CN118206028A

CN118206028A - Ship weight transfer system and transfer method

Info

Publication number: CN118206028A
Application number: CN202410530975.9A
Authority: CN
Inventors: 吴雄祥; 陈晓明; 王阳刚; 李军; 潘博玑; 余乐; 王桐
Original assignee: Guangzhou Salvage Bureau
Current assignee: Guangzhou Salvage Bureau
Priority date: 2024-04-29
Filing date: 2024-04-29
Publication date: 2024-06-18

Abstract

The invention discloses a ship weight transfer system and a ship weight transfer method, wherein the transfer system comprises a motion driving module, a supporting steel frame, a suspension type track, a lifting assembly, a load adjusting water tank, an active floating state compensation system and an operation control system; the motion driving module is fixed at the bottom of the load adjusting water tank, the bottom of the supporting steel frame is fixedly connected with the load adjusting water tank, and the top of the supporting steel frame is used for supporting the suspension type track; the lifting assembly is hung on the hanging type track and is used for lifting the target weight; the active buoyancy compensation system is used for calculating the parameters to be adjusted corresponding to the buoyancy compensation of the ship and transmitting the parameters to be adjusted to the operation control system; the operation control system is in communication connection with the active buoyancy compensation system and is used for controlling the traction force and the traction speed of the lifting assembly and the water quantity and the flow rate of the load adjusting water tank according to parameters to be adjusted. The transfer system of the invention realizes that the floating state balance state of the ship is always maintained when the heavy structural objects on the ship are transferred, and greatly improves the operation safety.

Description

Ship weight transfer system and transfer method

Technical Field

The invention relates to the field of water transportation, in particular to a ship weight transfer system and a ship weight transfer method.

Background

In water transportation, it is generally necessary to transfer a significant structure on a ship. The traditional ship heavy structure transferring method is mainly realized by a crane ship or large-scale wharf hoisting equipment. In order to hoist a major structure on a ship, on one hand, a ship berth is required to be frequently moved so that a lifting arm can reach a lifting condition, and on the other hand, complex cooperative operation is required to be carried out among a cargo carrier, a crane and a crane in the lifting process, and particularly for large cargoes, the operation difficulty is high and the operation period is long. In the working engineering, the method not only needs complex coordination and cooperation of all parties, but also has the risk of overlarge rolling or overlarge pitching of the ship caused by improper cooperation of the ship bank and improper load adjustment. The stability of the ship can be affected, the structural matters in the transferring process can be damaged, and even the ship capsizes and casualties safety accidents are caused. At present, a plurality of major accidents occur in the process of transferring the major structures of the ship.

In addition, conventional transfer methods are more challenging for vessels with poor self-load capacity. Such vessels often require additional large crane vessels, shore-based handling equipment, and other pumping equipment to be engaged in changing the position of the weight on the vessel and take a significant amount of time to load, which is a significant risk during the transfer process. In addition, as the length of the suspension arm which can be operated by the crane is limited, the ship position of the cargo carrier or the crane is frequently required to be adjusted, which leads to higher requirements on the berth space of an operation wharf during operation, high whole operation cost, long operation period, high risk and low efficiency.

Disclosure of Invention

The invention provides a ship weight transfer system and a ship weight transfer method, wherein the system is provided with an active buoyancy compensation system, so that the buoyancy balance state of the whole ship system of a ship-weight-transfer system can be always maintained when a heavy structure on a ship is transferred, no heel and toe occur, and the operation safety is greatly improved. In addition, the method is also beneficial to the ships with poor load adjusting capability to adjust ballast water or balance floating state for a long time, and avoids risks caused by incapability of leveling in time in short time.

According to an aspect of the present invention there is provided a marine weight transfer system, the system comprising: a supporting steel frame, a hanging rail, a lifting assembly, a load adjusting water tank, an active buoyancy compensating system and an operation control system, wherein,

The bottom of the supporting steel frame is fixedly connected with the load adjusting water tank, and the top of the supporting steel frame is used for supporting the suspension type track;

the lifting assembly is hung on the hanging type track and is used for lifting the target weight;

The active buoyancy compensation system is used for acquiring initial parameters of the ship and the transfer system, parameters of the load adjusting water tank and parameters of the target weight, calculating parameters to be adjusted corresponding to buoyancy compensation of the ship by using a programmed running program according to the initial parameters, the parameters of the load adjusting water tank and the parameters of the target weight, and transmitting the parameters to be adjusted to the operation control system;

The operation control system is in communication connection with the active buoyancy compensation system and is used for controlling the traction force and the traction speed of the lifting assembly and the water quantity and the flow rate of the load adjusting water tank according to the parameters to be adjusted so as to adjust the buoyancy of the ship.

In one possible implementation, the method further includes: a motion driving module, wherein,

The motion driving module is fixed at the bottom of the load adjusting water tank and comprises at least two tire groups, a driving power group, a control module and a telescopic folding frame;

the tire group is arranged at a groove downwards at the bottom of the load adjusting water tank and is fixedly connected with the load adjusting water tank through the telescopic folding frame;

The driving power set is used for driving the tire set to move, and the control module is used for controlling the driving power set and the telescopic folding frame.

In one possible implementation manner, the control module is specifically configured to:

and controlling the telescopic folding frame to be in a straightening state so that the total height of the telescopic folding frame and the tire group is larger than the height of the groove, and controlling the driving power group to enable the tire group to move to a target position under the condition that the total height of the telescopic folding frame and the tire group is larger than the height of the groove.

In a possible implementation manner, the control module is specifically further configured to:

The telescopic folding frame is controlled to be in a straightening state, so that the total height of the telescopic folding frame and the tire group is smaller than the height of the groove, a load adjusting water tank of the ship weight transfer system is located on a deck, and the load adjusting water tank is fixedly connected with the deck of the ship. Wherein, the fixing mode can be welding and bolt connection.

