CN116730221A - Hoisting control method of offshore operation crane ship - Google Patents
Hoisting control method of offshore operation crane ship Download PDFInfo
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- CN116730221A CN116730221A CN202310654524.1A CN202310654524A CN116730221A CN 116730221 A CN116730221 A CN 116730221A CN 202310654524 A CN202310654524 A CN 202310654524A CN 116730221 A CN116730221 A CN 116730221A
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- 238000012360 testing method Methods 0.000 claims description 12
- 230000003068 static effect Effects 0.000 claims description 10
- 230000005489 elastic deformation Effects 0.000 claims description 9
- 230000000007 visual effect Effects 0.000 claims description 4
- 230000007423 decrease Effects 0.000 claims description 3
- 239000000463 material Substances 0.000 claims description 3
- 238000011084 recovery Methods 0.000 claims description 3
- 238000005336 cracking Methods 0.000 abstract description 3
- 230000004048 modification Effects 0.000 description 4
- 238000012986 modification Methods 0.000 description 4
- 230000009471 action Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000001737 promoting effect Effects 0.000 description 2
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- 238000006467 substitution reaction Methods 0.000 description 2
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/18—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes specially adapted for use in particular purposes
- B66C23/36—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes specially adapted for use in particular purposes mounted on road or rail vehicles; Manually-movable jib-cranes for use in workshops; Floating cranes
- B66C23/52—Floating cranes
- B66C23/53—Floating cranes including counterweight or means to compensate for list, trim, or skew of the vessel or platform
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
- B66C13/06—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/48—Automatic control of crane drives for producing a single or repeated working cycle; Programme control
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/62—Constructional features or details
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/88—Safety gear
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Jib Cranes (AREA)
Abstract
The invention relates to the field of crane ship control, in particular to a crane control method of an offshore operation crane ship, which comprises the following steps: mooring the crane ship at a preset position and performing mooring in a preset mooring mode; aligning in a preset aiming mode; carrying out the same frequency on a load cable and the goods to be lifted; the goods to be lifted are connected in a preset connection mode; entering a preset balance state, and lifting the lifting goods; according to the invention, the stability of connection is ensured by relatively standing the load cable and the goods to be lifted, the problem of cable cracking caused by sea waves is effectively avoided, and the stability of connection is effectively improved, and meanwhile, the stability time is reduced, so that the stability of offshore lifting operation is effectively improved.
Description
Technical Field
The invention relates to the field of crane ship control, in particular to a crane control method of an offshore operation crane ship.
Background
The crane ship is used as a marine hoisting and hoisting operation tool commonly used in the ocean, has wider application in offshore water operation, and is difficult to effectively ensure the hoisting efficiency and the hoisting operation safety due to weak wind and wave resistance in marine operation for a small crane ship.
Chinese patent application publication No.: CN109399456B discloses a hoisting device with a rope motion sensing mechanism and a hoisting control method thereof, when hoisting a heavy object, firstly, manually fastening the heavy object in a rope loosening state, then the control device can obtain signals of different positions of the heavy object and a floating platform along with wave motion according to displacement signals of a sensor, after manual authorization is obtained, the control device can automatically select a hoisting time point according to the motion state of the heavy object to complete a series of setting actions, when the motion of the heavy object is in a trough, the whole machine is subjected to hoisting mode conversion in advance, and integrally enters a pretension state, when the heavy object is in a maximum speed point, the time point of zero position of the floating platform approaching a peak is utilized to carry out hoisting action of a winch, so that the heavy object is separated from the upper surface of the floating platform; at a later time, the floating platform moves downwards along with the waves, and the weight moves upwards under the pull of the lifting rope, so that the weight is almost unlikely to collide with the floating platform after lifting.
However, the above method has the following problems: the lifting equipment and the crane to be lifted cannot be relatively fixed along with sea surface fluctuation.
Disclosure of Invention
Therefore, the invention provides a hoisting control method of an offshore operation crane ship, which is used for solving the problem that the stability of offshore hoisting of the crane ship is reduced because hoisting equipment and a crane to be hoisted cannot be relatively fixed along with sea surface fluctuation in the prior art.
