CN117923324A

CN117923324A - Auxiliary decision-making system and method for crane ship operation

Info

Publication number: CN117923324A
Application number: CN202311653212.5A
Authority: CN
Inventors: 张永涛; 田唯; 杨秀礼; 黎明; 刘修成; 于立伟; 程茂林; 李涛; 程正祥; 吴雪峰; 肖浩; 周斌; 杨佳; 金龙; 李响; 文华东
Original assignee: Ocean University of China; CCCC Second Harbor Engineering Co
Current assignee: Ocean University of China; CCCC Second Harbor Engineering Co
Priority date: 2023-12-05
Filing date: 2023-12-05
Publication date: 2024-04-26

Abstract

The application relates to the technical field of ship control, in particular to a crane ship operation auxiliary decision-making system and method. The system comprises an environment sensing system for monitoring the environmental state of a water area where a crane ship is located in real time, a ship stability and structural strength monitoring system for monitoring the stability and structural strength of the ship, a ship motion monitoring and decision making system for detecting the motion state of the ship, and an auxiliary operation personnel for making operation decisions according to the environmental state, the motion state of the ship and the structural state of the ship. The decision system can greatly improve the working efficiency of the crane ship, greatly simplify the working difficulty of the crane ship, reduce the construction cost, and realize the advance forecast and the risk avoidance.

Description

Auxiliary decision-making system and method for crane ship operation

Technical Field

The invention relates to the technical field of ship control, in particular to a crane ship operation auxiliary decision-making system and method.

Background

Because the marine environment condition is far worse than the land, the randomness is strong, the influence on the safety of the marine construction is large, and how to combine the environmental conditions such as hydrology, weather and the like of the construction sea area is a great difficulty in making a correct construction decision in front of constructors based on the current state of the ship aiming at the construction characteristics of different structures. The ship operation auxiliary decision-making system is an information system for providing decisions for constructors based on the current state of the ship according to the current construction condition.

At present, the auxiliary decision-making systems of ships are divided into two types, wherein the first type is the auxiliary decision-making system aiming at the current state of the ship, namely, when each real-time motion parameter of the ship exceeds the default value of the system, the system identifies dangerous working conditions and simultaneously generates early warning signals to prompt constructors whether to continue to execute construction tasks, so that decision-making is provided for constructors and decision-making auxiliary systems for reducing decision-making cost are provided. However, the decision-making auxiliary system is based on the current ship motion state, and the safety of the ship and constructors cannot be ensured no matter whether the construction task is continuously executed or not if the construction task is in an intermediate link when the early warning occurs due to the long ship construction time. The second is the better auxiliary decision-making system at present, which analyzes the ship motion history data and finishes the extremely short-term motion forecast of the ship according to the current motion state, so that the defect of the first method is overcome to a certain extent, but the extremely short-term motion forecast can not guarantee the safety of the ship and constructors due to the short period of the ship operation motion.

The current ship auxiliary decision is usually operated based on ship dynamic positioning alone, as in the chinese patent entitled "intelligent ship dynamic positioning operation system" with patent No. CN110244707a, which describes a ship system capable of realizing intelligent positioning operation, the system includes a measuring part, a control part, a power part and a thruster part, the power part includes a generator set for providing power to the thruster part, the thruster part includes a main thruster and a secondary thruster, the measuring part includes an electric compass for collecting ship heading signals, a wind speed and wind direction meter for collecting ship environmental wind direction and wind speed signals, a attitude sensor for providing ship dynamic reference signals, a differential global positioning system for receiving satellite positioning signals, a water sound positioning system for determining water flow signals, the control part includes a controller, a manual control unit and an automatic control unit respectively connected with the controller, and a software for processing the information collected by the measuring part and outputting control instructions to the thruster part to realize predetermined heading control, positioning control or movement control, the secondary thruster part includes a software for receiving the signals from the main thruster, a sensor for receiving the signals from the main thruster and a real-time sensor or a secondary thruster, a real-time sensor for receiving the signals from the main thruster and a real-time sensor for receiving the signals from the power sensor or the secondary thruster, a real-time sensor for receiving the signals from the real-time sensor or the power sensor, and simultaneously, an operation signal for improving the power is sent to the main propeller or the auxiliary propeller which is not overloaded, the position or the heading of the ship is changed, and the compensation control of the power of the main propeller or the auxiliary propeller is carried out on the premise of balancing the disturbance force and the disturbance moment acted on the ship and realizing the dynamic positioning or the movement of the ship. The ship system can well control the power system of the ship, can realize the operation of accurately positioning in an operating water area, but in practice, for a specific operating ship, the power system of the ship needs to be controlled in an auxiliary operation mode, for example, for a crane ship, the stability, the structural strength, the motion state of the ship, the operation condition of crane equipment and the like of the ship in the hoisting operation process need to be considered, if the power system of the ship is considered alone, the intelligent control of the crane operation of the crane ship is difficult to be completed by the constructed auxiliary operation system.

Disclosure of Invention

The invention aims to solve the defects of the background technology and provides a crane ship operation auxiliary decision-making system and a crane ship operation auxiliary decision-making method.

