CN113044170B - A compensating device and method for smooth installation and hoisting between ships at sea - Google Patents

Abstract

The invention discloses a compensation device and a method for smooth hoisting between ships at sea, comprising a supply ship and a supplied ship, wherein the supply ship includes a supply ship measurement component; the supplied ship includes a supplied ship measurement component; a compensation platform is arranged On the supply ship, through the CPU compensation controller, the signal transmission is carried out with the measurement component of the supplied ship. The present invention provides a compensation device and method for stable hoisting and hoisting between ships at sea, which realizes long-distance stable hoisting between ships and avoids losses caused by contact and collision of two ships; The three-degree-of-freedom data of movement and heave are obtained, and the compensation in the three-degree-of-freedom direction is realized, which innovates the compensation in the previous one direction, expands the compensation range, and better maintains the stability between ships; through the installation time The synchronization module ensures the synchronization of data collection time between the two MRUs, eliminates errors caused by time signals during data transmission, and ensures the real-time nature of data transmission.

Description

A compensating device and method for stably hoisting and hoisting between ships at sea

technical field

The invention relates to the technical field of hoisting and replenishing of ships at sea, in particular to a compensation device and method for smooth hoisting and hoisting between ships at sea.

Background technique

With the continuous expansion of maritime trade, the stability of cargo loading, hoisting and replenishment operations between ships at sea has become a key issue. However, due to the influence of complex environments such as sea wind, waves and ocean currents, ships operating at sea will be hoisted. Irregular translation, the difficulty of loading and hoisting heavy objects by the marine crane also increases, so the horizontal, vertical and heave movements of the ship caused by the complex environment at sea have become the main influence of how the marine crane can quickly and accurately hoist objects. . This requires a real-time and accurate understanding of the relevant information of the ship's movement at sea. If the displacement of the ship brought by the complex environment can be compensated through compensation to ensure the stability of the hoisting distance between ships, it will greatly increase the loading and hoisting of marine cargo. security and accuracy.

SUMMARY OF THE INVENTION

The purpose of this section is to outline some aspects of embodiments of the invention and to briefly introduce some preferred embodiments. Some simplifications or omissions may be made in this section and the abstract and title of the application to avoid obscuring the purpose of this section, abstract and title, and such simplifications or omissions may not be used to limit the scope of the invention.

In view of the above-mentioned and/or existing problems in the compensation device and method for smooth hoisting and hoisting between ships at sea, the present invention is proposed.

Therefore, the problem to be solved by the present invention is how to solve the problems of the stability of loading and hoisting due to the influence of sea waves and the poor safety of hoisting and hoisting by the traditional ship connection method when the ship is replenishing goods at sea.

In order to solve the above-mentioned technical problems, the present invention provides the following technical solutions: a compensation device for smooth hoisting and hoisting between ships at sea, comprising:

Supply ships, including supply ship measurement components;

Replenished Vessels, including Replenished Vessel Measurement Components;

The compensation platform is placed on the supply ship, and performs signal transmission with the measurement component of the supplied ship through the CPU compensation controller.

As a preferred solution of the compensation device for smooth hoisting and hoisting between ships in the present invention, wherein: the supply ship measurement component includes a CPU controller, a time synchronization module, a motion measurement unit and a power supply module.

As a preferred solution of the compensation device for smooth installation and hoisting between ships according to the present invention, wherein: the time synchronization module, the motion measurement unit, the power module and the CPU compensation controller are all connected with the connected to the CPU controller, and the power module supplies power to the CPU controller and the motion measurement unit.

As a preferred solution of the compensation device for smooth installation and hoisting between ships according to the present invention, wherein: the time synchronization module communicates with the CPU controller through an Ethernet interface, and the motion measurement unit communicates with the CPU controller through a serial interface The CPU controller is connected, and the CPU controller is connected with the CPU compensation controller through the Ethernet interface.

As a preferred solution of the compensation device for smooth installation and hoisting between ships according to the present invention, wherein: the measurement component of the supplied ship includes a CPU control unit, a time synchronization unit, a power supply unit, a wireless transmission device and a motion measurement module .

As a preferred solution of the compensation device for smooth installation and hoisting between ships according to the present invention, wherein: the time synchronization unit, the power supply unit, the wireless transmission device, and the motion measurement module are all related to the A CPU control unit is connected, and the power supply unit supplies power to the CPU control unit and the motion measurement module.

