CN113532270B - Attitude detection method for FPSO flare tower installation process - Google Patents

Attitude detection method for FPSO flare tower installation process Download PDF

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CN113532270B
CN113532270B CN202110597635.4A CN202110597635A CN113532270B CN 113532270 B CN113532270 B CN 113532270B CN 202110597635 A CN202110597635 A CN 202110597635A CN 113532270 B CN113532270 B CN 113532270B
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tower
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plane
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cantilever
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CN113532270A (en
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叶洪伟
陈肖平
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Bomesc Offshore Engineering Co Ltd
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
    • E04H12/00—Towers; Masts or poles; Chimney stacks; Water-towers; Methods of erecting such structures
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
    • E04H12/00—Towers; Masts or poles; Chimney stacks; Water-towers; Methods of erecting such structures
    • E04H12/24—Cross arms
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
    • E04H12/00—Towers; Masts or poles; Chimney stacks; Water-towers; Methods of erecting such structures
    • E04H12/34—Arrangements for erecting or lowering towers, masts, poles, chimney stacks, or the like

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  • Engineering & Computer Science (AREA)
  • Architecture (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Length Measuring Devices By Optical Means (AREA)

Abstract

The invention discloses a method for detecting the attitude of an FPSO torch tower in the installation process, which comprises the following steps: a base three-dimensional coordinate system is established on the plane of the base top surface of the torch tower, four cantilevers are respectively fixed on the top surface of the tower body, a laser sensor is respectively fixed under each cantilever through a steel wire, and the distance from the top surface of the tower body to the base top surface of the torch tower can be measured; the coordinates of the four laser sensors in the three-dimensional coordinate system of the base can be determined through the readings of the four laser sensors; fitting a plane by a least square method according to the obtained four coordinates; calculating the inclination angle and the inclination direction of the fitted plane relative to the plane of the top surface of the base of the flare tower, namely the inclination angle and the inclination direction of the tower body; and step five, if the inclination angle is zero, fixing the torch tower and finishing the posture detection. By adopting the method, the operation efficiency of the torch tower crane is improved.