The technical scheme of the invention is as follows: a crane ship operation auxiliary decision-making system comprises,

The operation environment sensing system is used for monitoring the environment state of the water area where the crane ship is located in real time;

The ship stability and structural strength monitoring system comprises a structural monitoring system and a structural simulation system; the structure monitoring system is used for monitoring the gravity center of the ship and the local key structural stress of the ship on line; the structure simulation system is used for carrying out virtual-real mapping on the monitoring data of the structure monitoring system, the monitoring data of the operation environment sensing system and the ship stability virtual simulation model so as to extract stability key performance indexes, and carrying out ship stability assessment and dangerous structure working condition identification and early warning according to the stability key performance indexes;

The ship motion monitoring and deciding system comprises a motion monitoring system and a motion simulation system; the motion monitoring system is used for monitoring the motion state of the ship and the state of the propeller on line; the motion simulation system is used for performing virtual-real mapping on the monitoring data of the motion monitoring system, the monitoring data of the operation environment sensing system and the ship motion virtual simulation model to extract motion critical indexes, and performing ship motion performance evaluation and dangerous motion condition recognition and early warning according to the motion critical indexes;

The crane ship operation monitoring and deciding system comprises an operation monitoring system and an operation simulation system; the operation monitoring system is used for monitoring the state of the hoisting equipment in the operation process of the crane ship on line; the operation simulation system is used for carrying out virtual-real mapping on the monitoring data of the operation monitoring system, the monitoring data of the motion monitoring system, the monitoring data of the operation environment sensing system and the operation motion virtual simulation model so as to extract operation criticality indexes, and assisting an operator to carry out operation decision and dangerous operation condition identification and early warning according to the operation criticality indexes.

According to the present application there is provided a crane vessel operational aid decision-making system, the operational environment awareness system comprising,

The wind monitoring module is used for collecting the wind direction and the wind speed of the water area where the crane ship is located;

the wave monitoring module is used for collecting wave amplitude, wave frequency and wave direction of waves in a water area where the crane ship is located;

and the flow monitoring module is used for collecting the flow speed and the flow direction of water in the water area where the crane ship is located.

According to the present application there is provided a crane vessel operational aid decision-making system, the structure monitoring system comprising,

The ship gravity center monitoring module is used for monitoring the ballast state, the floating state and the cargo state of each cabin of the ship so as to obtain the ship gravity center;

and the key structure stress monitoring module is used for arranging measuring points at the connection positions of the crane ship A frame, the hanging frame and the deck and monitoring the stress of the measuring point positions.

According to the present application, there is provided a crane ship operation aid decision-making system, the structure simulation system comprising,

The gravity center high early warning module is used for analyzing the obtained gravity center height of the ship and sending out early warning when the gravity center height exceeds the set gravity center height;

And the structural stress abnormality early warning module is used for giving out structural stress abnormality early warning when the stress of the measuring point exceeds the set stress.

According to the present application there is provided a crane vessel operational aid decision-making system, the motion monitoring system comprising,

The navigation state monitoring module is used for monitoring GPS position, course, speed and six-degree-of-freedom motion parameters of the ship;

The ship propeller comprises a propeller state monitoring module, a ship propeller control module and a ship propeller control module, wherein the propeller state monitoring module is used for monitoring the rotating speed and the rotating direction of a ship propeller.

According to the present application there is provided a crane vessel operational aid decision-making system, the motion simulation system comprising,

And the motion early warning module monitors the six-degree-of-freedom frequency domain motion response of the ship according to the monitoring data of the operation environment sensing system and the GPS position, the course, the navigational speed and the six-degree-of-freedom motion parameters of the ship, and sends early warning when the six-degree-of-freedom frequency domain motion response of the ship exceeds a first safety threshold.

According to the present application there is provided a crane vessel operation aid decision-making system, the crane vessel operation monitoring comprising,

And the hoisting equipment monitoring module is used for monitoring the cable force, the main hook movement, the lifting height and the luffing angle of each winch in the operation process of the crane ship.

According to the present application there is provided a crane vessel operation aid decision-making system, the operation simulation system comprising,

The ship adjustment decision-making module is used for determining the minimum wave direction and the minimum draft when the motion response is minimum based on the current wave direction parameters acquired by the operation environment sensing system and the current ship draft acquired by the motion monitoring system, so as to make decision suggestions of taking the minimum wave direction and the minimum draft as the optimal wave direction and the optimal draft in the current environment;

The main hook operation decision module calculates a time interval for stabilizing the main hook motion in the future by 2-5 min based on the current environment state acquired by the operation environment sensing system and the current ship state acquired by the motion monitoring system, so as to make a decision suggestion of a main hook suspended object operation window.

The operation early warning module calculates a second probability that the motion of the main hook and the suspended object exceeds a second safety threshold in the current operation process according to the current ship motion state acquired by the motion monitoring system and the main hook motion state acquired by the operation monitoring system, and sends early warning when the second probability exceeds a second probability limit value.

The application also provides a crane ship operation auxiliary decision-making method based on environment state perception and virtual-real mapping, which is implemented by adopting the crane ship operation auxiliary decision-making system, and comprises the following steps:

s1, monitoring the environmental state of a water area where a crane ship is located in real time;

S2, monitoring the current structural state and the motion state of the crane ship in real time;

s3, calculating ship motion response according to the current crane ship motion state and the environment state data;

S4, predicting the motion condition of the main hook according to the ship motion response and the motion parameters of the main hook of the crane ship crane equipment;

And S5, a ship adjustment decision suggestion is made based on the environmental state and the ship motion response, and a main hook hanging object operation decision suggestion is made based on the environmental state and the ship and the predicted main hook motion condition.