As a preferred solution of the compensation device for smooth installation and hoisting between ships according to the present invention, wherein: the time synchronization unit is connected to the CPU control unit through the Ethernet interface, and the motion measurement module is connected to the CPU control unit through the Ethernet interface. The serial interface is connected with the CPU control unit, the wireless transmission device is connected with the CPU control unit through the serial interface, and the CPU control unit is connected with the CPU compensation controller through the wireless transmission device .

As a compensation method for smooth installation and hoisting between ships at sea in the present invention, the method comprises the following steps:

The supply ship lifts the supply ship measurement component onto the supply ship through a crane, and fixes it at a corresponding position, and the supply ship measurement component is fixed on the supply ship;

Start the supply ship measurement assembly and the supplied ship measurement assembly, wait for a period of time, and realize the alignment initialization of the motion measurement unit and the motion measurement module;

The motion measurement unit and the motion measurement module detect displacement data of the supply ship and the supplied ship;

The time synchronization module and the time synchronization unit perform time correction to eliminate the deviation of the time signal of the amount of information collected by the motion measurement unit and the motion measurement module;

The supply ship measurement component collects the supply ship displacement information and transmits it to the CPU compensation controller through Ethernet; the supply ship measurement component collects the supply ship displacement information and transmits it to the CPU compensation through a wireless transmission device controller;

The CPU compensation controller obtains the relative movement displacement of the two ships by receiving the information for calculation;

The CPU compensation controller controls the compensation platform according to the relative displacement between the ships, keeps the compensation platform and the replenished ship relatively stationary, and simultaneously completes the replenishment task between the ships by manipulating the crane on the platform.

As a preferred solution of the compensation method for smooth loading and hoisting between ships at sea according to the present invention, wherein: the displacement includes lateral movement, longitudinal movement and heave.

As a preferred solution of the compensation method for smooth hoisting and hoisting between ships according to the present invention, wherein: the lateral movement, longitudinal movement and heave displacement output obtained according to the motion measurement unit are x ₁ , y ₁ , z ₁ , x ₂ , y ₂ , z ₂ of the lateral movement, vertical movement and heave displacement output by the motion measurement module can be obtained according to the displacement compensation algorithm,

Traverse compensation amount: x=x ₂ -x ₁

Longitudinal compensation amount: y=y ₂ -y ₁

Heave compensation amount: _z = z ₂ -z ₁ .

The beneficial effects of the present invention are as follows: the present invention provides a compensation device and method for stable hoisting and hoisting between ships at sea. The MRU is used to collect motion information, the data collected by the MRU is transmitted through wireless transmission equipment, and the CPU compensation controller is used for transmission. The platform compensation control is carried out to realize the remote and stable loading and hoisting between ships, which breaks through the traditional method of loading and hoisting between two ships and avoids the loss caused by the contact and collision of the two ships; The three-degree-of-freedom data is collected, and the compensation in the three-degree-of-freedom direction is realized, which innovates the previous one-direction compensation, expands the compensation range, and better maintains the stability between ships; by installing the time synchronization module, It ensures the synchronization of data collection time between two MRUs, eliminates errors caused by time signals during data transmission, and ensures the real-time nature of data transmission.

Description of drawings

In order to illustrate the technical solutions of the embodiments of the present invention more clearly, the following briefly introduces the accompanying drawings used in the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can also be obtained based on these drawings without any creative effort. in:

FIG. 1 is a schematic diagram of the overall structure of a compensation device and method for smooth hoisting and hoisting between ships at sea.

FIG. 2 is a flow chart of a compensation device and method for smooth hoisting between ships at sea.

FIG. 3 is a scene diagram of a compensation device and method for smooth hoisting between ships at sea.

Detailed ways

In order to make the above objects, features and advantages of the present invention more clearly understood, the specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

Many specific details are set forth in the following description to facilitate a full understanding of the present invention, but the present invention can also be implemented in other ways different from those described herein, and those skilled in the art can do so without departing from the connotation of the present invention. Similar promotion, therefore, the present invention is not limited by the specific embodiments disclosed below.

Second, reference herein to "one embodiment" or "an embodiment" refers to a particular feature, structure, or characteristic that may be included in at least one implementation of the present invention. The appearances of "in one embodiment" in various places in this specification are not all referring to the same embodiment, nor are they separate or selectively mutually exclusive from other embodiments.

