CN112631342B - Large ocean module sliding shipment cooperative operation method - Google Patents
Large ocean module sliding shipment cooperative operation method Download PDFInfo
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- CN112631342B CN112631342B CN202011527497.4A CN202011527497A CN112631342B CN 112631342 B CN112631342 B CN 112631342B CN 202011527497 A CN202011527497 A CN 202011527497A CN 112631342 B CN112631342 B CN 112631342B
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- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
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Abstract
The invention discloses a large ocean module sliding shipment cooperative operation method, which comprises the steps of obtaining a sliding shipment track of an initial posture by using kinematics simulation software, acquiring an actual sliding shipment track of a large ocean module by adopting a CCD (charge coupled device) camera, obtaining a deflection angle of the large ocean module in the sliding shipment process, and adjusting the deflection angle in real time by adopting a jack, so that the large ocean module can slide along a preset track all the time in the sliding shipment process. The method realizes the cooperative operation of all specialties in the sliding shipment process of the large ocean module, so that the sliding installation of the large ocean module is simple and efficient, and the safety and the reliability of the sliding installation of the large ocean module are ensured.
Description
Technical Field
The invention relates to a slip track correction method, in particular to a large-scale ocean module slip shipment cooperative operation method.
Background
After the large ocean module is built, when the weight of the large ocean module reaches ten thousand tons, the large ocean module is transported to a specified position to be installed in a sliding ship loading mode, and the safety performance of the sliding process can be ensured only by ensuring the designated sliding track of the large ocean module in the sliding process of the large ocean module. At the present stage, the slippage process of the large ocean module usually needs to be carried out in a manual intervention mode, slippage is carried out while measurement is carried out, the efficiency is extremely low, the measurement precision of the manual measurement mode is low, and the safety in the slippage process cannot be guaranteed.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a large ocean module sliding shipment cooperative operation method. According to the method, high-precision measurement and safe displacement in the process of sliding and loading the marine large-scale module are realized through cooperative operation of each sliding and measurement, the feedback of sliding position information can be conveniently realized, the safety of the sliding process of the marine large-scale module is improved, and the sliding and installing efficiency is further improved.
In order to achieve the purpose, the invention adopts the technical scheme that:
the large ocean module sliding shipment cooperative operation method comprises the following steps:
the method comprises the following steps that firstly, supporting legs on bottom walls of the front side and the rear side of a large ocean module are respectively supported on a left linear slideway and a right linear slideway, the initial posture of the large ocean module is manually adjusted, and the large ocean module waits for sliding forwards along the left linear slideway and the right linear slideway;
step two, the rear side of the large ocean module in the initial attitude is separated from the rear wall L of the large ocean module in the initial attitude2Absolute coordinate system O of position establishing modulesXsYsSetting the forward direction of forward slip of the large ocean module as XsPositive direction of axis, YsAxis and XsThe axial direction is vertical and the horizontal direction is a positive direction;
acquiring an initial barycentric position coordinate of the large ocean module under a module absolute coordinate system;
fourthly, the model of the large ocean module slides forwards on the left and right linear slideway models in the kinematics simulation software, the motion trajectory of the gravity center of the large ocean module is obtained through simulation, and the delta L of each movement of the large ocean module from the starting point is recordedmAn angle theta between a normal line at a position of a movement trajectory line of the gravity center corresponding to the position and the theoretical advancing directionn，n＝1,2,3，，，，n；
Step five, obtaining the large ocean module in the step threeEstablishing a relative coordinate system O ' X ' Y ', the directions of the X ' axis and the Y ' axis and the X axis respectively at the initial barycentric position coordinate G (X, Y)sAxis, YsThe directions of the axes are consistent; set up first laser range finder in large-scale ocean module initial barycenter position coordinate G (X, Y) department, first laser range finder be used for measuring the distance of the barycenter of large-scale ocean module apart from one side slide inner wall, the initial distance of the barycenter of large-scale ocean module apart from one side slide inner wall is L1In the module absolute coordinate system OsXsYsA second laser range finder is arranged at the position for measuring the large-scale ocean module along the XsThe slippage distance in the positive direction of the axis;