To achieve the above object, the present invention provides a crane control method for an offshore crane ship, comprising:
step S1, mooring a crane ship at a preset position, and performing mooring in a preset mooring mode;
s2, a control module controls a balance capturing module arranged on a load cable to be aligned with the goods to be lifted in a preset aiming mode, and determines marking points of the goods to be lifted;
s3, the control module carries out same frequency on the load cable and the goods to be lifted by an active balance module arranged on the crane boom according to a preset same frequency strategy;
step S4, when the balance capturing module judges that the preset balance state is reached, the control module is connected with the goods to be lifted in a preset connection mode;
step S5, when the control module judges that the connection state is entered, the control module controls the active balancing module to enter a preset balancing state, and the cargo to be lifted is lifted;
the preset mooring mode is to moor the crane ship within a preset hoisting distance of the goods to be hoisted, the preset aiming mode is to adjust a camera of the balance capturing module, the goods to be hoisted are placed in a preset view frame of the camera, the marking points are turning points of the outer contour of the goods to be hoisted, the preset same-frequency strategy is to control the crane boom to drive the hoisting cable to shake, the position of the marking points in the preset view frame is in a relatively static state, and the preset balance state is to control the cable and the crane ship to be in a relatively static state;
the preset view frame is a central area in the visual field of the camera, and the area and the central point of the preset view frame are in direct proportion to the sea wave frequency of the ocean surface where the crane ship is located.
Further, in the step S2, the balance capturing module is disposed at the end of the hoisting cable, and when the hoisting cargo is aligned in the preset aiming manner, the balance capturing module overlaps the geometric center of the cargo to be hoisted with the center point in the field of view, marks each turning point of the outer contour of the cargo to be hoisted as the marking point, and adjusts the focal length to make each marking point of the outer contour of the hoisting cargo enter the preset frame.
Further, in the step S3, the active balancing module vibrates the boom, so that the boom is vibrated, and the vibration frequency is adjusted according to the offset period of the outer contour of the cargo to be lifted, which is observed by the balancing capturing module;
the active balancing module is provided with the wave frequency, if the offset period is smaller than the wave frequency, the active balancing module increases the vibration frequency, and if the offset period is not smaller than the wave frequency, the active balancing module decreases the vibration frequency.
Further, in the step S4, when the relative position of the mark point and the corresponding point of the outer contour of the cargo to be lifted is stationary, the balance capturing module determines that the preset balance state is reached, the active balancing module maintains vibration and does not adjust the vibration frequency any more, and the balance capturing module adjusts the direction to enable the cargo to be lifted to be in the preset view frame.
Further, in the step S4, the load cable is extended to the position of the load to be lifted in the preset balance state, and is connected with the load to be lifted;
when the load cable stretches, the balance capturing module moves towards the load to be lifted along with the load cable, meanwhile, the balance capturing module takes the geometric center of the preset view frame as a base point and keeps away the mark point according to the equal proportion of the stretching amount of the load cable to form a load mark point, the balance capturing module judges the state of the load cable according to the position relation between the load mark point and the outer contour of the load to be lifted, the control module controls the crane ship according to the judging result of the balance capturing module,
if the balance capturing module judges that the preset balance state is reached, the control module controls the crane ship to continue to stretch the mooring rope;
and if the balance capturing module judges that the preset balance state is not reached, the balance capturing module controls the active balance module to adjust the vibration frequency.
Further, in the step S5, when the load rope is connected with the load to be lifted, the active balancing module stops vibrating, the control module controls the load rope to be recovered and to stand for a preset period of time, a preset amplitude is set in the control module, the control module determines the state of the crane vessel according to the shaking amplitude of the load rope,
if the swing amplitude of the hoisting cable is not larger than the preset amplitude, the control module judges that the hoisting vessel reaches the preset balance state and controls recovery to continue hoisting operation;
if the swing amplitude of the hoisting cable is larger than the preset amplitude, the control module judges that the hoisting ship does not reach the preset balance state and continues to stand for a preset period of time;
wherein the preset amplitude is related to the material of the load cable, and the preset duration is proportional to the sea wave frequency.
Further, in said step S1, the cargo to be lifted is positioned at a distance from the boom not exceeding half the length of the boom when the crane vessel is moored,
when the crane ship is anchored, the position of the cargo to be lifted does not displace more than half the length of the crane arm.