In one possible implementation, the telescopic folding frame is composed of a foldable arm and a telescopic shaft;

The foldable arm is divided into two folding drums, is folded at least two angles and is used for fixing after folding, the telescopic shaft is arranged in the folding drum at the bottom end of the foldable arm, and the telescopic shaft stretches out and draws back by pulling out or inserting into the folding drum.

In one possible implementation, the active buoyancy compensation system includes a detection component and a computing device;

The detection component is used for detecting the wind speed in real time, detecting the weight, the position and the moving speed of the target weight in real time as parameters of the target weight, detecting the water quantity and the flow rate of the load adjusting water tank in real time as parameters of the load adjusting water tank, and detecting the motion gesture of the ship and the stress strain corresponding to the transfer system in real time as the initial parameters;

The calculation device is used for calculating corresponding parameters to be adjusted when the ship system is kept in a balanced state in the moving process of the target weight in real time according to the wind speed, the parameters of the target weight, the parameters of the load adjusting water tank and the initial parameters, and sending the parameters to be adjusted to the operation control system;

The parameters to be adjusted comprise traction force and traction speed of the lifting assembly for lifting the target weight, and water quantity and flow rate of the load adjusting water tank.

In one possible implementation manner, the operation control system is specifically configured to:

And generating a control signal according to the parameter to be adjusted, and sending the control signal to the lifting assembly and the load adjusting water tank so as to adjust the traction force and the traction speed of the lifting assembly and the water quantity and the flow rate of the load adjusting water tank based on the control signal.

In one possible implementation manner, the number of the load-adjusting water tanks is at least two, the load-adjusting water tanks are distributed along the bottom horizontal plane of the transfer system, and a communicating circulating water pipe is arranged between the at least two load-adjusting water tanks;

The load-adjusting water tanks are provided with a circulating water system, and the circulating water system is used for adjusting the dynamic pressing-in and discharging of the water quantity between at least two load-adjusting water tanks through the circulating water pipes based on the control signals.

In one possible implementation manner, the load-adjusting water tank comprises a first water tank and a second water tank, and the circulating water system is specifically used for:

According to the control signal, the first water tank is controlled to carry out ballasting, and the second water tank is controlled to carry out discharging;

in the moving process of the target weight, the first water tank is a water tank far away from the target weight, and the second water tank is a water tank close to the target weight.

According to another aspect of the invention, there is provided a ship weight transfer method, the method being applied to a ship weight transfer system, the transfer system comprising a support steel frame, a suspended track, a lifting assembly, a load-adjusting water tank, an active buoyancy compensation system and an operation control system, the bottom of the support steel frame being fixedly connected to the load-adjusting water tank, the top of the support steel frame being used for supporting the suspended track, the lifting assembly being suspended from the suspended track;

Wherein the method comprises the following steps:

The ship weight transfer system is passed through a barge and moved to a balance position;

controlling the lifting assembly to move to the position right above the target weight, and lifting the target weight through the lifting assembly;

When the lifting assembly drives a target weight to move to a target position, acquiring initial parameters of a ship and the transfer system, parameters of the load adjusting water tank and parameters of the target weight through the active buoyancy compensation system, calculating a parameter to be adjusted corresponding to buoyancy compensation of the ship according to the initial parameters, the parameters of the load adjusting water tank and the parameters of the target weight, and transmitting the parameter to be adjusted to the operation control system;

controlling the traction force and the traction speed of the lifting assembly, and the water quantity and the flow rate of the load adjusting water tank according to the parameters to be adjusted through the operation control system;

and after the lifting work is finished, the ship weight transfer system is passed through a barge to be off the ship. According to another aspect of the present invention, there is provided an electronic apparatus including:

at least one processor; and

A memory communicatively coupled to the at least one processor; wherein,

The memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the ship weight transfer method according to any one of the embodiments of the present invention.

According to another aspect of the invention there is provided a computer readable storage medium storing computer instructions for causing a processor to perform a ship weight transfer method according to any of the embodiments of the invention.

According to the technical scheme, the object weight is lifted through the lifting assembly; acquiring initial parameters of the ship and the transfer system, parameters of the load adjusting water tank and parameters of the target weight through an active buoyancy compensation system, calculating a parameter to be adjusted corresponding to buoyancy compensation of the ship according to the initial parameters, the parameters of the load adjusting water tank and the parameters of the target weight, and transmitting the parameter to be adjusted to the operation control system; and controlling the traction force and the traction speed of the lifting assembly and the water quantity and the flow rate of the load adjusting water tank according to the parameters to be adjusted through the operation control system. The method changes the traditional lagging operation modes that manual communication is needed between the crane ship and the cargo carrier and between the shore machine and the cargo carrier and each system operates independently, realizes the automatic and intelligent transfer of important structural objects on the ship, and has high efficiency and safety in the whole process. The transfer task can be completed without the help of an onshore crane and a crane ship, the stability of the ship floating state can be always maintained through the monitoring and load adjustment of the self-balancing system in the transfer process, and the operation window is larger. The method has important significance for improving the working efficiency, reducing the cost and enhancing the safety, and is a technical progress especially for ships with poor self load adjusting capability. The invention is especially suitable for many laggard ocean countries and regions which lack good operation wharfs and crane ships in the world, and has great effect on promoting ocean economy.

It should be understood that the description in this section is not intended to identify key or critical features of the embodiments of the invention or to delineate the scope of the invention. Other features of the present invention will become apparent from the description that follows.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a block diagram of a ship weight transfer system according to an embodiment of the present invention;

Fig. 2 is a flowchart of a ship weight transfer method according to a second embodiment of the present invention;

Fig. 3 is a schematic diagram of a ship weight transfer system according to a third embodiment of the present invention;

Fig. 4 is a schematic view of a weight before lifting according to a third embodiment of the present invention;

FIG. 5 is a schematic view illustrating a transferring operation in a first working stage according to a third embodiment of the present invention;

FIG. 6 is a schematic view illustrating a transferring operation in a second working stage according to a third embodiment of the present invention;

fig. 7 shows a schematic diagram of an electronic device that may be used to implement an embodiment of the invention.