According to the crane ship operation auxiliary decision-making method based on environment state sensing and virtual-real mapping provided by the application, in the step S1, the method for monitoring the environment state of the water area where the crane ship is located in real time comprises the following steps: the wind direction and the wind speed of the water area where the crane ship is positioned are monitored in real time; monitoring the wave amplitude, wave frequency and wave direction of the wave in the water area where the crane ship is located in real time; the water flow speed and the water flow direction of the water area where the crane ship is located are monitored in real time.

According to the crane ship operation auxiliary decision-making method based on environment state sensing and virtual-real mapping provided by the application, in the step S2, the method for monitoring the current structural state of the crane ship in real time comprises the following steps: the ballast state, the floating state and the cargo carrying state of each cabin of the ship are monitored in real time; and arranging measuring points at the connection positions of the crane ship A frame, the hanger and the deck, and monitoring the positions of the measuring points in real time.

According to the crane ship operation auxiliary decision-making method based on environment state sensing and virtual-real mapping provided by the application, in the step S2, the method for monitoring the current motion state of the crane ship in real time comprises the following steps: the GPS position, heading, navigational speed and six-degree-of-freedom motion parameters of the ship are monitored in real time; the rotation speed and the direction of the propeller of the ship are monitored in real time.

According to the crane ship operation auxiliary decision-making method based on environment state sensing and virtual-real mapping provided by the application, in the step S5, the method for making a ship adjustment decision-making suggestion based on the environment state and the ship motion response comprises the following steps: and determining the minimum wave direction and the minimum draft of the minimum ship in the six-degree-of-freedom frequency domain motion response based on the collected current wave direction parameters and the collected current ship draft, and making decision suggestions taking the minimum wave direction and the minimum draft as the optimal wave direction and the optimal draft in the current environment.

According to the crane ship operation auxiliary decision-making method based on environment state sensing and virtual-real mapping provided by the application, in the step S5, the method for making a main hook crane operation decision-making suggestion based on the environment state and the ship and predicted main hook motion condition comprises the following steps: and calculating a time interval for stabilizing the main hook motion in the future 2-5 min based on the acquired current environment state and the acquired current ship state, and making a decision suggestion of a main hook suspended object operation window.

According to the crane ship operation auxiliary decision-making method based on the environment state sensing and the virtual-real mapping, in the step S5, the second probability that the motion of the main hook and the suspended object exceeds the second safety threshold in the current operation process is calculated according to the collected current ship motion state and the collected main hook motion state, and an early warning is sent to auxiliary operators when the second probability exceeds the second probability limit.

The application has the advantages that: 1. the crane ship combines the environment state, the ship state and the state of equipment in the ship, provides more visual decision advice for auxiliary operators through a virtual-real mapping mode, and is convenient for the auxiliary operators to carry out crane operation construction on water;

2. according to the application, through monitoring the flow speed, the flow direction, the wind speed, the wind direction, the amplitude, the wave frequency and the wave direction in the environment state in real time, the state information of the current crane ship in the environment is accurately obtained, a data base is provided for subsequent simulation and prediction, and a good data support is provided for more accurately making an operation decision in the current environment;

3. The application determines the gravity center height of the ship by monitoring the ballast state, the floating state and the cargo state of each cabin of the ship, determines the stability condition of the whole ship in the mode, and ensures the stability and the safety of the subsequent whole operation construction in the ship by monitoring the stress of the connection parts of the crane ship A frame, the hanger and the deck;

4. according to the application, through monitoring the gravity center height of the ship in real time, not only can corresponding early warning be sent out when the gravity center is too high, but also a suggestion for adjusting the gravity center height can be made, the corresponding early warning can be sent out when the structural stress of the hoisting equipment is abnormal, and the device is convenient for operators to adjust in time, so that the problem of equipment damage is avoided;

5. the application collects the navigation state and the propeller state of the ship, is convenient for the subsequent simulation of the running state of the ship, is convenient for the collection of the running state and the propeller state parameters of the ship, provides rich data for the running simulation of the ship, and provides a more accurate data model for operators;

6. According to the method, the motion state of the ship is predicted, whether the motion state exceeds the safety threshold is judged according to the predicted condition, and early warning is sent out when the motion state exceeds the safety threshold, so that operators can conveniently and effectively avoid possible dangerous conditions, and the operation safety of the whole ship is improved;

7. According to the application, the hoisting equipment is comprehensively monitored, the state of the current hoisting equipment can be monitored in real time by collecting the parameters of the cable force, the movement of the main hook, the lifting and the amplitude variation angle of each winch, and the movement state of the main hook can be monitored in real time, so that a good data basis can be provided for the safe operation of the hoisting equipment on one hand, and a basis is provided for the prediction of the operation of the subsequent main hook on the other hand;

8. The application carries out corresponding combination based on the environmental state parameter and the ship motion state parameter, can conveniently obtain the decision of ship adjustment, is convenient for the corresponding operation of operators, provides great convenience for the control adjustment of the ship, can predict the motion condition of the main hook based on the environmental state and the ship state, and obtains the window time of the stable motion of the main hook, thereby being convenient for the safe operation of operators;

9. The safety of the main hook operation is pre-warned, when the probability that the main hook possibly exceeds the safety operation threshold value is judged to be high, the current state is considered to be unstable, the main hook operation is at risk, and the safety of the whole ship operation construction is improved by sending the pre-warning to operators to avoid the dangerous operation;

10. The method is very simple, and the decisions of ship adjustment and hoisting equipment operation are made by combining the environment state, the ship state and the equipment operation state, so that operation personnel can conveniently operate, and the operation efficiency and the safety are greatly improved.