Further, in the step S5, a test weight strategy is set in the control module, when the cargo to be lifted is lifted to a preset test weight height away from the original load surface, the cargo to be lifted is stopped, and if the cargo to be lifted falls back to the original load surface, the control module determines that the cargo cannot be lifted;
the preset test weight height is related to the elastic deformation quantity of the load cable, and the original load weight surface is a plane where the goods to be lifted are located when the goods to be lifted are not lifted.
Further, in the step S1, a supporting strategy is set in the control module, and when the cargo to be lifted is located on the fixed ocean platform, the control module determines to trigger the supporting strategy and controls the crane ship to be connected with the fixed ocean platform, and then lifting operation is performed.
Further, in the step S2, a wind-shielding strategy is further provided in the control module, and when the preset wind power is reached, the control module determines that the wind-shielding strategy is entered, and stops the hoisting operation.
Compared with the prior art, the invention has the beneficial effects that the stability of connection is ensured by relatively standing the load cable and the goods to be lifted, the problem of cable cracking caused by sea waves is effectively avoided, the stability of connection is effectively improved, and meanwhile, the stability time is reduced, so that the stability of offshore lifting operation of a crane ship is effectively improved.
Further, through aiming the cargo in the hoisting device, the shaking frequency of the mooring rope is determined, so that the stability of offshore hoisting operation of the crane ship is further improved while the accuracy of the reference of shaking of the crane ship is effectively improved.
Further, through the mode of applying vibrations to the jib loading boom, make hawser and waiting to jack-up goods co-frequency rock until static relatively, when effectively promoting the offshore jack-up accuracy, further promoted the stability of crane ship offshore jack-up operation.
Further, through continuous adjustment in the process of stretching the mooring rope, the mooring rope before connection and the goods to be lifted are relatively static, so that the stability of the offshore lifting operation of the crane ship is further improved while the safety of the lifting operation is effectively improved.
Further, through setting up a plurality of strategies, discern the goods that can't effectively hoist, when effectively promoted the security of crane ship, further promoted the stability of crane ship offshore jack-up operation.
Drawings
FIG. 1 is a flow chart of a method of controlling the lifting of an offshore work crane vessel according to the invention;
FIG. 2 is a schematic diagram of a preset frame according to an embodiment of the present invention;
wherein: 1, a view field of a camera; 2, presetting a view frame; 3, cargo to be lifted; 4, center point.
Detailed Description
In order that the objects and advantages of the invention will become more apparent, the invention will be further described with reference to the following examples; it should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
Preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are merely for explaining the technical principles of the present invention, and are not intended to limit the scope of the present invention.
It should be noted that, in the description of the present invention, terms such as "upper," "lower," "left," "right," "inner," "outer," and the like indicate directions or positional relationships based on the directions or positional relationships shown in the drawings, which are merely for convenience of description, and do not indicate or imply that the apparatus or elements must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention.
Furthermore, it should be noted that, in the description of the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention can be understood by those skilled in the art according to the specific circumstances.
Referring to fig. 1, which is a flowchart of a method for controlling the lifting of an offshore crane vessel according to the present invention, the method for controlling the lifting of an offshore crane vessel comprises:
step S1, mooring a crane ship at a preset position, and performing mooring in a preset mooring mode;
s2, a control module controls a balance capturing module arranged on a load cable to be aligned with the goods to be lifted in a preset aiming mode, and determines marking points of the goods to be lifted;
s3, the control module carries out the same frequency on the load cable and the goods to be lifted by an active balance module arranged on the crane boom according to a preset same frequency strategy;
step S4, when the balance capturing module judges that the preset balance state is reached, the control module is connected with the goods to be lifted in a preset connection mode;
step S5, when the control module judges that the connection state is entered, the control module controls the active balancing module to enter a preset balancing state and lifts the lifting goods;
the method comprises the steps of enabling a crane ship to be moored within a preset lifting distance of goods to be lifted, enabling a preset aiming mode to be a camera of an adjusting balance capturing module, enabling the goods to be lifted to be placed in a preset view frame of the camera, enabling marking points to be turning points of the outer outline of the goods to be lifted, enabling a preset same-frequency strategy to control a crane arm to drive a lifting cable to swing, enabling the marking points to be in a relatively static state in the preset view frame, and enabling the preset balance state to be that a control cable and the crane ship are in a relatively static state;
fig. 2 is a schematic diagram of a preset view frame according to an embodiment of the present invention, wherein the preset view frame 2 is a central area in a field of view 1 of a camera, an area of the preset view frame is proportional to a center point 4 and a sea wave frequency of a ocean surface where a crane ship is located, and when the preset view frame 2 is determined, the camera captures a cargo 3 to be lifted first, and makes all outer contours of the cargo 3 to be lifted fall into the preset view frame 2.