Detailed Description

In order that those skilled in the art will better understand the present invention, a technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.

It should be noted that the terms "first," "second," and the like in the description and the claims of the present invention and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the invention described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

Example 1

Fig. 1 is a block diagram of a ship weight transfer system according to a first embodiment of the present invention, which is applicable to a situation in which a heavy structure on a ship is transferred.

Referring to fig. 1, the shipboard heavy cargo transfer system includes a support steel frame 20, a suspended track 30, a trolley assembly 40, a ballast tank 50, an active buoyancy compensation system 60, and an operational control system 70.

The bottom of the supporting steel frame 20 is fixedly connected with the load adjusting water tank 50, and the top of the supporting steel frame 20 is used for supporting the suspension rail 30; the lifting assembly 40 is suspended from the suspended track 30 for lifting the target weight. Wherein the target weight is a heavy load or a heavy structure to be transferred, and the type of the target weight is not particularly limited herein.

The active buoyancy compensation system 60 is configured to obtain initial parameters of the ship and the transfer system, parameters of the load-adjusting water tank 50, and parameters of the target weight, calculate parameters to be adjusted corresponding to buoyancy compensation of the ship according to the initial parameters, the parameters of the load-adjusting water tank 50, and the parameters of the target weight, and transmit the parameters to be adjusted to the operation control system 70.

The initial parameters include parameters corresponding to the ship motion gesture and the stress strain of the transfer system, the parameters of the load adjusting water tank 50 may be the water quantity of the load adjusting water tank and the water quantity discharge or the ballasting flow rate, the load adjusting water tank 50 may realize the ballasting and discharge of the water quantity, the parameters of the target weight may be the weight, the position, the moving speed and the like of the target weight, the parameters to be adjusted may be calculated by the active buoyancy compensating system 60, and the parameters to be adjusted are parameters required to be adjusted by the load adjusting water tank 50 and the lifting assembly 40 when the ship-transfer system-target weight is in buoyancy balance.

The operation control system 70 is communicatively connected to the active buoyancy compensation system 60, and is configured to control the traction force and the traction speed of the lifting assembly 40, and the water volume and the flow rate of the load adjusting water tank 50 according to the parameters to be adjusted.

Specifically, the operation control system 70 may receive the parameter to be adjusted sent by the active buoyancy compensating system 60, and generate a control signal according to the parameter to be adjusted, so as to control the traction force and the traction speed when the lifting assembly 40 lifts the target weight, and the water volume and the ballast/discharge flow rate of the ballast adjusting water tank 50.

In one implementation, the transfer system further includes a motion driving module 10, where the motion driving module 10 is fixed at the bottom of the load-adjusting water tank 50, and the motion driving module 10 includes at least two tire sets, a driving power set, a control module, and a telescopic folding frame; the tire set is arranged at a groove downwards at the bottom of the load-adjusting water tank 50 and is fixedly connected with the load-adjusting water tank 50 through the telescopic folding frame; the driving power set is used for driving the tire set to move, and the control module is used for controlling the driving power set and the telescopic folding frame.

The tire group can be 4 groups, is arranged at the bottoms of the left support steel frame 20 and the right support steel frame 20, realizes that the whole transfer system moves on the deck by arranging the tire group, can move the transfer system from the shore to the target position of the deck of the ship by moving the tire group, and can move the transfer system to the shore again by the tire group after goods are transferred. Therefore, on one hand, the transfer system can be moved to the ship to transfer the ship target weight, and on the other hand, the transfer system has higher flexibility and can be moved to any ship needing to transfer heavy goods. Preferably, each tire group is connected in series by more than three side-by-side tires, so that the transfer system can safely run under a larger inclination angle.

Preferably, the load-adjusting water tank 50 includes a first water tank and a second water tank, and for a ship with poor self-adjusting capability, when the transfer system is on board, the first water tank is filled with ballast water, and the second water tank does not pressurize the load water. Then the telescopic folding frame under the first water tank is in a straightening state, the telescopic folding frame of the second water tank is in a folding state, the tire of the transfer system under the first water tank acts on the ship to move, and the second water tank is suspended. And when the second water tank reaches the position right above the ship target position, the second water tank telescopic folding frame starts to straighten. One side of the first water tank is slowly launched on the ship, and the other side of the first water tank simultaneously conveys ballast water of the first water tank to the second water tank through the circulating water pipe.

Preferably, the driving power group may be constituted by a driving motor, and the driving motor outputs a corresponding torque to be transmitted to the tire group, thereby providing the tire with motive power for movement. The control module can control the driving power group and the telescopic folding frame, for example, when the tires need to be rotated, driving control signals can be generated and transmitted to the driving power group, and the motor of the driving power group outputs corresponding torque and rotating speed according to the signals to accurately control the advancing, retreating or steering of the tires. The control module can also control the state of the telescopic folding frame to be in a straightening state or a folding state.

In one implementation, the control module is specifically configured to: and controlling the telescopic folding frame to be in a straightening state so that the total height of the telescopic folding frame and the tire group is larger than the height of the groove, and controlling the driving power group to enable the tire group to move to a target position under the condition that the total height of the telescopic folding frame and the tire group is larger than the height of the groove. At this time, the bottom of the load adjusting water tank 50 is in a non-contact state with the deck of the ship, and the whole transfer system is supported by the tire sets, so that the ship can freely move on the deck.

In one implementation, the control module is specifically further configured to: controlling the telescopic folding frame to be in a straightening state, so that the total height of the telescopic folding frame and the tire group is smaller than the height of the groove, and fixedly connecting the ship weight transfer system to the deck of the ship.