Example 1

Referring to FIG. 1, it is the first embodiment of the present invention. This embodiment provides a compensation device for smooth installation and hoisting between ships at sea. The compensation device for smooth installation and hoisting between ships includes a supply ship 100 and a supply ship 100. Vessel 200, wherein supply vessel 100 includes supply vessel measurement assembly 101;

The replenished ship 200, including the replenished ship measurement assembly 201;

The compensation platform 300 is placed on the supply ship 100 , and performs signal transmission with the measurement component 201 of the supplied ship through the CPU compensation controller 301 .

Based on the above, due to the influence of complex environments such as sea wind, waves and ocean currents at sea, ships operating at sea will have irregular translations when hoisting and hoisting, and the difficulty of hoisting heavy objects by marine cranes will increase accordingly. The horizontal, vertical and heave motion of the ship caused by the complex environment at sea has become the main influence on how the marine crane can quickly and accurately hoist objects. Most of the cargoes loaded and hoisted by the ships at sea are operated after the supply ship 100 and the supply ship 200 are supported and fixed, resulting in that although the lateral and longitudinal displacements remain relatively static, the collision between the two ships will occur due to the impact of the waves, which will seriously affect the life of the hull. , the supply ship measurement component 101 and the supplied ship measurement component 201 measure the hull lateral movement, longitudinal movement and heave and other information, and after data processing, send the relevant information to the CPU compensation controller 301, and the CPU compensation controller 301 compensates for the three freedoms Compared with the traditional method, the measurement and compensation of multiple degrees of freedom are realized. The two hulls do not need to be hoisted close to the fixed way, and the collision between the hulls is avoided.

Example 2

1 to 3, it is a second embodiment of the present invention, which is different from the first embodiment in that it further includes a supply ship measurement component 101, including a CPU controller 101a, a time synchronization module 101b, a motion measurement unit 101c and a power supply Module 101d, time synchronization module 101b, motion measurement unit 101c, power supply module 101d and CPU compensation controller 301 are all connected to CPU controller 101a, and power supply module 101d supplies power to CPU controller 101a and motion measurement unit 101c.

Specifically, the time synchronization module 101b is connected to the CPU controller 101a through the Ethernet interface 101b-1, the motion measurement unit 101c is connected to the CPU controller 101a through the serial interface 101c-1, and the CPU controller 101a is connected to the CPU controller 101a through the Ethernet interface 101b-1. The CPU compensation controller 301 is connected.

Based on the above, the CPU controller 101a manages various units and modules in an overall manner, the motion measurement unit 101c is used to measure the displacement data of the supply ship 100, the time synchronization module 101b is used to correct the time, and eliminate the deviation of the time signal of the amount of information collected by the motion measurement unit 101c, The displacement information collected by the supply ship measurement component 101 is transmitted to the CPU compensation controller 301 on the compensation platform 300 through the Ethernet.

Further, the supplied ship measurement assembly 201 includes a CPU control unit 201a, a time synchronization unit 201b, a power supply unit 201c, a wireless transmission device 201d and a motion measurement module 201e, the time synchronization unit 201b, the power supply unit 201c, the wireless transmission device 201d, and the motion measurement module 201e. The modules 201e are all connected to the CPU control unit 201a, and the power supply unit 201c supplies power to the CPU control unit 201a and the motion measurement module 201e.

Specifically, the time synchronization unit 201b is connected to the CPU control unit 201a through the Ethernet interface 101b-1, the motion measurement module 201e is connected to the CPU control unit 201a through the serial interface 101c-1, and the wireless transmission device 201d is connected through the serial interface 101c-1 Connected to the CPU control unit 201a, the CPU control unit 201a is connected to the CPU compensation controller 301 through the wireless transmission device 201d.

Based on the above, the CPU control unit 201a manages each unit and module in an overall manner, the motion measurement module 201e is used to measure the displacement data of the replenished ship 200, and the time synchronization unit 201b is used to correct the time and eliminate the deviation of the time signal of the information collected by the motion measurement module 201e , the displacement amount information collected by the supply ship measurement component 201 is transmitted to the CPU compensation controller 101a on the compensation platform 300 through the wireless transmission device 201d.

Further, the CPU compensation controller 301 obtains the relative movement and displacement of the supply ship 100 and the supplied ship 200 by accepting the settlement of information. The supply ship 200 is relatively stationary, and at the same time, the supply task between the ships is completed by manipulating the crane 102 on the platform.

