CN113888853A - Real-time monitoring system for multi-ship motion postures - Google Patents
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- 238000012544 monitoring process Methods 0.000 title claims abstract description 18
- 230000036544 posture Effects 0.000 title description 3
- 238000004891 communication Methods 0.000 claims abstract description 43
- 238000012360 testing method Methods 0.000 claims abstract description 36
- 238000004458 analytical method Methods 0.000 claims abstract description 17
- 238000005259 measurement Methods 0.000 claims abstract description 17
- 230000001360 synchronised effect Effects 0.000 claims description 19
- 230000005540 biological transmission Effects 0.000 claims description 16
- 238000009434 installation Methods 0.000 claims description 4
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims description 3
- 238000007405 data analysis Methods 0.000 claims description 3
- 229910052744 lithium Inorganic materials 0.000 claims description 3
- 238000013480 data collection Methods 0.000 claims description 2
- 238000006243 chemical reaction Methods 0.000 abstract description 3
- 238000000034 method Methods 0.000 description 5
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- 238000010586 diagram Methods 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 238000012545 processing Methods 0.000 description 3
- 238000001228 spectrum Methods 0.000 description 3
- 238000013461 design Methods 0.000 description 2
- 230000007613 environmental effect Effects 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000004927 fusion Effects 0.000 description 1
- 238000007499 fusion processing Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
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- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C1/00—Measuring angles
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
- G01C21/1654—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments with electromagnetic compass
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/43—Determining position using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry
Abstract
The invention discloses a multi-ship motion attitude real-time monitoring system, which comprises a first test system positioned on a No. 1 crane ship, a second test system positioned on a No. 2 crane, a first wireless network bridge positioned on a platform to be dismantled and a second network bridge positioned on a transport ship, wherein the first test system comprises a wave measurement system host and a data acquisition and analysis system host, a wave measurement system display is in signal connection with a radar central control unit, and the radar central control unit is in signal connection with a first radar and a digital signal conversion unit; the second test module comprises a second data acquisition and analysis system host, the second data acquisition and analysis system host is connected with a second core switch, and the second core switch is connected with the plurality of communication modules and a second wireless network bridge. The invention measures the real-time motion and attitude of the ship in real time during the platform disassembly operation, measures the wave flow of the ocean and the motion and attitude of each ship body in real time during the operation, and synchronously transmits data.
Description
Technical Field
The invention relates to a real-time monitoring system for multi-ship motion postures, and belongs to the field of measurement.
Background
The modern marine oil industry develops rapidly, more and more petroleum production facilities are built in operating sea areas, more than 10700 marine oil production facilities are built globally at present, the design life of a general marine oil platform is about 20 years, and the platform must be abandoned and dismantled if the platform has no other purposes after the design life. The dismantling of the abandoned ocean platform has important significance for ocean environment, navigation and fishery production.
Since this century, a great number of ocean platforms constructed successively in our country will enter the abandonment stage, and the platform dismantling task is difficult. The new platform dismantling technology is also developed rapidly, and the multi-ship collaborative operation dismantling platform has advantages in the aspects of safety, economy, efficiency and application range.
Disclosure of Invention
The purpose of the invention is as follows: in order to overcome the defects in the prior art, the invention provides a multi-ship motion attitude real-time monitoring system, which measures the real-time motion and attitude of a ship in real time in the platform disassembling operation process, measures the storm flow of the ocean and the motion and attitude of each ship body in real time in the operation process, and synchronously transmits data.
The technical scheme is as follows: in order to solve the technical problem, the multi-ship motion attitude real-time monitoring system comprises a first test system positioned on a No. 1 crane ship, a second test system positioned on a No. 2 crane, a platform attitude measuring device to be dismantled and a network communication system. The first test system comprises a data time service synchronous transmission system, a wind speed and direction measuring device, a wave measuring device, a data acquisition and analysis system, an attitude measuring device and a position measuring device. The second test system comprises a data time service synchronous transmission system, a data acquisition and analysis system, a network communication system, an attitude measurement device and a position measurement device. The data time service synchronous transmission system is connected with each measuring device, collects data, adds a timestamp and sends the data to the data collection and analysis system through the network communication system. The core switch of the network communication system realizes the data transmission link of the first test system and the second test system through the wireless access node and the network bridge equipment. And each measuring device in the first test system and the second test system selects a wired or wireless data communication mode according to the installation position of the real ship. The attitude measurement device with the dismantling platform sends data to the first test system and the second test system through the data time service synchronous transmission system.