When the transfer system moves to the target position, the telescopic bracket can be folded, the tire group is contracted into the groove of the load adjusting water tank 50 in the folded state, the bottom of the load adjusting water tank 50 is contacted with the deck, namely, the transfer system is fixedly connected to the deck of the ship under the action of gravity, and then the transfer work of the target weight is executed.

In one implementation, the telescoping folding leg is comprised of a collapsible arm and a telescoping shaft; the foldable arm is divided into two folding drums, is folded at least two angles and is used for fixing after folding, the telescopic shaft is arranged in the folding drum at the bottom end of the foldable arm, and the telescopic shaft stretches out and draws back by pulling out or inserting into the folding drum.

In one implementation, the support steel frame 20 is composed of a steel structure, a first control chamber is arranged at the top of the support steel frame 20, and a second control chamber is arranged at the bottom of the support steel frame 20; the first control room is equipped with an active buoyancy compensation system 60 and the second control room is equipped with an operation control system 70. The calculation of the float compensation and the control of the load-carrying tank 50 and the lifting assembly 40 are realized.

In one implementation, the transfer system further includes an elevator system 80, based on which elevator system 80, the relevant personnel can rise into the first control room at the top of the support steel frame 20, so that the relevant personnel can monitor or overhaul the status of the active buoyancy compensating system 60.

In one implementation, the hanger rail 30 is at least one of "back" shaped, "cross" shaped, and "mouth" shaped, with the trolley assembly 40 sliding longitudinally or laterally through the hanger rail 30.

In practice, the path of the lifting can be planned according to the initial position and the target position of the target weight, then the lifting assembly 40 is controlled to slide on the hanging rail 30 based on the path, and when the lifting assembly slides to the cross loop, the rail transit switch can be controlled to be closed by operating the control system 70.

In one implementation, the traction system of the trolley assembly 40 consists of a winch and a wire rope. The front end, the back end, the left end and the right end of the lifting assembly 40 are respectively provided with a set of winch, the winch is fixed on the supporting steel frame beam, the lifting assembly 40 is connected with the lifting assembly 40 through a steel wire rope, the lifting assembly 40 is transferred along the hanging rail 30 through the traction force of the winch, and the traction rate parameter, the wire rope retraction length parameter, the operation control right and the like of the winch are connected into the operation control system 70, so that automatic control is realized.

In one implementation, the trolley assembly 40 is configured with a traction head that provides traction to move the trolley assembly along the suspended track 30. Preferably, the locomotive power is driven by electricity. The handling assembly 40 is configured with a braking system, a track turnout switching device.

In one implementation, the suspended track 30 is provided with a track turnout switching device in the cross intersection area, and the track turnout switching device is composed of a parallel track, a turning track, a track switching control system and a hydraulic rotator. The track conversion control system controls the hydraulic rotator to drive the parallel track and the turning track to convert.

In one implementation, in the handling assembly 40, the hooks are configured with a set of independent winch wire rope systems to effect retraction of the hooks. The lifting hook is provided with a hanging bracket.

In one implementation, the active buoyancy compensation system 60 includes a detection component and a computing device.

The detection component is used for detecting the wind speed in real time, detecting the weight, the position and the moving speed of the target weight in real time as parameters of the target weight, detecting the water quantity and the flow rate of the load-adjusting water tank 50 in real time as parameters of the load-adjusting water tank 50, and detecting the motion gesture of the ship and the stress strain corresponding to the transfer system in real time as initial parameters.

The calculating device is used for calculating corresponding parameters to be adjusted when the ship system is kept in a balanced state in the moving process of the target weight in real time according to the wind speed, the parameters of the target weight, the parameters of the load adjusting water tank 50 and the initial parameters, and sending the parameters to be adjusted to the operation control system 70;

The parameters to be adjusted include traction force and traction speed of the lifting assembly 40 for lifting the target weight, and water quantity and flow rate of the load adjusting water tank 50.

Specifically, the detection assembly detects the wind speed, the weight and position of the target weight lifted by the lifting assembly 40, the moving speed of the weight, the water quantity of each load-adjusting water tank 50, the quantity and output speed of the water quantity of each load-adjusting water tank 50, the motion gesture of the ship and the stress strain of the transfer system on the ship in real time. After detection, after the position of the target weight, the water quantity of the load-adjusting water tanks 50 and the initial parameters of the ship are obtained, a floating state compensation strategy is provided by calculation of a calculation device, corresponding parameters to be adjusted when the floating state of the whole ship system is kept in a balanced state in the moving process of the weight is fed back in real time, wherein the parameters include traction force and traction speed of lifting the weight, the compensation water quantity and output speed of each load-adjusting water tank 50, and the parameters to be adjusted are sent to an operation control system 70.

In one implementation, the control system 70 is configured to generate a control signal according to the parameters to be adjusted, and send the control signal to the lifting assembly 40 and the load-adjusting tank 50 to adjust the traction force and the traction speed of the lifting assembly 40, and the water volume and the flow rate of the load-adjusting tank 50 based on the control signal.

In this embodiment, the parameter to be adjusted can be calculated according to the change condition of the center of gravity caused by the transfer of the target weight, that is, according to the lifting speed of the lifting assembly and the pressure-discharge-load speed and water quantity adjustment of the load adjusting water tank, the change degree of the center of gravity caused by the transfer of the target weight can be counteracted, so that the floating balance of the ship is ensured.

Alternatively, the handling assembly 40 may be comprised of a rope, hanger and hook. Alternatively, the handling assembly 40 may be comprised of a gripper and telescoping arm.

In one implementation, the number of the load-adjusting water tanks 50 is at least two, the load-adjusting water tanks 50 are distributed along the bottom horizontal plane of the transfer system, and a communicating circulating water pipe is arranged between the at least two load-adjusting water tanks 50; the load-adjusting water tanks 50 are provided with a circulating water system for adjusting the dynamic pressure in and discharge of water quantity between at least two load-adjusting water tanks 50 through circulating water pipes according to parameters to be adjusted.