According to the crane ship stability information calculation result and the stability standard, real-time stability safety check is carried out, stability safety early warning is realized, and the stability safety of ship operation is ensured; aiming at the safety abnormal state, the early warning position is positioned rapidly, the reason analysis can be carried out, the ballast adjustment operation suggestion is given, the decision time of constructors is reduced, the occurrence of accidents is effectively avoided, and the construction accident loss is reduced.

According to the method, the stress of the key position of the ship hoisting equipment is calculated in real time, and the calculation of the stress condition of all positions of the structure is realized based on the measured stress of part of measuring points; real-time total strength and local strength check is carried out according to the structural stress calculation result, so that structural strength safety early warning is realized; aiming at the abnormal state of the structural strength, the early warning position is rapidly positioned, the reason analysis can be carried out, the structure possibly having failure risk is provided, constructors are prompted to timely analyze, maintain and replace the structural blocks, and the remote detection and overall arrangement of the ship operation integral structure are realized.

According to the application, real-time ship online monitoring data such as wave environment, ship six-degree-of-freedom motion, propeller rotation speed and direction, anchor cable tension and the like are taken as input, so that the statistical value of the ship overall six-degree-of-freedom motion is calculated in real time, and is matched with actual measurement motion data, and the ship motion prediction is completed; the multi-sensor technology is utilized to collect a large amount of data information and feed the data information back to the central console, so that the consumption of manpower and material resources in the working process can be greatly reduced, the construction cost is reduced, the risk can be predicted and avoided in advance, and the simulation of various working conditions and sea conditions of hoisting operation can be realized by using computer simulation software in a man-machine interaction mode, thereby greatly shortening the construction period and improving the construction quality.

Drawings

Fig. 1: the flow diagram of the operation auxiliary decision-making system of the application;

fig. 2: the data acquisition schematic diagram of the application;

Fig. 3: the application utilizes the laser radar to carry out wave surface measurement;

Fig. 4: the Doppler velocimeter is installed on a ship in a schematic mode;

fig. 5: the project schematic diagram of the visual monitoring system for auxiliary decision making of crane ship operation is provided;

Fig. 6: the application relates to a six-degree-of-freedom frequency domain motion response radar chart of a ship.

Detailed Description

Embodiments of the present invention are described in detail below, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative and intended to explain the present invention and should not be construed as limiting the invention.

In the description of the present invention, it should be understood that the terms "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on the drawings, are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention.

Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present invention, the meaning of "plurality" means at least two, for example, two, three, etc., unless specifically defined otherwise.

The invention will now be described in further detail with reference to the drawings and to specific examples.

The application relates to a crane ship operation auxiliary decision-making system, which is mainly applied to a fixed crane ship or a large pile driving ship with crane equipment.

Specifically, the auxiliary decision-making system comprises an operation environment sensing system, a ship stability and structural strength monitoring system, a ship motion monitoring and decision-making system and a crane ship operation monitoring and decision-making system. The operation environment sensing system is used for monitoring the environment state of the water area where the crane ship is located in real time. The ship stability and structural strength monitoring system is used for monitoring state information of a ship in real time, and the specific ship stability and structural strength monitoring system comprises a structural monitoring system and a structural simulation system; the structure monitoring system is used for monitoring the center of gravity of the ship and the local key structural stress of the ship on line; the structure simulation system is used for carrying out virtual-real mapping on the monitoring data of the structure monitoring system, the monitoring data of the operation environment sensing system and the ship stability virtual simulation model so as to extract stability key performance indexes, and carrying out ship stability assessment and dangerous structure working condition identification and early warning according to the stability key performance indexes. The ship motion monitoring and deciding system is used for monitoring the running state of the ship in real time and correspondingly combining the running state with the current environment information to assist an operator in making a ship adjustment decision, and the specific ship stability and structural strength monitoring system comprises a motion monitoring system and a motion simulating system; the motion monitoring system is used for monitoring the motion state of the ship and the state of the propeller on line; the motion simulation system is used for performing virtual-real mapping on the monitoring data of the motion monitoring system and the monitoring data of the operation environment sensing system and the ship motion virtual simulation model so as to extract motion critical indexes, and performing ship motion performance evaluation and dangerous motion condition recognition and early warning according to the motion critical indexes. The crane ship operation monitoring and deciding system is a core part of the whole deciding system and is mainly used for guiding, predicting and early warning the operation of the hoisting equipment and assisting an operator in making decisions on the operation of the hoisting equipment, and particularly comprises an operation monitoring system and an operation simulation system; the operation monitoring system is used for monitoring the state of the hoisting equipment in the operation process of the crane ship on line; the operation simulation system is used for carrying out virtual-real mapping on the monitoring data of the operation monitoring system, the monitoring data of the motion monitoring system, the monitoring data of the operation environment sensing system and the operation motion virtual simulation model so as to extract operation criticality indexes, and assisting an operator to carry out operation decision and dangerous operation condition identification and early warning according to the operation criticality indexes.