step six, X along the absolute coordinate system of the modulesThe large ocean module is pulled to the next measuring point position by adopting a traction device in the axial direction, and at the moment, L ism＝L2+m△Lm+. DELTA L, wherein DELTA LmFor a set traction distance, m is the traction times, m is 1,2,3 … … m, and Δ L is an allowable measurement error, the first laser range finder continuously measures the distance from the center of gravity of the large ocean module to the slideway on one side in the traction process, and the record is Li；
Step seven, measuring the distance L between the gravity center of the large ocean module and the slideway on one side obtained in the step sixiAnd the initial distance L obtained in the step five1By comparison, if L1-△L≤Li≤L1Step eight, if the position of the large ocean module is not adjusted, the step L is carried out; if L isi＞L1And +/-Delta L, starting the side-push jack positioned on one side of the Y 'axis in the negative direction to shift the large ocean module along the positive direction of the Y' axis until the distance between the gravity center and the slideway on one side is adjusted to be L1-△L≤Li≤L1Within a range of +. DELTA.L; if L isi＜L1And delta L, starting a side-push jack positioned on the positive direction side of the Y 'axis to shift the large ocean module along the negative direction of the Y' axis until the distance from the gravity center to the slideway on one side is shifted to L1-△L≤Li≤L1Within a range of +. DELTA.L;
step eight, photographing the large ocean module by adopting a CCD camera to obtain a real-time position profile of the large ocean module moving to the next measuring point, and measuring the included angle theta between the Y' axis and the Xs axis in the real-time position profile by using an angle measuring instrumentmThen theta will bemThe included angle theta is obtained by simulating the position with the same sliding distance in the step sevennBy contrast, if θn-△θ≤θm≤θnIf the angle is the angle error allowed to be measured, carrying out next displacement operation; if theta is greater than thetam＞θnAnd +/-delta theta, starting the rotary jacks positioned at the left rear corner and the right front corner of the large ocean module to carry out angle adjustment on the large ocean module in the clockwise direction until theta is reachedn-△θ≤θm≤θnWithin + Delta theta; if theta is greater than thetam＜θnAnd delta theta, starting the rotary jacks positioned at the left front corner and the right rear corner of the large ocean module to carry out angle adjustment on the large ocean module along the anticlockwise direction until the theta is up ton-△θ≤θm≤θnWithin + Delta theta;
and step nine, repeating the step six to the step nine to carry out the next traction work of the large ocean module until the large ocean module is slipped to a specified position.
Compared with the prior art, the invention has the advantages that: the invention realizes the cooperative operation of various working types when the large ocean module is in-situ slipped and loaded, improves the in-situ slipping and loading measurement precision of the large ocean module, ensures the safety performance of in-situ slipping and mounting of the large ocean module and improves the working efficiency.
Drawings
FIG. 1 is a flow chart of the large ocean module slip shipment cooperative operation method of the present invention;
FIG. 2 is a schematic diagram of a slip trajectory obtained after simulation according to the present invention;
FIG. 3 is a schematic diagram illustrating initial position information measurement according to the present invention;
FIG. 4 is a schematic view of the large ocean module of the present invention being shifted and not deflected;
FIG. 5 is a schematic diagram of the large ocean module of the present invention showing no deflection due to slippage.
Detailed Description
The invention is described in detail below with reference to the figures and specific embodiments.
The invention relates to a large ocean module sliding shipment cooperative operation method, which comprises the following steps:
the method comprises the following steps that firstly, supporting legs on bottom walls of the front side and the rear side of a large ocean module are respectively supported on a left linear slideway and a right linear slideway, the initial posture of the large ocean module is manually adjusted, and the large ocean module waits for sliding forwards along the left linear slideway and the right linear slideway;
step two, the rear side of the large ocean module in the initial attitude is separated from the rear wall L of the large ocean module in the initial attitude2Absolute coordinate system O of position establishing modulesXsYsSetting the advancing direction of the large ocean module to be XsPositive direction of axis, YsAxis and XsThe axial direction is vertical and the horizontal direction is the positive direction;
acquiring initial barycentric position coordinates of the large ocean module in a module absolute coordinate system;
as an embodiment of the invention, a weighing jack can be adopted to support the bottom of the large ocean module to weigh the large ocean module, and then the initial gravity center position coordinates G (X, Y) of the large ocean module under the module absolute coordinate system are calculated through a formula;
in the formula: w is the total weight of the large ocean module; wjBearing a weight for each weighing jack; xj,YjObtaining the position coordinates of the top center of a hydraulic rod of each weighing jack arranged at the bottom of the large ocean module under a relative module absolute coordinate system from engineering drawings; x and Y are coordinates of the gravity center position of the large ocean module under the module absolute coordinate system; k is the number of weighing jacks.