Specifically, the load-adjusting water tanks 50 are disposed at the 4 corners of the transfer system, connected to the operation control system 70, and configured to receive a control signal sent by the operation control system, and adjust the water volume and the load-pressing and discharging speed of the load-adjusting water tanks 50 according to the control signal. The load-adjusting water tanks 50 are provided with circulating water systems, the load-adjusting water tanks 50 are all provided with intercommunicated circulating water pipes, and the mutually dynamic pressing-in or discharging of the load-adjusting water tanks 50 is realized by using a circulating pump under the control of the operation control system 70 through the connection of the pipes. In addition, the ballast tank 50 is replenished with a sufficient amount of water prior to transferring the target weight, and no water is required to be drained from the sea water pressure during operation.

In one implementation, the load-adjusting water tank 50 includes a first water tank and a second water tank, and the circulating water system is specifically configured to: according to the control signal, the first water tank is controlled to carry out ballasting, and the second water tank is controlled to carry out discharging; in the moving process of the target weight, the first water tank is a water tank far away from the target weight, and the second water tank is a water tank close to the target weight.

Specifically, in the process of lifting a target weight by the transfer system and transferring and unloading the target weight, the water tank is pressed and discharged according to the position of the weight so as to achieve floating balance of the ship. The water tank pressure discharging operation is based on the position of the weight, and the water tank close to the weight discharges a certain amount of water, and the water tank far from the weight ballasts a corresponding amount of water.

In an embodiment of the present invention, the transfer system further includes: a pre-load module for determining a pre-load water amount based on the weight, initial position and target position of the target weight before the lifting assembly 40 lifts the target weight, and transmitting the pre-load water amount to the control operation system; the operation control system is also used for controlling the water regulating tank to execute pre-loading based on the pre-loading water quantity.

Specifically, the pre-loading is understood as a process of calculating the maximum water amount of the ballast needed by the ballast adjusting water tank in the process of lifting and transferring the target weight in advance through the weight of the target weight, the initial position where the target weight is placed and the target position before lifting the target weight, and performing ballast according to the maximum water amount. The maximum amount of water ballasted is the amount of pre-load water. Further, the pre-load water quantity is sent to a control operation system, and the control operation system generates a corresponding control signal according to the pre-load water quantity so as to control the load adjusting water tank to execute pre-load according to the pre-load water quantity. The pre-loading can be pre-loaded before boarding or after boarding.

In the pre-loading process of the embodiment, the water quantity stored in the load-adjusting water tank can be guaranteed to be sufficient, and in the actual lifting process, the load-adjusting water tank can be normally pressurized for load discharging, so that the situation that the ship is unbalanced in floating state due to insufficient water quantity in the process of ballasting or load discharging is avoided.

In a preferred implementation, load-adjusting tank 50 is formed by a tank, a tank level sensor, a vent pipe, a load-adjusting pipe (circulating water pipe), a load-adjusting pump, and a remote control valve to form a load-adjusting system that can control flow rate and monitor tank level (monitor tank water volume). The load control system can be connected to the operation control system 70, and is controlled based on a control signal of the operation control system 70 so as to realize automatic control of the load control water tank 50.

In one implementation, the power to the transfer system is provided by both an on-board power supply and an uninterruptible power supply (Uninterruptible PowerSupply, UPS) power supply, ensuring that the transfer system is powered by a single power supply in the event of an on-board power failure.

According to the technical scheme, the object weight is lifted through the lifting assembly; acquiring initial parameters of the ship and the transfer system, parameters of the load adjusting water tank and parameters of the target weight through the active buoyancy compensating system, calculating a parameter to be adjusted corresponding to buoyancy compensation of the ship according to the initial parameters, the parameters of the load adjusting water tank and the parameters of the target weight, and transmitting the parameter to be adjusted to the operation control system; and controlling the traction force and the traction speed of the lifting assembly and the water quantity and the flow rate of the load adjusting water tank according to the parameters to be adjusted through an operation control system. By the technical scheme provided by the embodiment of the invention, the technical problems that the traditional cargo transferring mode not only needs complex coordination and cooperation of all parties, but also has the risk of overlarge rolling or overlarge pitching of the ship caused by improper cooperation and improper load adjustment of the ship bank are solved, the automatic intelligent transfer of the target weight on the ship is realized, and the whole process is efficient and safe. The transfer task can be completed without the help of an onshore crane and a crane ship, the stability of the ship floating state can be always maintained through the monitoring and load adjustment of the self-balancing system in the transfer process, and the operation window is larger. The method has important significance for improving the working efficiency, reducing the cost and enhancing the safety, and is a technical progress especially for ships with poor self load adjusting capability. The invention is especially suitable for many laggard ocean countries and regions which lack good operation wharfs and crane ships in the world, and has great effect on promoting ocean economy.

Example two

Fig. 2 is a flowchart of a ship weight transfer method according to a second embodiment of the present invention, where the present embodiment is applicable to a ship weight transfer situation, and the method may be performed by a ship weight transfer system.

The transfer system comprises a support steel frame 20, a suspension type track 30, a lifting assembly 40, a load adjusting water tank 50, an active floating state compensation system 60 and an operation control system 70, wherein the bottom of the support steel frame is fixedly connected with the load adjusting water tank, the top of the support steel frame is used for supporting the suspension type track, and the lifting assembly is suspended on the suspension type track; the bottom of the support steel frame is fixedly connected with the load adjusting water tank, and the top of the support steel frame is used for supporting the suspension type track. Wherein the method comprises the following steps:

And S210, passing the ship weight transfer system on the ship, and moving the ship weight transfer system to a balance position. Firstly, the cargo ship is adjusted to a balanced state, the weight, the gravity center, the water displacement and the draft data of the ship are acquired, and the data are input into an active buoyancy compensation system 60 of the transfer system; and then, the weight, the gravity center, the size, the starting point and the end point coordinates of the moving goods of the target weight are obtained through analysis of the drawing, the site position diagram, the moving goods destination and other relevant data information of the target weight, and are input into the active floating state compensation system 60 of the transfer system.