Compared with the prior art, the invention has the beneficial effects that the stability of connection is ensured by relatively standing the load cable and the goods to be lifted, the problem of cable cracking caused by sea waves is effectively avoided, the stability of connection is effectively improved, and meanwhile, the stability time is reduced, so that the stability of offshore lifting operation is effectively improved.
The balance capturing module is arranged at the tail end of the load cable, when the load is aligned in a preset aiming mode, the balance capturing module overlaps the geometric center of the load to be lifted with the center point in the visual field, marks all turning points of the outer contour of the load to be lifted as marking points, and adjusts the focal length to enable all marking points of the outer contour of the load to enter a preset visual frame.
Further, through aiming the cargo in the hoisting device, the shaking frequency of the mooring rope is determined, so that the stability of offshore hoisting operation of the crane ship is further improved while the accuracy of the reference of shaking of the crane ship is effectively improved.
Specifically, in step S3, the active balancing module vibrates the boom, so that the boom is rocked, and the vibration frequency is adjusted according to the offset period of the outer contour of the cargo to be lifted, which is observed by the balancing capturing module;
the active balancing module is provided with wave frequency, increases vibration frequency if the offset period is smaller than the wave frequency, and decreases vibration frequency if the offset period is not smaller than the wave frequency.
Further, through the mode of applying vibrations to the jib loading boom, make hawser and waiting to jack-up goods co-frequency rock until static relatively, when effectively promoting the offshore jack-up accuracy, further promoted the stability of crane ship offshore jack-up operation.
In the implementation, if the sea wave frequency is 18 times/min, the vibration frequency of the active balancing module is 15 times/min, if the outer contour deviation period of the goods to be lifted is 16 times/min, the active balancing module accelerates the vibration to 16 times/min, if the outer contour deviation period of the goods to be lifted is 22 times/min, the active balancing module reduces the vibration frequency to 14 times/min, and the vibration is circulated until the goods to be lifted are relatively stationary.
Specifically, in step S4, when the relative position of the marker point and the corresponding point of the outer contour of the cargo to be lifted is stationary, the balance capturing module determines that the preset balance state is reached, the active balancing module maintains vibration and does not adjust the vibration frequency any more, and the balance capturing module adjusts the direction to enable the cargo to be lifted to be in the preset view frame.
Specifically, in step S4, the load cable is extended to the position of the load to be lifted in a preset balance state, and is connected with the load to be lifted;
when the load cable stretches, the balance capturing module moves along with the load cable to the load to be lifted, meanwhile, the balance capturing module takes the geometric center of the preset view frame as a base point and keeps away the mark point according to the equal proportion of the stretching amount of the load cable to form a lifting mark point, the balance capturing module judges the state of the load cable according to the position relation between the lifting mark point and the outer contour of the load to be lifted, the control module controls the crane ship according to the judging result of the balance capturing module,
if the balance capturing module judges that the preset balance state is reached, the control module controls the crane ship to continue to stretch the mooring rope;
if the balance capturing module judges that the preset balance state is not reached, the balance capturing module controls the active balancing module to adjust the vibration frequency.
Further, through continuous adjustment in the process of stretching the mooring rope, the mooring rope before connection and the goods to be lifted are relatively static, so that the stability of the offshore lifting operation of the crane ship is further improved while the safety of the lifting operation is effectively improved.
Specifically, in step S5, when the load cable is connected with the cargo to be lifted, the active balancing module stops vibrating, the control module controls the recovery of the load cable and stands for a preset period of time, a preset amplitude is arranged in the control module, the control module judges the state of the crane vessel according to the vibration amplitude of the load cable,
if the shaking amplitude of the hoisting ropes is not larger than the preset amplitude, the control module judges that the hoisting ship reaches a preset balance state and controls the ropes to be recovered so as to continue hoisting operation;
if the shaking amplitude of the hoisting ropes is larger than the preset amplitude, the control module judges that the hoisting ship does not reach the preset balance state, and continues to stand for a preset period of time;
wherein the preset amplitude is related to the material of the load cable, and the preset duration is in direct proportion to the sea wave frequency.
