitoring system for marine installation according to any one of claims 2-3, characterized in that: The receiving end includes a second wireless data transmission radio, a computer, and a power supply. Both the second wireless data transmission radio and the computer are connected to the power supply, which powers the second wireless data transmission radio and the computer. The second wireless data transmission radio is connected to the computer via a data cable. The second wireless data transmission radio is wirelessly connected to the transmitting antenna via an antenna; The second wireless data radio receives the data information sent by the monitoring terminal and transmits the data information to the monitoring software in the computer. The monitoring software decodes the data information and calculates the corrected attitude information of the marine structure.

5. The monitoring system for marine installation according to claim 4, characterized in that: The location P of the marine structure ti (x ti ,y ti ,z ti The formula for calculating ) is: In the formula, P si (x si ,y si ,z si P represents the coordinate system for the designated installation position; sc (x sc ,y sc ,z sc θ is the coordinate system defined by the center position. s The azimuth angle of the set installation position; P tc (x tc ,y tc ,z tc ) represents the center position of the marine structure; θ t The azimuth angle of a marine structure; r t The roll angle of a marine structure; p t The pitch angle of the offshore structure.

6. The monitoring method according to claim 4, characterized in that: The monitoring software decodes the electronic compass data by converting it from hexadecimal to decimal, performing decoding calculations to obtain a 28-character string, and then obtaining the angle values ​​of the roll angle, the pitch angle, and the azimuth angle.

7. A monitoring method for a marine-installed monitoring system as described in any one of claims 1 to 5, characterized in that: Includes the following steps: The monitoring end is placed on a calibration platform for calibration to obtain the offset value of the roll angle Δr, the offset value of the pitch angle Δp, and the offset value of the azimuth angle Δθ. Turn off the monitoring terminal and install it at the center of the plane of the marine structure; Turn on the monitoring terminal and begin measuring the attitude information of the marine structure; Open the electronic compass setting module of the monitoring software in the receiving end, input the offset value of the roll angle Δr, the offset value of the pitch angle Δp, and the offset value of the azimuth angle Δθ, receive the data information transmitted by the monitoring end, decode it and subtract the offset value, and calculate the angle values ​​of the roll angle, pitch angle and azimuth angle of the marine structure after correction. After the installation of the offshore structure is completed, the power supply to the monitoring terminal is turned off, and the monitoring terminal is retrieved.

8. The monitoring method according to claim 6, characterized in that: Before placing the monitoring end on the calibration platform for calibration to obtain the roll angle offset value Δr, the pitch angle offset value Δp, and the azimuth angle offset value Δθ, the method further includes: Power on the monitoring terminal and configure the electronic compass and the first wireless data transmission radio of the monitoring terminal through the configuration interface. This includes setting the output frequency of the electronic compass and setting the channel, transmission rate, module address, and radio power of the first wireless data transmission radio.

9. The monitoring method according to claim 6, characterized in that: The process includes opening the electronic compass setting module of the monitoring software in the receiving end, inputting the roll angle offset value Δr, the pitch angle offset value Δp, and the azimuth angle offset value Δθ, decoding the data information transmitted by the monitoring end and subtracting the offset values, calculating the corrected roll angle, pitch angle, and azimuth angle values ​​of the marine structure, and before turning off the power of the monitoring end and retracting the monitoring end after the marine structure is installed, the process further includes: Open the main interface of the monitoring software, click File, select Record, and create a local txt file to save the monitoring data. The local txt file contains the measurement date, time, and the angle values ​​of the roll angle, pitch angle, and azimuth angle of the marine structure after correction. Click "Read Data" on the main interface of the monitoring software. The software will then start displaying and visualizing the corrected roll angle, pitch angle, and azimuth angle values ​​of the marine structure in real time on the main interface, and simultaneously begin writing data to a created local txt file.

10. The monitoring method according to claim 9, characterized in that: After clicking "Read Data" on the main interface of the monitoring software, the system begins to dynamically display and visualize the corrected roll angle, pitch angle, and azimuth angle values ​​of the marine structure in real time on the main interface. Simultaneously, it begins writing data to a created local txt file. After the marine structure installation is completed, before turning off the power to the monitoring terminal and retracting the monitoring terminal, the following steps are also included: Open the alarm limit setting module of the monitoring software, and input the limit values ​​of the roll angle, the pitch angle and the azimuth angle. When the attitude of the marine structure exceeds the limit value during the installation process, the alarm limit setting module will issue an alarm message.

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