Table 1 shows the comparison between the device provided in this embodiment and the existing device.

Table 1: Comparison table between the traditional hoisting device and the device of the present invention.

Compare content traditional way mode of the invention Two-ship connection connect by help No need to connect Compensation method Heave Single Degree of Freedom Compensation Three degrees of freedom displacement compensation hoisting device marine crane Compensation platform + crane data transfer method wired connection wireless teleportation There are hidden dangers Two ships rubbing and colliding none

Example 3

1 to 3, the third embodiment of the present invention provides a compensation method for smooth installation and hoisting between ships at sea, and the compensation method for smooth installation and hoisting between ships at sea includes the following steps:

The supply ship 100 lifts the supply ship measurement assembly 201 onto the supply ship 200 through the crane 102, and fixes it at a corresponding position, and the supply ship measurement assembly 101 is fixed on the supply ship 100;

Start the supply ship measurement component 101 and the supplied ship measurement component 201, wait for a period of time, and realize the alignment initialization of the motion measurement unit 101c and the motion measurement module 201e;

The motion measurement unit 101c and the motion measurement module 201e detect the displacement data of the supply ship 100 and the supplied ship 200;

The time synchronization module 101b and the time synchronization unit 201b perform time correction to eliminate the deviation of the time signal of the amount of information collected by the motion measurement unit 101c and the motion measurement module 201e;

The supply ship measurement component 101 collects the displacement information of the supply ship 100 and transmits it to the CPU compensation controller 301 through the Ethernet; the supplied ship measurement component 201 collects the supply ship 200 displacement information and transmits it to the CPU compensation controller 301 through the wireless transmission device 201d;

The CPU compensation controller 301 obtains the relative movement displacement of the two ships by calculating the received information;

The CPU compensation controller 301 controls the compensation platform 300 according to the relative displacement between the ships, keeps the compensation platform 300 and the replenished ship 200 relatively stationary, and completes the replenishment task between the ships by manipulating the crane 102 on the platform.

Among them, the displacement includes lateral movement, vertical movement and heave.

Further, according to the output of the movement measurement unit 101c, the lateral movement, vertical movement and heave displacement are x ₁ , y ₁ , z ₁ , and the lateral movement, vertical movement and heave displacement output by the movement measurement module 201e are x ₂ , y ₂ , z ₂ can be obtained according to the displacement compensation algorithm,

Traverse compensation amount: x=x ₂ -x ₁

Longitudinal compensation amount: y=y ₂ -y ₁

Heave compensation amount: z=z ₂ -z ₁ .

It is important to note that the construction and arrangement of the present application shown in the various exemplary embodiments are merely exemplary. Although only a few embodiments have been described in detail in this disclosure, those who refer to this disclosure will readily appreciate that many modifications are possible without materially departing from the novel teachings and advantages of the subject matter described in this application are possible (eg, changes in size, dimensions, structure, shape, and proportions of various elements, as well as parameter values (eg, temperature, pressure, etc.), mounting arrangement, use of materials, color, orientation, etc.). For example, elements shown as integrally formed may be constructed of multiple parts or elements, the positions of elements may be inverted or otherwise varied, and the nature or number or positions of discrete elements may be altered or varied. Accordingly, all such modifications are intended to be included within the scope of this invention. The order or sequence of any process or method steps may be varied or re-sequenced according to alternative embodiments. In the claims, any "mean-plus-function" clause is intended to cover the structures described herein as performing the recited function and not only structural equivalents but also equivalent structures. Other substitutions, modifications, changes and omissions may be made in the design, operation and arrangement of the exemplary embodiments without departing from the scope of the present invention. Therefore, the present invention is not limited to a particular embodiment, but extends to various modifications still falling within the scope of the appended claims.

Furthermore, in order to provide a concise description of example embodiments, all features of an actual implementation (ie, those that are not relevant to the best mode currently considered for carrying out the invention, or those that are not relevant for carrying out the invention, may not be described in order to provide a concise description of example embodiments) feature).

It should be appreciated that during the development of any actual implementation, such as in any engineering or design project, numerous implementation-specific decisions may be made. Such a development effort may be complex and time-consuming, but would be a routine undertaking of design, fabrication, and production without undue experimentation for those of ordinary skill having the benefit of this disclosure .

It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them. Although the present invention has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that the technical solutions of the present invention can be Modifications or equivalent substitutions without departing from the spirit and scope of the technical solutions of the present invention should be included in the scope of the claims of the present invention.