Description

Attitude detection method for FPSO flare tower installation process
Technical Field
The invention relates to a posture detection method, in particular to a posture detection method in an FPSO torch tower installation process.
Background
The FPSO flare tower is a special structure on the FPSO, one end of the flare tower is fixed on a FPSO deck structure, and the other end of the flare tower is suspended to the sky. The combustible gas burner is mainly used for burning combustible gas generated in the oil exploitation process and preventing engineering accidents caused by the explosion of a large amount of combustible gas. At present, the installation of the flare tower is generally carried out in a hoisting mode. The whole process is completed by the cooperation of field measurement personnel and a crane operator. The field measurement of the flare tower by the measuring personnel has low efficiency, and the attitude information of the flare tower cannot be continuously detected in real time. The measuring efficiency is low, the installation speed is directly slowed down, the hoisting time is prolonged, the installation cost is increased, and meanwhile, the risk is increased for the hoisting operation.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide the attitude detection method for the FPSO flare stack installation process, the attitude of the FPSO flare stack installation process can be calculated in real time through the method, the workload of field measurement workers can be greatly reduced, and the hoisting operation efficiency of the flare stack is improved.
The invention discloses a method for detecting the attitude of an FPSO torch tower in the installation process, which comprises the following steps:
step one, installing a torch tower base on an FPSO deck surface and preparing a torch tower, then establishing a base three-dimensional coordinate system O-XYZ on the base by taking the central point of the top surface plane of the torch tower base as an original point O, wherein an XOY plane is parallel to the deck surface, and the Z axis is vertical to the deck surface and faces upwards;
the flare tower comprises a tower body, and the top surface of the tower body takes the central point of the top surface of the tower body as an original point O1Establishing a three-dimensional coordinate system O of the flare tower1-X1Y1Z1X of the three-dimensional coordinate system of the flare tower1Axis, Y1Axis, Z1The axis is parallel to the X axis, the Y axis and the Z axis respectively, a first cantilever, a second cantilever, a third cantilever and a fourth cantilever are fixed at the four corners of the top surface of the tower body along the horizontal direction respectively, the four cantilevers extend outwards and are related to the X axis1Axis and Y1The tail ends of the first cantilever, the second cantilever, the third cantilever and the fourth cantilever are respectively connected with a first laser sensor, a second laser sensor, a third laser sensor and a fourth laser sensor through a first steel wire, a second steel wire, a third steel wire and a fourth steel wire, the fixed point of the first cantilever and the first steel wire, the fixed point of the second cantilever and the second steel wire, the fixed point of the third cantilever and the third steel wire and the fixed point of the fourth cantilever and the fourth steel wire are respectively A, B, C and D, A, B, C and D are respectively relative to X1Axis and Y1The laser sensors are axially symmetrically distributed and A, B, C, D are sequentially arranged along the forward time or the reverse time, the four laser sensors are always kept vertically downward under the action of self gravity, and when the torch tower is vertical, the laser emission points of the four laser sensors are all positioned on the horizontal plane of the top surface of the torch tower;
step two, hoisting the flare tower to a base of a deck, adjusting the position of the flare tower, then opening four laser sensors, and recording the reading numbers of the first laser sensor, the second laser sensor, the third laser sensor and the fourth laser sensor as h1、h2、h3、h4H is as described above1、h2、h3、h4Respectively the distance from the emitting point of each laser sensor to the plane of the base, and the distance between the point A and the point D is marked as L1The distance between the point A and the point B is L2；
Then, the coordinates of the emission points of the four laser sensors in the three-dimensional coordinate system of the base are respectively
Figure RE-GDA0003221328450000021
Step three, fitting a plane pi nearest to the average distance of four coordinate points by coordinates of four laser sensors in a three-dimensional coordinate system of the base through a least square method1And is recorded as: ax + by + cz ═ d; the plane of the base top surface of the torch tower, namely the plane equation of the OXY plane is z ═ 0;
step four, calculating the inclination angle alpha and the inclination direction of the flare stack relative to the plane of the top surface of the base of the flare stack
Figure RE-GDA0003221328450000022
The plane II1The included angle between the base and the plane of the top surface of the base of the flare tower is the inclination angle alpha of the flare tower; plane pi1The intersecting line of the base top surface plane of the torch tower and the base top surface plane of the torch tower is l, ax + by, d, and a vector vertical to the straight line l
Figure RE-GDA0003221328450000023
Namely the inclination direction of the torch tower;
step five, if the alpha is 0, the flare tower is in the correct installation position, then the flare tower and the flare tower base are fixed, and the attitude detection process is ended; otherwise, turning to the step six;
and step six, adjusting the posture of the flare tower, adding a gasket in the inclined direction of the flare tower on the base of the flare tower, adjusting the posture of the flare tower, and then repeating the step one to the step six until the flare tower is adjusted to the correct position.