In actual operation, as shown in fig. 1, the crane ship operation auxiliary decision-making method based on environment state sensing and virtual-real mapping can be performed according to the following steps:

In some embodiments of the present application, as shown in fig. 2, the present embodiment optimizes the content of the real-time monitoring, and specifically, the operation environment sensing system of the present embodiment includes a wind monitoring module, a wave monitoring module and a flow monitoring module, where the wind monitoring module is used for collecting wind direction and wind speed of a water area where a crane ship is located, and may be obtained by using an ultrasonic anemometer installed at the top of a mast of a superstructure of a ship; the wave monitoring module is used for collecting the wave amplitude, wave frequency and wave direction of the wave in the water area where the crane ship is located, and can be obtained by adopting a laser wave measuring radar installed in the bow or the stern, as shown in fig. 3; the flow monitoring module is used for collecting the flow speed and flow direction of water in the water area where the crane ship is located, and can be obtained by using a Doppler flow rate meter arranged at the bottom of the side of the middle part of the ship, as shown in fig. 4. The equipment is connected with the central controller in a wireless or wired transmission mode, and corresponding acquired data are transmitted to the central controller.

The structure monitoring system of the embodiment comprises a ship gravity center monitoring module and a key structure stress monitoring module, wherein the ship gravity center monitoring module is used for monitoring ballast states, floating states and cargo carrying states of all tanks of a ship to obtain the gravity center height of the ship, and liquid level sensors are arranged on all tanks of the ship and sides of the ship, and are used for monitoring liquid level and water level in real time, so that ballast state, floating state and cargo carrying state information of all tanks of the ship are obtained, and the gravity center height of the ship can be obtained based on the information. The key structure stress monitoring module is used for arranging measuring points at the connection positions of the crane ship A frame, the hanging frame and the deck and carrying out stress monitoring on the measuring point positions, is not limited to the key positions in practical application, can select the key positions according to the structural characteristics of hoisting equipment, and then is provided with metal packaging fiber bragg grating strain sensors (the metal packaging fiber bragg grating strain sensors are more suitable for marine high-salt high-humidity environments and are not interfered by electromagnetic signals relative to the traditional resistance strain gauge), so that the stress monitoring is carried out on the key positions of the hoisting equipment.

The motion monitoring system of the embodiment comprises a navigation state monitoring module and a propeller state monitoring module, wherein the navigation state monitoring module is used for monitoring GPS position, course, navigational speed and six-degree-of-freedom motion parameters of a ship, a gyroscope installed in a center console can be used for acquiring pitching, rolling and rolling angles of the ship, and the GPS position, course, navigational speed, pitching, swaying and heave displacement of the ship can be acquired through a GPS-RTK positioner installed in the center console. The propeller state monitoring module is used for monitoring the rotating speed and the direction of the propeller of the ship, and the rotating speed and the direction of the propeller can be obtained through the propeller control system.

The crane ship operation monitoring of this embodiment includes the crane equipment monitoring module, and the crane equipment monitoring module is used for monitoring each winch cable power, main hook motion, lifting, become width of cloth angle in the crane ship operation in-process, can measure the cable power of each winch of hoist through the side pressure formula tension sensor of installing on the hoist, adopts the laser radar who is fixed in on deck or the cantilever crane to carry out and fix a position main hook space motion, acquires main hook motion state, lifting, adopts the unipolar inclinometer that is fixed in the gallows to measure and becomes width of cloth angle.

The above is the data acquisition system part of the embodiment, including the acquisition of environmental state information parameters, the acquisition of parameters of ship motion states, and the acquisition of parameters of hoisting equipment states.

In other embodiments of the present application, the collected data of the above embodiments is processed, so as to early warn dangerous situations in the working process, and avoid dangerous working situations caused by operating the crane ship by operators.

The structural simulation system of the embodiment comprises a gravity center high early warning module and a structural stress abnormality early warning module, wherein the gravity center high early warning module determines the gravity center height of the ship according to the ballast state, the floating state and the cargo carrying state of each cabin of the ship, and sends out early warning when the gravity center height exceeds the set gravity center height, and the gravity center high early warning module can analyze the gravity center high according to the loading condition and the gravity center height of the ship to obtain cabins and cargoes which cause the gravity center to be too high, so as to provide corresponding operation suggestions (such as ballast water adjustment or cargo loading adjustment) for operators, and ensure that the stability of the ship is in a safe state. The structural stress abnormality early warning module sends out structural stress abnormality early warning when the stress of the measuring point exceeds the set stress, stress monitoring is carried out on the key position of the hoisting equipment according to the embodiment, and when the real-time stress acquired by the measuring point at the key position exceeds 90% of allowable stress (determined according to materials and structural properties), early warning can be sent out to operators, and the operators can carry out corresponding operation according to the position of the measuring point of the early warning. In actual operation, the area with the structural strength lower than the safety allowable stress can be positioned as a weak area, and operators pay attention to the weak area in real time, so that damage is avoided.

The motion simulation system of the embodiment comprises a motion early warning module, wherein the motion early warning module monitors and predicts six-degree-of-freedom frequency domain motion response of the ship according to monitoring data of the operation environment sensing system and GPS position, course, navigational speed and six-degree-of-freedom motion parameters of the ship, and gives out warning when the monitored and predicted six-degree-of-freedom frequency domain motion response of the ship exceeds a set limit value, and reminds operators.