The network communication system establishes communication links among the first crane ship, the second crane ship and the transport ship through a network bridge, and the network controller is deployed on the first crane ship.
Preferably, the measurement devices of the principle data acquisition, analysis and processing system host in the first test system and the second test system are all configured with the data time service synchronous transmission module, and data are transmitted through a wireless link
Preferably, the first and second test systems to the height measuring radar are respectively provided with six, and the six test systems are respectively arranged on the bow, the middle and the stern on two sides of the ship board.
Preferably, the data time service synchronous transmission module is provided with a wireless wired communication mode, obtains an accurate time signal by using GPS time service, and records data by taking the accurate time signal as a clock reference.
Preferably, the data time service synchronous transmission module comprises a GPS receiver, a processor and a communication module, the communication module can be in signal connection with the router through a WIFI or Ethernet interface, and the module is powered by a lithium battery, so that the data time service synchronous transmission module can be deployed quickly and is convenient to install.
Preferably, the double GPS antennas are arranged on the crane ship No. 1 and the crane ship No. 2.
Preferably, an anemorumbometer is installed 10 meters above the crane ship No. 1 and the crane ship No. 2.
Preferably, three radar height gauges are respectively installed on the left side and the right side of the crane ship No. 1 and the crane ship No. 2, and the horizontal distance between the two radar height gauges on the single side is not less than 20 meters.
Has the advantages that: the multi-ship motion attitude real-time monitoring system provided by the invention measures ship motion and attitude data in real time in the platform disassembly operation process, and the data of a plurality of measuring devices is subjected to resolving and fusion processing by the data analysis processing system, so that environmental variables under the same time axis and ship real-time attitude data under the action of environmental loads and operation loads are displayed in real time, and position data of an operation ship and a target platform are dynamically displayed. The method is convenient for more accurately mastering the states and operation effects of the operation ship, the machine tool and the target platform in the operation process, and provides data support for field operation command decision.
Drawings
FIG. 1 is a schematic diagram of the system of the present invention.
FIG. 2 is a schematic diagram of a data time service synchronous transmission module according to the present invention.
FIG. 3 is a block diagram of the system of the present invention.
Detailed Description
The present invention will be further described with reference to the accompanying drawings.
As shown in fig. 1 to 3, the project of application of the present invention employs two crane ships and one transport ship, and the ship bodies are semi-submersible ships each equipped with a DP3 dynamic positioning system. The invention discloses a multi-ship motion attitude real-time monitoring system which comprises a first test system positioned on a No. 1 crane ship, a second test system positioned on a No. 2 crane, an attitude measurement device positioned on a platform to be dismantled and a network communication system.
The first test system comprises a wave measuring device, a wind speed and direction measuring device, a freeboard height measuring device, a course measuring device, an RTK positioning measuring device, a ship attitude measuring device, a platform attitude measuring device and a data acquisition and analysis system host. The wave measuring device host of the first measuring system obtains compass heading measuring data, GNSS receiver data and anemorumbometer data through serial port communication for wave flow data auxiliary calculation, and the wave flow data is sent to the data acquisition and analysis system host through the serial port. The ship six-degree-of-freedom data measured by the inertia measurement unit is directly sent to the data acquisition and analysis system host through the serial port. Course measurement data measured by the compass are sent to the data acquisition, analysis and processing system host through the serial port. The wind speed and direction measuring device, the freeboard height measuring device and the platform attitude measuring device are used for measuring data, accessing the data to a network communication system through a data time service synchronous transmission system, and sending the data to a data acquisition and analysis system host; the second test module comprises a wind speed and direction measuring device, a freeboard height measuring device, a course measuring device, an RTK positioning measuring device, a ship attitude measuring device and a second data acquisition and analysis system host, and the deployment and data communication mode of the system measuring device is the same as that of the first test system.
The network communication system comprises a first core switch (including a network control function), a first network bridge and a first network access node which are deployed on a first crane ship, a second core switch, a second network bridge and a second network access node which are deployed on a second crane ship, and a third network bridge and a third core switch which are deployed on a transport ship.