Step four, simulating soft in kinematicsIn the part, the model of the large ocean module slides forwards on the left and right linear slideway models, the motion trajectory of the gravity center of the large ocean module is obtained through simulation, and the delta L of each movement of the large ocean module from the initial point is recordedmAn angle theta between a normal line at a position of a movement trajectory line of the gravity center corresponding to the position and the theoretical advancing directionn(n＝1,2,3，，，，n)；
As an embodiment of the present invention, the specific process of step four may be:
the method comprises the steps that firstly, a CCD camera is adopted to photograph a large ocean module to obtain a picture of the large ocean module in an initial posture, and the picture of the large ocean module in the initial posture is converted into a contour model of the large ocean module in the initial posture;
secondly, establishing a model absolute coordinate system OXY at any point in the kinematics simulation software Adams, setting the forward direction of forward sliding of the large ocean module as the positive direction of an X axis, setting a Y axis which is vertical to the X axis and horizontal to the left as the positive direction, establishing a left and right linear slideway model, guiding an initial posture contour model into the kinematics simulation software Adams software and arranging the initial posture contour model on the left and right linear slideway models, wherein the rear wall of the initial posture contour model is positioned on the front side of the Y axis and the distance between the rear wall and the Y axis is L2；
Thirdly, marking the initial barycentric coordinates G (X, Y) of the large ocean module obtained in the third step on the initial attitude contour model, marking as G (X ', Y "), establishing a relative coordinate system O' X 'Y' at the position of G (X ', Y'), and respectively establishing the directions of an X 'axis and a Y' axis and the directions of the X 'axis and the Y' axissAxis, YsThe directions of the axes are consistent;
fourthly, sliding the initial attitude profile model of the large ocean module forward in sections along the left and right linear slideway models, wherein the sliding distance of each section is delta LmRecording the included angle theta between the X axis and the Y axis of the center of gravity of each section of the slippage at the end position of the slippage in the absolute coordinate system of the modeln(n＝1,2,3，，，，n)；
Fifthly, establishing a relative coordinate system O ' X ' Y ', X ' axis and Y ' axis at the initial barycentric position coordinates G (X, Y) of the large ocean module obtained in the third stepThe directions are respectively equal to XsAxis, YsThe directions of the axes are consistent; set up first laser range finder in large-scale ocean module initial barycenter position coordinate G (X, Y) department, first laser range finder be used for measuring the distance of the barycenter of large-scale ocean module apart from one side slide inner wall, the initial distance of the barycenter of large-scale ocean module apart from one side slide inner wall is L1In the module absolute coordinate system OsXsYsA second laser range finder is arranged at the position for measuring the large-scale ocean module along the XsThe slippage distance in the positive direction of the axis.
Step six, X along the absolute coordinate system of the modulesThe large ocean module is pulled to the next measuring point position by adopting a traction device in the axial direction, and at the moment, L ism＝L2+m△Lm+. DELTA L, wherein DELTA LmIn order to set the traction distance, m is the traction frequency m is 1,2,3 … … m, delta L is an allowable measurement error, the value is taken according to the measurement precision of the laser range finder, the value is set to be not more than 10mm according to engineering requirements, and the first laser range finder continuously measures the gravity center (the coordinate is G) of the large ocean module in the traction processi(Xi，Yi) Distance from one side of the slide, recorded as Li。
Step seven, measuring the distance L between the gravity center of the large ocean module and the slideway on one side obtained in the step sixiAnd the initial distance L obtained in the step five1By comparison, if L1-△L≤Li≤L1If the position of the large ocean module is not adjusted, carrying out step eight; if L isi＞L1And +/-Delta L, starting the side- push jacks 1 and 2 positioned at one side of the negative direction of the Y 'axis to shift the large ocean module along the positive direction of the Y' axis until the distance between the gravity center and the slideway at one side is adjusted to be L1-△L≤Li≤L1Within a range of +. DELTA.L; if L isi＜L1And delta L, starting the side- push jacks 3 and 4 positioned on the positive direction side of the Y 'axis to shift the large ocean module along the negative direction of the Y' axis until the distance from the gravity center to the slideway on one side is shifted to L1-△L≤Li≤L1Within a range of +. DELTA.L.