The transfer system is transferred and fixed to the deck of the vessel under the drive of the motion drive module 10. Further, the active buoyancy compensating system 60 calculates the pre-load water amount of the load adjusting water tank 50 according to the input parameters, and the transfer system starts to pre-press the load adjusting water tank 50 to the corresponding load adjusting water amount. Alternatively, the flexible water pipe is extended out of the load adjusting water tank 50 and pumped into the seawater through the side of the ship; it can also be pumped in by industry or by ship.

Meanwhile, the transfer system detects the current wind speed in real time, and if the current wind speed exceeds a limit value, the operation is tentatively carried out; if at normal value, the position of the target weight is detected and the control system 70 is operated to send a signal to move the lifting assembly over the target weight.

S220, controlling the lifting assembly to move to the position right above the target weight, and lifting the target weight through the lifting assembly.

Specifically, the lifting assembly lifts and transfers the target weight according to a pre-planned line.

And S230, when the lifting assembly drives the target weight to move to the target position, acquiring initial parameters of the ship and the transfer system, parameters of the load adjusting water tank and parameters of the target weight through the active buoyancy compensation system, calculating a parameter to be adjusted corresponding to buoyancy compensation of the ship according to the initial parameters, the parameters of the load adjusting water tank and the parameters of the target weight, and transmitting the parameter to be adjusted to the operation control system.

Specifically, in the process of lifting, the position of the target weight, the weight center of gravity of the transfer system, the weight center of gravity of the lifting assembly 40, the water quantity and the center of gravity of the load adjusting water tank 50 are detected in real time through the active buoyancy compensating system 60, parameters input into the active buoyancy compensating system 60 before the combination are calculated according to an algorithm program to obtain the lifting path and the parameters to be adjusted of the load adjusting water tank 50, and the change conditions such as the wind speed condition, the weight center of the whole system, the position and the moving speed of the target weight, the weight center of gravity of the transfer system, the weight center of gravity of the lifting assembly, the water quantity of the load adjusting water tank 50 at each moment in the next stage are predicted. The active buoyancy compensation system 60 compares the real-time detection value with the prediction value, and if deviation is found, gives early warning of different grades according to the magnitude of the deviation.

S240, controlling the traction force and the traction speed of the lifting assembly and the water quantity and the flow rate of the load adjusting water tank according to the parameters to be adjusted through the operation control system.

Specifically, by operating the control system 70, a control signal is generated according to the parameters to be adjusted corresponding to the lifting path and the parameters to be adjusted of the load adjusting water tank 50, and the control signal is sent to the lifting assembly 40 and the load adjusting water tank 50; the lifting assembly 40 lifts the moving path and the moving speed of the heavy object on the suspension type track according to the parameters to be adjusted, and the load adjusting water tank 50 adjusts the water quantity and the load adjusting speed of the pressure drainage cabin of each water cabin according to the parameters to be adjusted.

When the weight reaches the target position, the lifting assembly 40 slowly drops the weight, and the active buoyancy compensation system 60 detects the stress condition of the lifting assembly 40 in real time and sends the parameters to be adjusted to the load adjusting water tank 50 until the weight of the target weight is transferred to the upper surface of the deck.

S250, after the lifting work is completed, the ship weight transfer system is passed through a barge to be launched.

For the ship with poor load adjusting capability and longer load adjusting period, after the target weight is transported to the target position, the ship system is in a floating unbalanced state, and long-time load adjustment is needed. After the weight is in place, the transfer system is removed from the vessel after the hose is extended through the load-adjusting tank 50 to pump the water out through the side of the vessel.

According to the technical scheme, the object weight is lifted through the lifting assembly; acquiring initial parameters of the ship and the transfer system, parameters of the load adjusting water tank and parameters of the target weight through the active buoyancy compensating system, calculating a parameter to be adjusted corresponding to buoyancy compensation of the ship according to the initial parameters, the parameters of the load adjusting water tank and the parameters of the target weight, and transmitting the parameter to be adjusted to the operation control system; and controlling the traction force and the traction speed of the lifting assembly and the water quantity and the flow rate of the load adjusting water tank according to the parameters to be adjusted through an operation control system. By the technical scheme provided by the embodiment of the invention, the technical problems that the traditional cargo transferring mode not only needs complex coordination and cooperation of all parties, but also has the risk of overlarge rolling or overlarge pitching of the ship caused by improper cooperation and improper load adjustment of the ship bank are solved, the unified automatic and intelligent transfer of the target weight on the ship is realized, and the whole process is efficient and safe. The transfer task can be completed without the help of an onshore crane and a crane ship, the stability of the ship floating state can be always maintained through the monitoring and load adjustment of the self-balancing system in the transfer process, and the operation window is larger. The method has important significance for improving the working efficiency, reducing the cost and enhancing the safety, and is a technical progress especially for ships with poor self load adjusting capability. The invention is especially suitable for many laggard ocean countries and regions which lack good operation wharfs and crane ships in the world, and has great effect on promoting ocean economy.

Example III

Fig. 3 is a schematic diagram of a ship weight transfer system according to a third embodiment of the present invention, where the calculation method and program for the water volume required for the load-adjusting tank in the two working stages are further refined based on the above embodiments.

As shown in fig. 3, the transfer system includes: the lifting assembly 41, the load adjusting water tank A, the load adjusting water tank B, the active compensation system 61, the operation control system 71 and the target weight 81.

In the embodiment of the present invention, after the transfer system gets on the ship, the active compensation system 61 obtains the parameters related to the buoyancy state of the ship 91, and performs initial load balancing to make the transfer system and the ship 91 in a buoyancy state balance, so as to prepare for lifting and transferring the target weight 81 by the lifting assembly 41.

Then, the lifting assembly 41 lifts the target weight 81, and the transfer system again adjusts the load balance.