Calculating a mass matrix, a damping matrix and a rigidity matrix of the ship based on the acquired ship state parameters, namely the carrying capacity, the tank ballast and the draft of the ship, and establishing a frequency domain ship overall motion model taking a wave spectrum observed by a laser wave measuring radar as an input according to the ship motion potential flow theory in the frequency domain wave according to the mass matrix, the damping matrix and the rigidity matrix of the ship: the frequency domain radiation and the diffraction wave force in the frequency domain ship integral motion model are calculated by taking the wave spectrum observed by the laser wave measuring radar as input and adopting a boundary element method. The six-degree-of-freedom frequency domain motion response of the ship under the current wave environment, different waves downwards and different draft can be obtained by solving the frequency domain ship overall motion model.

After the six-degree-of-freedom frequency domain motion responses of the ships under different waves and different draft are obtained, the six-degree-of-freedom frequency domain motion responses of the ships under each wave are calculated, a radar chart (shown in fig. 6) of the wave direction and the six-degree-of-freedom frequency domain motion responses of the ships is formed, the radar chart of the wave direction and the six-degree-of-freedom frequency domain motion responses of the ships can be visually displayed, and the visual display of the radar chart of the wave direction and the six-degree-of-freedom frequency domain motion responses of the ships is convenient for operators to check. The radar map based on the wave direction and the six-degree-of-freedom frequency domain motion response of the ship can assist an operator to make decision, for example, when the six-degree-of-freedom frequency domain motion response of the ship exceeds a motion upper limit (experience value), the current situation is considered to be unsuitable for construction, construction needs to be suspended, and early warning can be sent to the operator.

The ship six-degree-of-freedom frequency domain motion response of a ship in a future period can be predicted by judging the current observed environmental state, for example, the ship six-degree-of-freedom frequency domain motion response of the ship in a future period is observed (for example, the ship is expected to be acted on the ship body after 3min, the ship six-degree-of-freedom frequency domain motion response of the ship after 3min can be calculated according to the wave direction), then the first probability exceeding a first safety threshold (determined according to the limit value of the ship motion in a specific hoisting operation scene) is calculated based on the predicted ship six-degree-of-freedom frequency domain motion response, and when the calculated first probability exceeds 5% (the first probability limit value or other limit values, as long as the actual requirement is met), the predicted period is considered unsuitable for construction, the construction needs to be suspended, and corresponding early warning is sent to an operator. If it is not more than 5%, the construction can be normally performed.

The operation simulation system of the embodiment comprises a ship adjustment decision module and a main hook operation decision module, wherein the ship adjustment decision module determines the minimum wave direction and the minimum draft when the motion response is minimum based on the current wave direction parameter acquired by the operation environment sensing system and the current ship draft acquired by the motion monitoring system, so that decision suggestions of taking the minimum wave direction and the minimum draft as the optimal wave direction and the optimal draft in the current environment are made.

Specifically, according to the obtained six-degree-of-freedom frequency domain motion response of the ship under different wave directions and different draft, the minimum wave directions and the minimum draft corresponding to the minimum six-degree-of-freedom frequency domain motion response of the ship under different wave directions and different draft are identified, and at the moment, an operation decision taking the minimum wave directions and the minimum draft as the current optimal wave directions and the optimal draft can be made by assisting an operator, and the specific operation is to assist the operator to adjust the wave directions and the draft to the optimal wave directions and the optimal draft by adjusting the bow directions and the ballast of the ship.

The motion early warning module can forecast future motion conditions of the ship in advance, early warning is carried out when the motion response of the six degrees of freedom frequency domain of the ship exceeds a first safety threshold, the ship adjustment decision module can adjust the wave direction and draft to the optimal wave direction and the optimal draft by adjusting the bow direction and the ballast of the ship, the adjustment mode can adjust the motion response of the six degrees of freedom frequency domain of the ship to the minimum, that is to say, the motion amplitude of the ship can be minimum by the adjustment mode, and under certain conditions, the condition which does not meet the operation requirement originally can be adjusted to the condition which meets the operation requirement.

The main hook operation decision module of the embodiment calculates a time interval for stabilizing the main hook motion in the future of 2 min-5 min based on the current environment state acquired by the operation environment sensing system and the current ship state acquired by the motion monitoring system, so as to make a decision suggestion of a time window for the main hook object hanging operation.

Specifically, the operation of the lifting device is mainly that the motion of the main hook is affected by a plurality of factors, the motion of the main hook on the lifting vessel is affected by environmental factors and the motion of the main hook is affected by the ship itself, in order to obtain a safe operation window of the motion of the main hook, the environmental factors and the ship factors need to be considered, as described above, the embodiment obtains radar graphs of different wave directions and the motion response of the six degrees of freedom frequency domain of the ship in the above, the radar graphs are actually associated with the wave directions and the motion response of the six degrees of freedom frequency domain of the ship, the motion response of the six degrees of freedom time domain of the ship in the future 2min to 5min can be predicted based on the radar graphs, then the motion response of the six degrees of freedom time domain of the ship in the future 2min to 5min and the motion condition of the main hook in the future 2min (the motion condition of the main hook is only indicated as the condition of normal motion of the main hook under the condition without considering the ship and the environmental influences), the time domain motion tilt angle of the main hook in the time period can be calculated, the time domain motion tilt angle of the main hook is selected from the motion tilt angle of the main hook in the time domain motion is the most stable (actually the motion tilt of the main hook is the motion amplitude of the main hook is the minimum), and then the main hook can be calculated as a decision window for the operation window of the corresponding operation personnel in the future.