Step eight, photographing the large ocean module by adopting a CCD camera to obtain a real-time position profile of the large ocean module moving to the next measuring point, and measuring the included angle theta between the Y' axis and the Xs axis in the real-time position profile by using an angle measuring instrumentmThen theta will bemThe included angle theta is obtained by simulating the position with the same sliding distance in the step sevennBy contrast, if θn-△θ≤θm≤θnIf the angle is the angle error allowed to be measured, carrying out next displacement operation; if theta is greater than thetam＞θnAnd +/-delta theta, starting the rotary jacks 5 and 6 positioned at the left rear corner and the right front corner of the large ocean module to carry out angle adjustment on the large ocean module in the clockwise direction until theta is reachedn-△θ≤θm≤θnWithin + Delta theta; if theta is greater than thetam＜θnTurning on rotary jacks 7 and 8 at the left front corner and the right rear corner of the large ocean module to adjust the angle of the large ocean module in the counterclockwise direction until theta is reachedn-△θ≤θm≤θnWithin + [ delta ] theta;
and step nine, repeating the step six to the step nine to carry out the next traction work of the large ocean module until the large ocean module is slipped to a specified position.
Claims (3)
1. The large ocean module sliding shipment cooperative operation method is characterized by comprising the following steps:
the method comprises the following steps that firstly, supporting legs on bottom walls of the front side and the rear side of a large ocean module are respectively supported on a left linear slideway and a right linear slideway, the initial posture of the large ocean module is manually adjusted, and the large ocean module waits for sliding forwards along the left linear slideway and the right linear slideway;
step two, the rear side of the large ocean module in the initial attitude is separated from the rear wall L of the large ocean module in the initial attitude2Absolute coordinate system O of position establishing modulesXsYsSetting the advancing direction of the large ocean module to be XsPositive direction of axis, YsAxis and XsAxle squareThe direction is vertical and the direction is horizontal and leftward;
acquiring initial barycentric position coordinates of the large ocean module in a module absolute coordinate system;
fourthly, the model of the large ocean module slides forwards on the left and right linear slideway models in the kinematics simulation software, a motion trajectory of the gravity center of the large ocean module is obtained through simulation, and each movement delta L of the large ocean module from a starting point is recordedmAn angle theta between a normal line at a position of a movement trajectory line of the gravity center corresponding to the position and the theoretical advancing directionn，n＝1,2,3，，，，n；
Step five, establishing a relative coordinate system O ' X ' Y ' at the initial barycentric position coordinates G (X, Y) of the large ocean module obtained in the step three, wherein the directions of the X ' axis and the Y ' axis are respectively equal to the XsAxis, YsThe directions of the axes are consistent; set up first laser range finder in large-scale ocean module initial barycenter position coordinate G (X, Y) department, first laser range finder be used for measuring the distance of the barycenter of large-scale ocean module apart from one side slide inner wall, the initial distance of the barycenter of large-scale ocean module apart from one side slide inner wall is L1In the module absolute coordinate system OsXsYsA second laser range finder is arranged at the position for measuring the large-scale ocean module along the XsThe slippage distance in the positive direction of the axis;
step six, X along the absolute coordinate system of the modulesThe large ocean module is pulled to the next measuring point position by adopting a traction device in the axial direction, and at the moment, L ism＝L2+m△Lm+. DELTA L, wherein DELTA LmIn order to set the traction distance, m is the traction times, m is 1,2,3 … … m, delta L is an allowable measurement error, the distance between the gravity center of the large ocean module and the slideway on one side is continuously measured by a first laser range finder in the traction process, and the record is Li；
Step seven, measuring the distance L between the gravity center of the large ocean module and the slideway on one side obtained in the step sixiAnd the initial distance L obtained in the step five1By contrast, if L1-△L≤Li≤L1Step eight, if the position of the large ocean module is not adjusted, the step L is carried out; if L isi＞L1And +/-Delta L, starting the side-push jack positioned on one side of the Y 'axis in the negative direction to shift the large ocean module along the positive direction of the Y' axis until the distance between the gravity center and the slideway on one side is adjusted to be L1-△L≤Li≤L1Within a range of +. DELTA.L; if L isi＜L1And delta L, starting a side-push jack positioned on the positive direction side of the Y 'axis to shift the large ocean module along the negative direction of the Y' axis until the distance from the gravity center to the slideway on one side is shifted to L1-△L≤Li≤L1Within a range of +. DELTA.L;