The beneficial effects of the invention are: the method can calculate the attitude of the FPSO flare stack in the installation process in real time, greatly reduce the workload of field measurement workers and improve the hoisting operation efficiency of the flare stack.
Drawings
FIG. 1 is a schematic diagram of attitude detection during installation of an FPSO flare stack.
Detailed Description
The invention is described in detail below with reference to the figures and specific embodiments.
The invention discloses a method for detecting the attitude of an FPSO flare stack in the installation process, which comprises the following steps:
step one, installing a flare tower base on the FPSO deck surface and preparing a flare tower 2, then establishing a base three-dimensional coordinate system O-XYZ on the base by taking the central point of the flare tower base top surface plane 1 as an original point O, wherein an XOY plane is parallel to the deck surface, and the Z axis is vertical to the deck surface and faces upwards.
The torch tower 2 comprises a tower body, and the top surface of the tower body takes the central point of the top surface of the tower body as the original point O1Establishing a three-dimensional coordinate system O of the flare tower1-X1Y1Z1X of the three-dimensional coordinate system of the flare tower1Axis, Y1Axis, Z1The axis is respectively parallel to the X axis, the Y axis and the Z axis, a first cantilever 3-1, a second cantilever 3-2, a third cantilever 3-3 and a fourth cantilever 3-4 are respectively fixed at the four corners of the top surface of the tower body along the horizontal direction, the four cantilevers extend outwards and are related to the X axis1Axis and Y1The axes are symmetrically distributed. The tail ends of the first cantilever 3-1, the second cantilever 3-2, the third cantilever 3-3 and the fourth cantilever 3-4 are respectively connected with a first laser sensor 5-1, a second laser sensor 5-2, a third laser sensor 5-3 and a fourth laser sensor 5-4 through a first steel wire 4-1, a second steel wire 4-2, a third steel wire 4-3 and a fourth steel wire 4-4. The fixing point of the first suspension arm 3-1 to the first steel wire 4-1, the fixing point of the second suspension arm 3-2 to the second steel wire 4-2, the fixing point of the third suspension arm 3-3 to the third steel wire 4-3, and the fixing point of the fourth suspension arm 3-4 to the fourth steel wire 4-4 are A, B, C, D respectively. A. B, C, D pertaining to X1Axis and Y1Axisymmetric distribution and A, B, C, D are sequentially arranged along a forward time or an inverse time. Four laser sensors are arranged atThe vertical downward direction is always kept under the action of the gravity of the user. And when the torch tower is erected, the laser emission points of the four laser sensors are all positioned on the horizontal plane of the top surface of the torch tower.
Step two, hoisting the flare stack to the base of the deck, adjusting the position of the flare stack, then opening four laser sensors, and recording the reading numbers of the first laser sensor 5-1, the second laser sensor 5-2, the third laser sensor 5-3 and the fourth laser sensor 5-4 as h respectively1、h2、h3、h4Said h is1、h2、h3、h4Respectively, the distance from the emission point of each laser sensor to the base plane.
Note that the distance between points A and D is L1The distance between the point A and the point B is L2。
Then, the coordinates of the emission points of the four laser sensors in the three-dimensional coordinate system of the base are respectively
Figure RE-GDA0003221328450000041
Step three, fitting a plane pi nearest to the average distance of four coordinate points by coordinates of four laser sensors in a three-dimensional coordinate system of the base through a least square method1And is recorded as: ax + by + cz ═ d, a, b, c, d are known quantities obtained by least square fitting; the plane equation of the top surface plane of the base of the flare stack, namely the OXY plane, is z ═ 0.
Step four, calculating the inclination angle alpha and the inclination direction of the flare stack relative to the plane of the top surface of the base of the flare stack
Figure RE-GDA0003221328450000042
The calculation process of the inclination angle alpha of the flare stack relative to the plane of the top surface of the base of the flare stack is as follows:
calculating plane pi1The included angle between the base and the plane of the base top surface of the flare tower is the inclination angle alpha of the flare tower. Plane pi1The normal vector of ax + by + cz is
Figure RE-GDA0003221328450000043
Normal vector of base top plane of torch tower
Figure RE-GDA0003221328450000044
Inclination angle of torch tower
Figure RE-GDA0003221328450000045
In the formula (I), the compound is shown in the specification,
Figure RE-GDA0003221328450000046
is plane pi1The normal vector of (a);
Figure RE-GDA0003221328450000047
is the normal vector of the top surface plane of the pedestal of the flare stack.
Calculating the inclination direction of the flare tower, which comprises the following specific steps:
combined vertical plane II1Plane equation with base plane:
Figure RE-GDA0003221328450000048
obtaining by solution: plane pi1And (4) the intersecting line l with the plane of the base top surface of the flare stack is ax + by ═ d. Vector perpendicular to the straight line l
Figure RE-GDA0003221328450000049
Namely the inclined direction of the flare tower.
Step five, if the alpha is 0, the flare tower is in the correct installation position, then the flare tower and the flare tower base are fixed, and the attitude detection process is ended; otherwise go to step six.
And step six, adjusting the posture of the flare tower, adding a gasket in the inclined direction of the flare tower on the base of the flare tower, and adjusting the posture of the flare tower. And then repeating the first step to the sixth step until the flare stack is adjusted to the correct position.
The inclination angle alpha and the fire of the first step to the fourth stepDirection of inclination of torch tower
Figure RE-GDA0003221328450000051
And in the calculation process, the rapid automatic calculation and display are realized by programming through general computer programming such as C, C + + or Matlab and the like.