Claims (3)

1. A compensation method for stable hoisting between offshore ships is characterized by comprising the following steps: comprises the steps of (a) preparing a mixture of a plurality of raw materials,

the tender vessel (100) comprises a tender vessel measuring assembly (101), wherein the tender vessel measuring assembly (101) comprises a CPU controller (101 a), a time synchronization module (101 b), a motion measuring unit (101 c) and a power supply module (101 d), the time synchronization module (101 b), the motion measuring unit (101 c), the power supply module (101 d) and a CPU compensation controller (301) are connected with the CPU controller (101 a), the power supply module (101 d) supplies power to the CPU controller (101 a) and the motion measuring unit (101 c), the time synchronization module (101 b) is connected with the CPU controller (101 a) through an Ethernet interface (101 b-1), the motion measuring unit (101 c) is connected with the CPU controller (101 a) through a serial interface (101 c-1), and the CPU controller (101 a) is connected with the CPU compensation controller (301) through the Ethernet interface (101 b-1) ) Connecting;

the supplied ship (200) comprises a supplied ship measuring assembly (201), the supplied ship measuring assembly (201) comprises a CPU control unit (201 a), a time synchronization unit (201 b), a power supply unit (201 c), a wireless transmission device (201 d) and a motion measuring module (201 e), the time synchronization unit (201 b), the power supply unit (201 c), the wireless transmission device (201 d) and the motion measuring module (201 e) are all connected with the CPU control unit (201 a), the power supply unit (201 c) supplies power to the CPU control unit (201 a) and the motion measuring module (201 e), the time synchronization unit (201 b) is connected with the CPU control unit (201 a) through the Ethernet interface (101 b-1), and the motion measuring module (201 e) is connected with the CPU control unit (201 a) through the serial interface (101 c-1), the wireless transmission device (201 d) is connected with the CPU control unit (201 a) through the serial interface (101 c-1), and the CPU control unit (201 a) is connected with the CPU compensation controller (301) through the wireless transmission device (201 d);

the compensation platform (300) is arranged on the supply ship (100) and is in signal transmission with the measurement component (201) of the supplied ship through a CPU compensation controller (301);

the compensation method comprises the following steps:

the method comprises the following steps that a tender boat (100) lifts a measuring assembly (201) of a supplemented boat to a supplemented boat (200) through a crane (102) and fixes the measuring assembly at a corresponding position, and a measuring assembly (101) of the supplemented boat is fixed on the tender boat (100);

starting the supply ship measuring assembly (101) and the supplied ship measuring assembly (201), waiting for a period of time, and realizing alignment initialization of the motion measuring unit (101 c) and the motion measuring module (201 e);

the movement measurement unit (101 c) and the movement measurement module (201 e) detect displacement amount data of the tender vessel (100) and the tender vessel (200);

the time synchronization module (101 b) and the time synchronization unit (201 b) carry out time correction, and the time signal deviation of the information quantity collected by the motion measurement unit (101 c) and the motion measurement module (201 e) is eliminated;

the supply ship measuring component (101) collects the displacement information of the supply ship (100) and transmits the displacement information to the CPU compensation controller (301) through Ethernet; the supplemented ship measuring component (201) collects the displacement information of the supplemented ship (200) and transmits the displacement information to the CPU compensation controller (301) through a wireless transmission device (201 d);

the CPU compensation controller (301) obtains the relative movement displacement of the two ships by receiving information for resolving;

the CPU compensation controller (301) controls the compensation platform (300) according to the relative displacement between the ships, keeps the compensation platform (300) and the ship (200) to be replenished relatively still, and completes the replenishing task between the ships by controlling the crane (102) on the platform.

2. A compensation method for the smooth inter-marine vessel loading according to claim 1, wherein: the displacement amounts include lateral, longitudinal, and heave.

3. A compensation method for the smooth inter-marine vessel loading according to claim 2, characterized in that: the output transverse movement, longitudinal movement and heave displacement quantity obtained by the motion measuring unit (101 c) is x₁，y₁，z₁The transverse displacement, longitudinal displacement and heave displacement x output by the motion measurement module (201 e)₂，y₂，z₂Obtained from a displacement compensation algorithm

Sideslip compensation amount: x = x₂- x₁

Longitudinal shift compensation amount: y = y₂- y₁

Heave compensation: z = z₂- z₁。

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