step eight, photographing the large ocean module by adopting a CCD camera to obtain a real-time position profile of the large ocean module moving to the next measuring point, and measuring the included angle theta between the Y' axis and the Xs axis in the real-time position profile by using an angle measuring instrumentmThen theta will bemThe included angle theta is obtained by simulating the position with the same sliding distance in the step sevennBy contrast, if θn-△θ≤θm≤θnIf the angle is the angle error allowed to be measured, carrying out next displacement operation; if theta is greater than thetam＞θnAnd +/-delta theta, starting the rotary jacks positioned at the left rear corner and the right front corner of the large ocean module to carry out angle adjustment on the large ocean module in the clockwise direction until theta is reachedn-△θ≤θm≤θnWithin + [ delta ] theta; if theta is greater than thetam＜θnAnd delta theta, starting the rotary jacks positioned at the left front corner and the right rear corner of the large ocean module to carry out angle adjustment on the large ocean module along the anticlockwise direction until the theta is up ton-△θ≤θm≤θnWithin + Delta theta;
and step nine, repeating the step six to the step nine to carry out the next traction work of the large ocean module until the large ocean module is slipped to a specified position.
2. The large-scale marine module slip shipment cooperative operation method according to claim 1, characterized in that: the method comprises the following steps of adopting a weighing jack to support the bottom of a large ocean module to weigh the large ocean module, and then calculating an initial gravity center position coordinate G (X, Y) of the large ocean module under a module absolute coordinate system through a formula;
in the formula: w is the total weight of the large ocean module; w is a group ofjBearing a weight for each weighing jack; xj,YjObtaining the position coordinates of the top center of a hydraulic rod of each weighing jack arranged at the bottom of the large ocean module under a relative module absolute coordinate system from engineering drawings; x and Y are coordinates of the gravity center position of the large ocean module under the module absolute coordinate system; k is the number of weighing jacks.
3. The large-scale ocean module skidding shipping cooperative operation method according to claim 1 or 2, characterized in that: the specific process of the step four is as follows:
the method comprises the steps that firstly, a CCD camera is adopted to photograph a large ocean module to obtain a picture of the large ocean module in an initial posture, and the picture of the large ocean module in the initial posture is converted into a contour model of the large ocean module in the initial posture;
secondly, establishing a model absolute coordinate system OXY at any point in the kinematics simulation software Adams, setting the forward direction of forward sliding of the large ocean module as the positive direction of an X axis, setting a Y axis which is vertical to the X axis and horizontal to the left as the positive direction, establishing a left and right linear slideway model, guiding an initial posture contour model into the kinematics simulation software Adams software and arranging the initial posture contour model on the left and right linear slideway models, wherein the rear wall of the initial posture contour model is positioned on the front side of the Y axis and the distance between the rear wall and the Y axis is L2；
Thirdly, marking the initial barycentric coordinates G (X, Y) of the large ocean module obtained in the third step on the initial attitude contour model, marking the initial barycentric coordinates G (X, Y) as G (X, Y "), and establishing a relative coordinate system O 'X' at the position of G (X, Y)The directions of the Y, X and Y axes are respectively equal to that of the XsAxis, YsThe directions of the axes are consistent;
fourthly, sliding the initial attitude profile model of the large ocean module forward in sections along the left and right linear slideway models, wherein the sliding distance of each section is delta LmRecording the included angle theta between the X axis and the Y' axis of the center of gravity of each section of the slippage at the end position of the slippage under the absolute coordinate system of the modeln，n＝1,2,3，，，，n。
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