In particular, in step S1, the crane vessel is moored, the cargo to be lifted is positioned at a distance from the crane arm which is not more than half the length of the crane arm,
when the crane ship is anchored, the position of the cargo to be lifted does not displace more than half the length of the crane arm.
In practice, for a cable with a longitudinal tension, the maximum elastic deformation in the transverse direction is 5cm, with a corresponding maximum preset amplitude of 5cm;
for a cable with the longitudinal direction in a tight state and the transverse direction with the maximum elastic deformation of 20cm, the corresponding maximum preset amplitude is 12cm;
for a cable with the longitudinal direction in a tight state, the maximum elastic deformation in the transverse direction is 10cm, and the corresponding maximum preset amplitude is 8cm;
the preset duration may take any value greater than 20 cycles of ocean wave frequency.
Specifically, in step S5, a weight testing strategy is set in the control module, when the cargo to be lifted is lifted to a preset weight testing height away from the original weight surface, the cargo to be lifted is stopped, and if the cargo to be lifted falls back to the original weight surface, the control module determines that the cargo cannot be lifted;
the preset test weight height is related to the elastic deformation quantity of the load cable, and the original load surface is a plane where the goods to be lifted are positioned when the goods are not lifted.
In the implementation, for a cable with the longitudinal direction in a tight state, the maximum elastic deformation of the longitudinal direction is 5cm, and the corresponding preset test weight height is 10cm;
for a cable with the longitudinal direction in a tight state, the maximum elastic deformation of the longitudinal direction is 8cm, and the corresponding preset test weight height is 15cm;
for a cable with the longitudinal direction in a tight state, the maximum elastic deformation of the longitudinal direction is 20cm, and the corresponding preset test weight height is 30cm;
specifically, in step S1, a supporting strategy is set in the control module, and when the cargo to be lifted is located on the fixed ocean platform, the control module determines to trigger the supporting strategy and controls the crane ship to be connected with the fixed ocean platform, and then lifting operation is performed.
Specifically, in step S2, a wind-shielding strategy is further provided in the control module, and when the preset wind power is reached, the control module determines that the wind-shielding strategy is entered, and stops the hoisting operation.
In practice, if the wind is greater than 5 levels, the control module enters a wind-shielding strategy.
Further, through setting up a plurality of strategies, discern the goods that can't effectively hoist, when effectively promoted the security of crane ship, further promoted the stability of crane ship offshore jack-up operation.
Thus far, the technical solution of the present invention has been described in connection with the preferred embodiments shown in the drawings, but it is easily understood by those skilled in the art that the scope of protection of the present invention is not limited to these specific embodiments. Equivalent modifications and substitutions for related technical features may be made by those skilled in the art without departing from the principles of the present invention, and such modifications and substitutions will be within the scope of the present invention.
The foregoing description is only of the preferred embodiments of the invention and is not intended to limit the invention; various modifications and variations of the present invention will be apparent to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A method of controlling the lifting of an offshore work crane vessel, comprising:
step S1, mooring a crane ship at a preset position, and performing mooring in a preset mooring mode;
s2, a control module controls a balance capturing module arranged on a load cable to be aligned with the goods to be lifted in a preset aiming mode, and determines marking points of the goods to be lifted;
s3, the control module carries out same frequency on the load cable and the goods to be lifted by an active balance module arranged on the crane boom according to a preset same frequency strategy;
step S4, when the balance capturing module judges that the preset balance state is reached, the control module is connected with the goods to be lifted in a preset connection mode;
step S5, when the control module judges that the connection state is entered, the control module controls the active balancing module to enter a preset balancing state, and the cargo to be lifted is lifted;
the preset mooring mode is to moor the crane ship within a preset hoisting distance of the goods to be hoisted, the preset aiming mode is to adjust a camera of the balance capturing module, the goods to be hoisted are placed in a preset view frame of the camera, the marking points are turning points of the outer contour of the goods to be hoisted, the preset same-frequency strategy is to control the crane boom to drive the hoisting cable to shake, the position of the marking points in the preset view frame is in a relatively static state, and the preset balance state is to control the cable and the crane ship to be in a relatively static state;
the preset view frame is a central area in the visual field of the camera, and the area and the central point of the preset view frame are in direct proportion to the sea wave frequency of the ocean surface where the crane ship is located.