Further, according to the moving distance of the weight, the water quantity of the load adjusting water tank A and the water quantity of the load adjusting water tank B in the corresponding real-time load adjusting and transferring system keep the floating state of the ship unchanged.

Specifically, during the transfer operation, the active buoyancy compensating system 61 adjusts the water volumes of the load adjusting water tank a and the load adjusting water tank B according to different operation states through two modes, so that the ship 91 is in a buoyancy balance:

fig. 4 is a schematic diagram of a target weight before lifting according to a third embodiment of the present invention.

Fig. 5 is a schematic diagram illustrating a transfer at a first stage of operation according to a third embodiment of the present invention. First-stage operation: the process of transferring the lifting target weight 81, i.e., the process of lifting the weight, to the target position without being detached. In this process, the floating state of the ship is kept unchanged, as shown in fig. 5:

The weight of the transfer system is divided into two ends, G respectively ₁、G₂

Weight G of target weight 81 on ship ₀

The weight G _Ship of the ship 91 is introduced later (G _Ship-G₀) because the weight G ₀ of the target weight 81 is a part of G _Ship when the target weight 81 is not lifted

The weights forming a moment equilibrium state, i.e. balanced on the centre of the mass, thereby obtaining

G ₁+G₂+G₀+(G_Ship-G₀)＝G_{Total (S)} weight remains unchanged

G₁ L₁+G₂ L₂+G₀ L₀+(G_Ship-G₀)L_{Ship 0}＝G_{Total (S)}L_{Total (S)}＝0 Total moment balance

Wherein: l _X is a moment arm and a vector; because of the moment balance, L _{Total (S)} is zero, and if the direction of L ₁ is the coordinate positive direction, the opposite is negative.

When the target weight 81 is lifted and moved Δl (note that Δl is a vector and coincides with the L _X direction coordinates)

The total weight is kept unchanged, and the moment balance is kept unchanged, then there is

G₁₁+G₂₁+(G_Ship-G₀)＝G_{Total (S)}

Moment of force ：G₁₁ L₁+G₂₁ L₂+(G_Ship-G₀)L_{Ship 0}＝G_{Total (S)}L_{Total (S)}＝0

Wherein G ₁₁、G₂₁ is the weight newly obtained by the weight redistribution of the target weight 81 and the ballast water adjustment by the lifting and moving Δl of the transfer system on the target weight 81 so as to maintain the weight and the moment balance.

G₁₁＝G₁+ΔG₀₁+ΔG₁₁ G₂₁＝G₂+ΔG₀₂+ΔG₂₁

Where Δg ₀₁、ΔG₀₂ is the weight of the target weight 81 distributed to both ends of the transfer system, Δg ₀₁+ΔG₀₂＝G₀;

Δg ₁₁,ΔG₂₁ is the amount of water each of tank a and tank B regulates, Δg is positive when ballasted, and Δg is negative when discharged.

Moment: ΔG ₀₁ L₁+ΔG₀₂ L₂＝G₀(L₀ - ΔL

From the following components (G₁+ΔG₀₁+ΔG₁₁)+(G₂+ΔG₀₂+ΔG₂₁)+(G_Ship-G₀)＝G_{Total (S)}

Can obtain ΔG ₁₁+ΔG₂₁＝0,ΔG₁₁＝-ΔG₂₁

Moment of force ：(G₁+ΔG₀₁+ΔG₁₁)L₁+(G₂+ΔG₀₂+ΔG₂₁)L₂+(G_Ship-G₀)L_{Ship 0}＝G_{Total (S)}L_{Total (S)}＝0

The weight balance equation and the moment balance equation can be obtained by combining: ΔG ₁₁、-ΔG₂₁

Through the solving result, the water quantity of the water tank A and the water tank B of the corresponding load-adjusting and transferring system can be obtained in real time according to the transferring distance of the target weight 81, and finally, the purpose that the ship floating state is unchanged in the weight lifting and transferring process is achieved.

Fig. 6 is a schematic diagram illustrating a transfer at a second stage of operation according to a third embodiment of the present invention. Second stage operation: the process of lifting the target weight 81 to the target position for unloading is performed while keeping the ship 91 in a floating state.

In the second stage operation process, the parameter definition and the vector direction are the same as those of the first stage operation, in order to ensure that the balance state is unchanged, after the target weight 81 moves delta L to the target position to be removed, the weight at the two ends of the transfer system is redistributed to obtain G ₁₂、G₂₂, and the following equation can be obtained according to the total weight invariance and the moment balance

G₁₂+G₂₁+G₀+(G_Ship-G₀)＝G_{Total (S)}

G₁₂ L₁+G₂₂ L₂+G₀ L₀+G₀(L₀-ΔL)+(G_Ship-G₀)L_{Ship 0}＝G_{Total (S)}L_{Total (S)}＝0

In combination with the above formulas, the respective amounts of water in the transfer system tank a and tank B can be adjusted when the target weight 81 is unloaded to the target position.

According to the technical scheme, the ship floating state balance system is used for detecting the position of a target weight lifted by the lifting assembly and the water quantity of the load adjusting water tank, determining corresponding parameters to be adjusted when the ship is in floating state balance based on the position of the target weight, the water quantity of the load adjusting water tank and the initial parameters of the ship, and sending the parameters to be adjusted to the operation control system; the control operation system generates a control signal according to the parameters to be adjusted, and adjusts the moving speed of the lifting assembly when lifting the target weight, the water quantity of the load adjusting water tank and the pressure load discharging speed according to the control signal. According to the scheme provided by the embodiment of the invention, in the process of lifting the target weight, the pressure and the discharge load of the load adjusting water tank are adjusted in real time according to the movement of the target weight, so that the ship is always in a floating state balance state, the traditional ship-shore cooperative operation mode is changed, and the safe and efficient transfer of the heavy structures on the ship is realized. The transfer task can be completed without the help of an onshore crane, and the stability of the ship floating state can be maintained through monitoring and load adjustment of a self-balancing system in the transfer process. The method has important significance for improving the working efficiency, reducing the cost and enhancing the safety, and is a technical progress especially for ships with poor self load adjusting capability.