The operation simulation system of the embodiment further comprises an operation early warning module, wherein the operation early warning module calculates a second probability that the motion of the main hook and the suspended object exceeds a second safety threshold in the current operation process according to the current ship motion state acquired by the motion monitoring system and the main hook motion state acquired by the operation monitoring system, and sends early warning when the second probability exceeds a second probability limit.

In the above, the time domain motion swing angle of the main hook is obtained in this embodiment, and the second probability that the motion of the main hook and the suspended object exceeds the second safety threshold in the current working process can be calculated based on the time domain motion swing angle of the main hook, where the second safety threshold is determined according to the limit value of the motion of the suspended object in the specific lifting construction working scene. The calculated second probability can be displayed in the system in a visual mode, so that the operator can check conveniently, if the calculated second probability exceeds 10% (the second probability limit value can also be other values), the main hook movement amplitude is considered to be too large, construction needs to be suspended, early warning is sent to the operator, and if the calculated second probability does not exceed 10%, normal construction can be performed.

The main hook operation decision module is used for obtaining a safety operation window in a certain period of time in the future, and the operation early warning module is used for monitoring the motion state of the main hook operation in real time so as to avoid the occurrence of safety risks due to overlarge motion range of the main hook.

The crane ship of the application can be operated according to the following steps:

Step one: the method comprises the steps of performing data acquisition, wherein the content of the data acquisition comprises environmental data acquisition, ship data acquisition and hoisting equipment data acquisition, the environmental data acquisition mainly comprises the steps of acquiring wind, wave and stream data of a current water area where a ship is located, acquiring wind speed and wind direction by adopting an ultrasonic anemometer arranged at the top of a mast of a ship superstructure, acquiring wave amplitude, wave frequency and wave direction of waves of the water area where the ship is located by adopting a laser wave-measuring radar arranged in a bow or a stern, and acquiring flow speed and flow direction of the water area where the ship is located by adopting a Doppler flow meter arranged at the bottom of a ship side in the middle of the ship;

The ship structure data acquisition comprises data acquisition of ship structure data and ship motion data acquisition, wherein the ship structure data acquisition comprises data acquisition of ballast states, floating states and cargo states of each cabin of a ship, each liquid cabin of the ship, a ship side, a ship bow and a ship stern are provided with liquid level sensors for acquiring the data, the ship structure data acquisition also comprises data acquisition of key structure stress, measuring points are arranged at connecting positions of a crane ship A frame and a crane frame and a deck, and metal package fiber grating strain sensors are arranged at the measuring points for acquiring stress data of key structure positions;

The ship motion data acquisition comprises ship navigation state data acquisition and propeller state data acquisition, wherein a gyroscope arranged in a central console is adopted to acquire data of pitching, rolling and rolling angles of a ship, a GPS-RTK positioning instrument arranged in the central console is adopted to acquire data of GPS positions, heading, navigational speed, pitching, swaying and heave displacement of the ship, and a propeller control system is adopted to acquire data of the rotating speed and the direction of the propeller;

The hoisting equipment data acquisition comprises the steps of carrying out data acquisition on the cable force, the main hook motion, the lifting and the luffing angle of each winch in the operation process of a hoisting ship, measuring the cable force of each winch of the crane by adopting a side pressure type tension sensor arranged on the crane, positioning the space motion of the main hook by adopting a laser radar fixed on a deck or a cantilever crane, acquiring the data of the main hook motion state and the lifting, and measuring the luffing angle by adopting a single-shaft inclinometer fixed on the lifting frame;

Step two: the method comprises the steps of constructing an operation virtual simulation model, firstly constructing a ship integral motion model, constructing a frequency domain ship integral motion model which takes a wave spectrum observed by a laser wave measuring radar as an input according to a ship motion potential flow theory in frequency domain waves according to a ship quality matrix, a damping matrix and a rigidity matrix, calculating the frequency domain radiation and diffraction wave force in the frequency domain ship integral motion model by taking the wave spectrum observed by the laser wave measuring radar as the input by adopting a boundary element method, solving the frequency domain ship integral motion model, and calculating frequency domain ship motion responses of different waves downward and different draft angles under the current wave environment, wherein after the frequency domain ship motion responses are obtained, the six-degree-of-freedom frequency domain ship motion responses of each wave downward are calculated, so as to form a radar graph of the six-degree-of-freedom frequency domain ship motion responses;

Then a dynamic model of main hook motion is built, a dynamic model of the time domain coupling ship and the main hook motion is built based on a ship and main hook motion prediction theory in the time domain coupling wave, restoring force, incident wave force, radiation force, diffraction force and second order force in the dynamic model of the main hook motion are calculated through a frequency-to-time method, after the main hook motion model is built, a main hook time domain motion swing angle can be extracted from the dynamic model of the main hook motion, and the main hook time domain motion swing angle is calculated based on a coordinate of a lifting point on a ship arm support relative to a geodetic coordinate system;

carrying out real-time solution on a second-order ordinary differential equation set in a dynamic model of time domain coupled ship and main hook motion by a Dragon's tower method to obtain a ship time domain six-degree-of-freedom motion response and a main hook time domain motion swing angle within 2-5 min in the future;