Claims (1)

1. A method for detecting the attitude of an FPSO flare stack in the installation process is characterized by comprising the following steps:
step one, installing a torch tower base on an FPSO deck surface and preparing a torch tower, then establishing a base three-dimensional coordinate system O-XYZ on the base by taking the central point of the top surface plane of the torch tower base as an original point O, wherein an XOY plane is parallel to the deck surface, and the Z axis is vertical to the deck surface and faces upwards;
the flare tower comprises a tower body, and the top surface of the tower body takes the central point of the top surface of the tower body as an original point O1Establishing a three-dimensional coordinate system O of the flare tower1-X1Y1Z1X of the three-dimensional coordinate system of the flare tower1Axis, Y1Axis, Z1The axis is parallel to the X axis, the Y axis and the Z axis respectively, a first cantilever, a second cantilever, a third cantilever and a fourth cantilever are fixed at the four corners of the top surface of the tower body along the horizontal direction respectively, the four cantilevers extend outwards and are related to the X axis1Axis and Y1The tail ends of the first cantilever, the second cantilever, the third cantilever and the fourth cantilever are respectively connected with a first laser sensor, a second laser sensor, a third laser sensor and a fourth laser sensor through a first steel wire, a second steel wire, a third steel wire and a fourth steel wire, the fixed point of the first cantilever and the first steel wire, the fixed point of the second cantilever and the second steel wire, the fixed point of the third cantilever and the third steel wire and the fixed point of the fourth cantilever and the fourth steel wire are respectively marked as A, B, C and D, A, B, C and D are respectively marked as X1Axis and Y1The axial symmetry distribution and A, B, C, D are arranged along the same time or the reverse time in sequence, the four laser sensors are always kept vertically downwards under the action of self gravity, and when the torch tower is vertical, the laser emission points of the four laser sensors are all positioned on the surface water of the top of the torch towerOn a plane;
step two, hoisting the flare tower to a base of a deck, adjusting the position of the flare tower, then opening four laser sensors, and recording the reading numbers of the first laser sensor, the second laser sensor, the third laser sensor and the fourth laser sensor as h1、h2、h3、h4Said h is1、h2、h3、h4Respectively the distance from the emitting point of each laser sensor to the plane of the base, and the distance between the point A and the point D is marked as L1The distance between the point A and the point B is L2；
Then, the coordinates of the emission points of the four laser sensors in the three-dimensional coordinate system of the base are respectively
Figure FDA0003091765820000011
Step three, fitting a plane pi nearest to the average distance of four coordinate points by coordinates of four laser sensors in a three-dimensional coordinate system of the base through a least square method1And is recorded as: ax + by + cz ═ d; the plane of the top surface of the base of the torch tower, namely the plane equation of the OXY plane is that z is 0;
step four, calculating the inclination angle alpha and the inclination direction of the flare stack relative to the plane of the base top surface of the flare stack
Figure FDA0003091765820000021
The plane II1The included angle between the base and the plane of the top surface of the base of the flare tower is the inclination angle alpha of the flare tower; plane pi1The intersecting line of the base and the plane of the base top surface of the torch tower is l, ax and by is d, and a vector vertical to the straight line l
Figure FDA0003091765820000022
Namely the inclination direction of the torch tower;
step five, if the alpha is 0, the flare tower is in the correct installation position, then the flare tower and the flare tower base are fixed, and the attitude detection process is ended; otherwise, turning to the step six;
and step six, adjusting the posture of the flare tower, adding a gasket in the inclined direction of the flare tower on the base of the flare tower, adjusting the posture of the flare tower, and then repeating the step one to the step six until the flare tower is adjusted to the correct position.
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CN113942622B (en) * 2021-11-19 2023-11-07 博迈科海洋工程股份有限公司 Motion compensation method suitable for FPSO upper module lifting and installing process

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