In the invention, one of the measuring waves is deployed on a first crane ship. The data time service synchronous communication module is provided with a wireless communication mode and a wired communication mode, and GPS second pulse is used as a clock calibration reference for data time service. The data time service synchronous communication module comprises a GPS receiving unit, a processor and a communication unit, wherein the GPS receiving unit receives satellite signals, the processor receives sensor data and the communication unit is connected to a communication network, the data time service synchronous communication module is powered by a lithium battery, and meanwhile, no sensor provides a power supply. And double GPS antennas are arranged on the crane ship No. 1 and the crane ship No. 2. And an anemoclinograph is arranged 2 meters above the No. 1 crane ship and the No. 2 crane ship. And two radar height measuring instruments are respectively installed on the left side and the right side of the crane ship No. 1 and the crane ship No. 2, and the horizontal distance between the two radar height measuring instruments on the single side is not less than 20 m.
In the present invention, the inertial measurement unit is a device that measures the three-axis attitude angle (or angular velocity) and acceleration of the object. The three-axis three-dimensional attitude sensing device comprises three single-axis accelerometers and three single-axis gyroscopes, wherein the accelerometers are used for detecting acceleration signals of an object in independent three axes of a carrier coordinate system, and the gyroscopes are used for detecting angular velocity signals of the carrier relative to a navigation coordinate system, measuring the angular velocity and the acceleration of the object in a three-dimensional space and calculating the attitude of the object according to the angular velocity and the acceleration.
In the invention, the wave measuring radar continuously measures the orbit velocity and the echo intensity of water particles in each direction based on the Doppler principle, and calculates the wave spectrum and the velocity spectrum through the linear wave theory. And meanwhile, obtaining the radial ocean current of the direction according to the corresponding relation between the apparent direction speed and the ocean current speed. And (3) obtaining various parameters such as directed wave height spectrum, wave statistics (such as effective wave height, wave period, wave direction and the like) and vector flow by data fusion.
In the invention, in order to adapt to the severe environment of ocean engineering and reduce the construction difficulty of a data acquisition system, the wireless remote data acquisition system is designed, and the system acquires an accurate time signal by using GPS time service and records data by using the accurate time signal as a clock reference. Meanwhile, the system also supports a wired communication mode as a standby communication mode, so that the running reliability of the system is improved. The system network connection adopts a wired/wireless multiplexing function, and a wireless + battery mode can be used when the wiring condition is limited; and if convenient wiring is realized, an RJ45 interface can be selected to connect with a network cable above Cat5 level for communication and POE power supply.
In the invention, in order to realize the heading measurement function of the crane ship, the transport ship and the platform to be dismantled, double GPS antennas are required to be respectively arranged on the platforms to determine the heading position. As shown in the following figures, two GPS antennas are respectively placed at the bow and stern at a distance of more than 20 meters. The RTK has the positioning accuracy of 2-4cm at sea, so when the distance between the double antennas is 20 meters, the heading error is 0.23 degrees.
In the invention, the anemorumbometer is arranged above living areas of two lifting ships and is 2 meters away from a mounting surface, at least 1 meter away from a Very High Frequency (VHF) antenna and at least 5 meters away from a medium frequency high frequency (HF/MF) antenna, and the mounting position needs to avoid a radar scanning area. The wave measuring radar is arranged above a life area of the No. 1 crane ship and is supported by a lifting support, and the stroke of the lifting support is required to ensure that the wave measuring radar is more than 15 meters away from the sea level when working and avoids a very high frequency, high frequency and medium frequency antenna (VHF/HF/MF) and an anemorumbometer.
In the invention, the system is provided with two container control rooms which are respectively arranged on decks of two lifting ships, are used for monitoring the operation of the whole system and provide a placing space for monitoring equipment, network equipment, an IMU, a GPS and an electric compass. The container house is placed as close to the gravity center position of the crane ship as possible, if the conditions do not allow, the installation position and the direction of the container control house on the deck need to be accurately measured, the coordinate relation between the container control house and the gravity center is established in software, a conversion formula is obtained, and monitoring software is corrected.
The invention discloses a multi-ship motion attitude real-time monitoring system, which comprises a first test system positioned on a No. 1 crane ship, a second test system positioned on a No. 2 crane, a first wireless network bridge positioned on a platform to be dismantled and a second network bridge positioned on a transport ship, wherein the first test system comprises a wave measurement system host and a data acquisition and analysis system host, a wave measurement system display is in signal connection with a radar central control unit, and the radar central control unit is in signal connection with a first radar and a digital signal conversion unit; the second test module comprises a second data acquisition and analysis system host, the second data acquisition and analysis system host is connected with a second core switch, and the second core switch is connected with the plurality of communication modules and a second wireless network bridge. The invention measures the real-time motion and attitude of the ship in real time during the platform disassembly operation, measures the wave flow of the ocean and the motion and attitude of each ship body in real time during the operation, and synchronously transmits data.