2. The method according to claim 1, characterized in that in the step S2, the balance capturing module is provided at the end of the hoisting cable, and when aligning the hoisting cargo in the preset aiming manner, the balance capturing module overlaps the geometric center of the cargo to be hoisted with the center point in the field of view, marks the turning points of the outer contour of the cargo to be hoisted as the marking points, and adjusts the focal length so that the marking points of the outer contour of the hoisting cargo enter the preset frame.
3. The method according to claim 2, wherein in the step S3, the active balancing module vibrates the boom to shake the boom, and adjusts vibration frequency according to the offset period of the outer profile of the cargo to be lifted observed by the balance capturing module;
the active balancing module is provided with the wave frequency, if the offset period is smaller than the wave frequency, the active balancing module increases the vibration frequency, and if the offset period is not smaller than the wave frequency, the active balancing module decreases the vibration frequency.
4. A lifting control method of an offshore operation lifting vessel according to claim 3, wherein in the step S4, when the relative position of the marking point and the corresponding point of the outer contour of the cargo to be lifted is stationary, the balance capturing module determines that the preset balance state is reached, the active balancing module maintains vibration and does not adjust the vibration frequency any more, and the balance capturing module adjusts the direction so that the cargo to be lifted is in the preset view frame.
5. The method according to claim 4, characterized in that in step S4 the load line is extended to the load to be lifted in the preset equilibrium state and is docked with the load to be lifted;
when the load cable stretches, the balance capturing module moves towards the load to be lifted along with the load cable, meanwhile, the balance capturing module takes the geometric center of the preset view frame as a base point and keeps away the mark point according to the equal proportion of the stretching amount of the load cable to form a load mark point, the balance capturing module judges the state of the load cable according to the position relation between the load mark point and the outer contour of the load to be lifted, the control module controls the crane ship according to the judging result of the balance capturing module,
if the balance capturing module judges that the preset balance state is reached, the control module controls the crane ship to continue to stretch the mooring rope;
and if the balance capturing module judges that the preset balance state is not reached, the balance capturing module controls the active balance module to adjust the vibration frequency.
6. The method according to claim 5, wherein in step S5, when the load line is connected to the load to be lifted, the active balancing module stops vibrating, the control module controls the load line to be recovered and to stand for a predetermined period of time, a predetermined amplitude is provided in the control module, the control module determines the state of the load vessel based on the vibration amplitude of the load line,
if the swing amplitude of the hoisting cable is not larger than the preset amplitude, the control module judges that the hoisting vessel reaches the preset balance state and controls recovery to continue hoisting operation;
if the swing amplitude of the hoisting cable is larger than the preset amplitude, the control module judges that the hoisting ship does not reach the preset balance state and continues to stand for a preset period of time;
wherein the preset amplitude is related to the material of the load cable, and the preset duration is proportional to the sea wave frequency.
7. The method according to claim 6, characterized in that in said step S1, the position of the cargo to be lifted is not more than half the length of the crane boom when the crane vessel is moored,
when the crane ship is anchored, the position of the cargo to be lifted does not displace more than half the length of the crane arm.
8. The method according to claim 7, wherein in the step S5, a weight test strategy is set in the control module, the cargo to be lifted is stopped when lifted to a preset weight test height away from the original weight surface, and if the cargo to be lifted falls back to the original weight surface, the control module determines that the cargo cannot be lifted;
the preset test weight height is related to the elastic deformation quantity of the load cable, and the original load weight surface is a plane where the goods to be lifted are located when the goods to be lifted are not lifted.
9. The method according to claim 8, wherein in the step S1, a supporting strategy is set in the control module, and when the cargo to be lifted is located on a fixed ocean platform, the control module determines to trigger the supporting strategy and controls the crane to perform the lifting operation after the crane is connected to the fixed ocean platform.
10. The method according to claim 9, wherein in step S2, a wind-shielding strategy is further provided in the control module, and when a preset wind force is reached, the control module determines that the wind-shielding strategy is entered and stops the crane operation.
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