Example IV

Fig. 7 shows a schematic diagram of an electronic device that may be used to implement an embodiment of the invention. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. Electronic equipment may also represent various forms of mobile devices, such as personal digital processing, cellular telephones, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the inventions described and/or claimed herein.

As shown in fig. 7, the electronic device 100 includes at least one processor 11, and a memory, such as a Read Only Memory (ROM) 12, a Random Access Memory (RAM) 13, etc., communicatively connected to the at least one processor 11, in which the memory stores a computer program executable by the at least one processor, and the processor 11 may perform various appropriate actions and processes according to the computer program stored in the Read Only Memory (ROM) 12 or the computer program loaded from the storage unit 18 into the Random Access Memory (RAM) 13. In the RAM13, various programs and data required for the operation of the electronic device 100 can also be stored. The processor 11, the ROM12 and the RAM13 are connected to each other via a bus 14. An input/output (I/O) interface 15 is also connected to bus 14.

A number of components in the electronic device 100 are connected to the I/O interface 15, including: an input unit 16 such as a keyboard, a mouse, etc.; an output unit 17 such as various types of displays, speakers, and the like; a storage unit 18 such as a magnetic disk, an optical disk, or the like; and a communication unit 19 such as a network card, modem, wireless communication transceiver, etc. The communication unit 19 allows the electronic device 100 to exchange information/data with other devices via a computer network, such as the internet, and/or various telecommunication networks.

The processor 11 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various specialized Artificial Intelligence (AI) computing chips, various processors running machine learning model algorithms, digital Signal Processors (DSPs), and any suitable processor, controller, microcontroller, etc. The processor 11 performs the various methods and processes described above, such as a ship weight transfer method.

In some embodiments, a ship weight transfer method may be implemented as a computer program tangibly embodied on a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program may be loaded and/or installed onto the electronic device 100 via the ROM12 and/or the communication unit 19. When the computer program is loaded into RAM13 and executed by processor 11, one or more steps of a ship weight transfer method as described above may be performed. Alternatively, in other embodiments, the processor 11 may be configured to perform a ship weight transfer method by any other suitable means (e.g., by means of firmware).

Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuit systems, field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), systems On Chip (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs, the one or more computer programs may be executed and/or interpreted on a programmable system including at least one programmable processor, which may be a special purpose or general-purpose programmable processor, that may receive data and instructions from, and transmit data and instructions to, a storage system, at least one input device, and at least one output device.

A computer program for carrying out methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the computer programs, when executed by the processor, cause the functions/acts specified in the flowchart and/or block diagram block or blocks to be implemented. The computer program may execute entirely on the machine, partly on the machine, as a stand-alone software package, partly on the machine and partly on a remote machine or entirely on the remote machine or server.

In the context of the present invention, a computer-readable storage medium may be a tangible medium that can contain, or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. The computer readable storage medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. Alternatively, the computer readable storage medium may be a machine readable signal medium. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

To provide for interaction with a user, the systems and techniques described here can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) through which a user can provide input to the electronic device. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic input, speech input, or tactile input.

The systems and techniques described here can be implemented in a computing system that includes a background component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such background, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), wide Area Networks (WANs), blockchain networks, and the internet.

The computing system may include clients and servers. The client and server are typically remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, also called a cloud computing server or a cloud host, and is a host product in a cloud computing service system, so that the defects of high management difficulty and weak service expansibility in the traditional physical hosts and VPS service are overcome.

It should be appreciated that various forms of the flows shown above may be used to reorder, add, or delete steps. For example, the steps described in the present invention may be performed in parallel, sequentially, or in a different order, so long as the desired results of the technical solution of the present invention are achieved, and the present invention is not limited herein.

The above embodiments do not limit the scope of the present invention. It will be apparent to those skilled in the art that various modifications, combinations, sub-combinations and alternatives are possible, depending on design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of the present invention.

Claims

1. A marine weight transfer system, comprising: a supporting steel frame, a hanging rail, a lifting assembly, a load adjusting water tank, an active buoyancy compensating system and an operation control system, wherein,

2. The transfer system of claim 1, further comprising: a motion driving module, wherein,

3. The transfer system of claim 2, wherein the control module is specifically configured to:

4. The transfer system of claim 2, wherein the control module is further operable to:

The telescopic folding frame is controlled to be in a straightening state, so that the total height of the telescopic folding frame and the tire group is smaller than the height of the groove, a load adjusting water tank of the ship weight transfer system is located on a deck, and the load adjusting water tank is fixedly connected with the deck of the ship.

5. The transfer system of any of claims 2-4, wherein the telescoping folding leg is comprised of a collapsible arm and a telescoping shaft;

6. The transfer system of claim 1, wherein the active buoyancy compensation system comprises a detection component and a computing device;

7. The transfer system of claim 1, wherein the operation control system is specifically configured to:

8. The transfer system of claim 7, wherein the number of said load-adjusting water tanks is at least two, said load-adjusting water tanks are distributed along the bottom horizontal plane of said transfer system, and a communicating circulating water pipe is provided between at least two of said load-adjusting water tanks;

9. The transfer system of claim 8, wherein the load-leveling tank comprises a first tank and a second tank, the circulating water system being specifically configured to:

10. The ship weight transferring method is characterized by being applied to a ship weight transferring system, wherein the transferring system comprises a supporting steel frame, a hanging rail, a lifting assembly, a load adjusting water tank, an active floating state compensation system and an operation control system, the bottom of the supporting steel frame is fixedly connected with the load adjusting water tank, the top of the supporting steel frame is used for supporting the hanging rail, and the lifting assembly is hung on the hanging rail;

Wherein the method comprises the following steps:

and after the lifting work is finished, the ship weight transfer system is passed through a barge to be off the ship.