The above description is only of the preferred embodiments of the present invention, and it should be noted that: it will be apparent to those skilled in the art that various modifications and adaptations can be made without departing from the principles of the invention and these are intended to be within the scope of the invention.
Claims (7)
1. The utility model provides a many boats and ships motion gesture real-time monitoring system which characterized in that:
the system comprises a first test system of a crane ship No. 1, a second test system positioned on a crane No. 2, a platform attitude measuring device to be dismantled and a network communication system; the first test system comprises a data time service synchronous transmission system, a wind speed and direction measuring device, a wave measuring device, a data acquisition and analysis system, an attitude measuring device and a position measuring device; the second test system comprises a data time service synchronous transmission system, a data acquisition and analysis system, a network communication system, an attitude measurement device and a position measurement device; the data time service synchronous transmission system is connected with each measuring device, collects data, adds a timestamp and sends the data to the data collection and analysis system through the network communication system; the core switch of the network communication system realizes a first test system and a second test system data transmission link through a wireless access node and a network bridge device; each measuring device in the first test system and the second current system selects a wired or wireless data communication mode according to the installation position of the real ship; the attitude measurement device with the dismantling platform sends data to a first test system and a second test system through a data time service synchronous transmission system; the network communication system establishes communication links among the first crane ship, the second crane ship and the transport ship through a network bridge, and the network controller is deployed on the first crane ship.
2. The multi-vessel motion pose real-time monitoring system of claim 1, wherein: the wave measuring radar is arranged at the high-rise deck of the first crane ship or on the container control roof (a lifting device needs to be configured), the installation height is required to be not less than 15 meters, and no obstacle exists around the radar antenna.
3. The multi-vessel motion pose real-time monitoring system of claim 1, wherein: the communication module comprises a wireless communication module and a wired communication module, and is used for obtaining an accurate time signal by using GNSS time service and recording data by taking the accurate time signal as a clock reference.
4. The multi-vessel motion pose real-time monitoring system of claim 1, wherein: the data time service synchronous communication module comprises a GPS receiving unit, a processor and a communication unit, wherein the GPS receiving unit receives satellite signals, the processor receives sensor data and the communication unit is connected to a communication network, the data time service synchronous communication module is powered by a lithium battery, and meanwhile, no sensor provides a power supply.
5. The multi-vessel motion pose real-time monitoring system of claim 1, wherein: and double GPS antennas are arranged on the crane ship No. 1 and the crane ship No. 2.
6. The multi-vessel motion pose real-time monitoring system of claim 1, wherein: and an anemorumbometer is arranged on the 10-meter position of the high-rise deck or the container control roof of the No. 1 crane ship and the No. 2 crane ship.
7. The multi-vessel motion pose real-time monitoring system of claim 1, wherein: six radar height measuring instruments are respectively installed on the left side and the right side of the crane ship No. 1 and the crane ship No. 2, and the horizontal distance between the three radar height measuring instruments on the single side board is not less than 20 m.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111240142.1A CN113888853A (en) | 2021-10-25 | 2021-10-25 | Real-time monitoring system for multi-ship motion postures |
| PCT/CN2022/123022 WO2023071703A1 (en) | 2021-10-25 | 2022-09-30 | Multi-ship motion attitude real-time monitoring system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111240142.1A CN113888853A (en) | 2021-10-25 | 2021-10-25 | Real-time monitoring system for multi-ship motion postures |
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| CN113888853A true CN113888853A (en) | 2022-01-04 |
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| CN202111240142.1A Pending CN113888853A (en) | 2021-10-25 | 2021-10-25 | Real-time monitoring system for multi-ship motion postures |
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| CN (1) | CN113888853A (en) |
| WO (1) | WO2023071703A1 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2023071703A1 (en) * | 2021-10-25 | 2023-05-04 | 哈尔滨工程大学 | Multi-ship motion attitude real-time monitoring system |
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| WO2023071703A1 (en) | 2023-05-04 |
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