Step three: the method comprises the steps of making an operation auxiliary decision, adopting a frequency domain ship integral motion model to calculate and obtain six-degree-of-freedom frequency domain motion response of a ship with each wave downwards based on a real-time observed environment and a ship state, forming a radar chart of the six-degree-of-freedom frequency domain motion response of the ship with each wave downwards, and displaying the radar chart in a visual monitoring system (the visual monitoring system for the crane ship operation auxiliary decision can check a plurality of projects, particularly shown in fig. 5), so as to facilitate the check of operators, assist the construction operators in developing the construction decision, check the six-degree-of-freedom frequency domain motion response of the ship corresponding to the current wave downwards according to the relation between the wave downwards and the six-degree-of-freedom frequency domain motion response of the ship, and if the six-degree-of-freedom frequency domain motion response of the ship exceeds a set response value, considering that the current ship is not suitable for construction operation and needs to be suspended, otherwise, and performing construction operation;

Forecasting the six-degree-of-freedom frequency domain motion response of the ship under the current observation wave spectrum based on the real-time observation environment and the ship state by adopting a frequency domain ship integral motion model, namely, actually observing the wave direction about to act on the ship in the future, acquiring the six-degree-of-freedom frequency domain motion response of the ship in a certain time period in the future by inquiring the wave direction and a radar chart of the six-degree-of-freedom frequency domain motion response of the ship, calculating the first probability exceeding a first safety threshold value in the time period based on the six-degree-of-freedom frequency domain motion response of the ship, displaying the first probability in an auxiliary decision-making visual monitoring system, assisting construction operators in carrying out construction decisions, considering that the forecasted time period is not suitable for construction when the calculated first probability exceeds 5% (the first probability limit value or other values), and sending corresponding early warning to the operators, and considering that the forecasted time period is suitable for construction if the calculated first probability exceeds 5%;

Calculating to obtain six-degree-of-freedom frequency domain motion responses of the ship at each draft based on real-time observation environment and ship state by adopting a frequency domain ship overall motion model, forming a radar chart of the draft and the six-degree-of-freedom frequency domain motion responses of the ship, identifying the minimum wave direction and the minimum draft corresponding to the time when the six-degree-of-freedom frequency domain motion responses of the ship at different wave directions and the draft reach the minimum, assisting an operator in making decisions with the minimum wave direction and the minimum draft as the optimal wave direction and the optimal draft, displaying the obtained optimal wave direction and the optimal draft in an auxiliary decision-making visual monitoring system, assisting a construction operator in developing construction decisions, and adjusting the wave direction and the draft to the optimal wave direction and the optimal draft by adjusting the wave direction and the ballast after the operator obtains the decisions of the optimal wave direction and the optimal draft;

Calculating six-degree-of-freedom time domain motion response and a time domain motion swing angle of the main hook of the ship within 2-5 min in the future by adopting a time domain coupling main hook motion dynamics model based on a real-time observed environment and ship state, selecting a time period with the most stable main hook motion within 2-5 min in the future from the time domain motion swing angle of the main hook, namely a time period with the minimum main hook motion amplitude variance, displaying the time period in an auxiliary decision-making visual monitoring system, assisting construction operators in developing construction decisions, and making a main hook suspended object operation window by taking the time period as a main hook suspended object operation window;

In the process of hanging objects, calculating the second probability that the motion of the main hook and the hanging objects exceeds a second safety threshold in the current operation process according to the time domain motion response and the time domain motion swing angle of the main hook of the six degrees of freedom of the ship, which are obtained above, and displaying the second probability in an auxiliary decision-making visual monitoring system to assist construction operators in carrying out construction decisions, when the calculated second probability exceeds 10%, considering that the construction operators are not suitable for carrying out hanging object operations at present, needing to suspend construction, sending corresponding early warning to the operators, and if the calculated second probability does not exceed 10%, considering that the construction operators are suitable for carrying out construction.

The foregoing has shown and described the basic principles, principal features and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and that the above embodiments and descriptions are merely illustrative of the principles of the present invention, and various changes and modifications may be made without departing from the spirit and scope of the invention, which is defined in the appended claims. The scope of the invention is defined by the appended claims and equivalents thereof.

Claims

1. A crane ship operation auxiliary decision-making system, which is characterized in that: comprising the steps of (a) a step of,

2. A crane vessel operation aid decision-making system according to claim 1, characterized in that: the job environment awareness system includes,

3. A crane vessel operation aid decision-making system according to claim 1, characterized in that: the structure monitoring system comprises a plurality of monitoring devices,

4. A crane vessel operation aid decision-making system as claimed in claim 3, characterized in that: the structural simulation system comprises a plurality of simulation modules,

5. A crane vessel operation aid decision-making system according to claim 1, characterized in that: the motion monitoring system comprises a motion sensor system,

6. A crane vessel operation aid decision-making system as claimed in claim 5, wherein: the motion simulation system comprises a motion simulation system and a motion simulation system,

7. A crane vessel operation aid decision-making system according to claim 1, characterized in that: the crane vessel operation monitoring includes,

8. A crane vessel operation aid decision-making system as claimed in claim 7, wherein: the job simulation system includes a plurality of job simulation systems,

9. A crane vessel operation aid decision-making system according to claim 8, wherein: the job simulation system includes a plurality of job simulation systems,

10. A crane ship operation auxiliary decision-making method based on environment state perception and virtual-real mapping is characterized in that: the method is implemented by a crane ship operation aid decision system according to any one of claims 1-9, comprising the steps of: