KR101368872B1 - Floating structure and control method thereof - Google Patents

Abstract

The present invention relates to a floating structure and a control method thereof.
According to an aspect of the present invention, there is provided a floating structure operated in a navigation mode and a jack-up mode, comprising: a body capable of floating in water; A leg passing through the body in a vertical direction; Leg support portion for relatively moving the main body and the leg in the vertical direction; A sensing unit provided on at least one of the main body and the leg support and measuring the degree of inclination of the leg in a state perpendicular to the main body; And a vertical holding part for applying a force to the leg so that the leg may return to a state perpendicular to the main body according to the measurement result of the sensing part.

Description

Floating structure and control method

The present invention relates to a floating structure and a control method thereof.

As the demand for environmentally friendly energy development grows, the development using wind power generators is getting popular all over the world. However, installation of wind turbines requires strict environmental conditions. For example, the place where the wind turbine is installed should be a place where a certain level of wind speed can be guaranteed to obtain significant rotation of the blade, and the pollution caused by the noise generated when driving the wind turbine should not be an issue do. Even if the environmental conditions are satisfied, there is a problem that a very large area of space is required for installing the wind turbine generator.

In recent years, interest in offshore wind turbines has increased, which is relatively free from the above-mentioned constraints. Offshore wind turbines can be installed in a variety of ways, but generally they are constructed by dividing the components into several units, making them on land, and then transferring the units to sea for assembly.

A ship that moves offshore wind turbine units on the sea to the sea and installs offshore wind turbine generators is commonly referred to as a wind turbine installation vessel (WTIV).

Wind turbine installation The ship can be operated in the transit mode and the jackup mode according to the characteristics of the operation. Specifically, the ship installed with the wind turbine moves to the navigation mode to the position where the off-axis wind turbine is to be installed. In navigation mode, the legs may remain moved upward of the body to reduce resistance by seawater. After that, the ship installed with the wind power generator is switched to the jack-up mode, the leg is lowered into the sea floor, and then the main body is lifted up along the leg so that the main body is separated from the sea level by a certain distance. When the main body reaches a certain position, the wind turbine installation ship stops the movement of the main body and installs the offshore wind turbine generator. When the installation is completed, proceed in the reverse order to move to the next installation position.

As another example of the floating structure operated in the sailing mode and the jack-up mode as described above, there is a jack-up platform having a drilling function. The jack-up platform includes a dredge for drilling, moves to the drilling position in sailing mode, switches to jack-up mode, puts the leg down on the seabed, and then lifts the body along the leg. The jack-up platform performs the drilling operation while the main body is separated from the sea level. When the drilling operation is completed, the jack-up platform can be moved to the next drilling position in the reverse order of the above procedure.

However, the above-described conventional techniques have the following problems.

While the floating structure is in operation, the leg extends from the body floating above the sea level to the sea floor. Legs are subjected to various kinds of environmental loads such as wind, tides, waves, and the like, thereby causing a rack phase difference (RPD) phenomenon in which the legs are inclined with respect to the main body. Here, the RPD may be understood to mean a difference between the distance from the bottom of the body to the lower end of one leg and the lower end of the leg in a state where the leg is inclined with respect to the main body.

When the RPD becomes severe, that is, when the leg is inclined with respect to the main body, the moment due to the main body and the leg load acting on the leg increases, and in severe cases, the leg deforms or breaks and the entire floating structure There is a risk of stranding.

U.S. Published Unexamined Patent Application No. 2010/0067989 (published on May 18, 2010) U.S. Published Patent Application No. US2008 / 0247827 (published on September 10, 2008)

Embodiments of the present invention are to provide a floating structure and a control method thereof that can reduce the degree of inclination of the leg with respect to the body by the environmental load.

Another object of the present invention is to provide a floating structure capable of preventing damage to a leg and a control method thereof.

In addition, to provide a floating structure and a control method that can be stably operated for a long time.

According to an aspect of the invention, the floating structure which is operated in the navigation mode and jack-up mode, the body which can be suspended in water; A leg passing through the body in a vertical direction; A leg supporting portion for relatively moving the body and the leg in a vertical direction; A sensing unit provided on at least one of the main body and the leg support and measuring the degree of inclination of the leg in a state perpendicular to the main body; And a vertical holding part for applying a force to the leg so that the leg may return to a state perpendicular to the main body according to the measurement result of the sensing part.

In addition, the leg, the pillar portion extending in the vertical direction; A connecting portion connecting the pillars; And a rack gear provided in the pillar portion, wherein the vertical holding portion may provide a floating structure for applying a force to the pillar portion or the rack gear.

In addition, the vertical holding unit, the body; A rod drawn in and out of the body; And a roller connected to the rod and selectively contacting the leg to apply a force.

In addition, the vertical holding portion is arranged in a multi-layer structure surrounding the leg, and when the leg is inclined to a predetermined level or more with respect to the main body, only one or more of the vertical holding portion may apply a force to the leg.

The sensor unit may further include: a first sensor disposed at a relatively high position; And a second sensor disposed at a relatively low position.

In addition, the first sensor and the second sensor may provide a floating structure in which a plurality of the first sensor and the second sensor is arranged in a form surrounding the leg.

In addition, a wear plate may be disposed on the leg well formed in the main body to absorb an impact when the leg is collided.

According to another aspect of the present invention, a control method of a floating structure operated in the navigation mode and jack-up mode, the tilt detection step of measuring the degree of inclination of the leg in a perpendicular state to the body via the tilt detection unit; Determining whether the inclination of the leg measured in the inclination detecting step is within a preset range; And applying a force to a direction of reducing the inclination of the leg through a vertical holding unit driving unit according to the determination result.

In addition, the inclination detection unit, floating type for measuring the inclination of the leg through the distance between the inner wall of the leg support portion supporting the leg and the leg, and the sidewall of the leg well formed on the body and the leg It is possible to provide a control method of a structure.

In addition, the inclination detection unit is a floating type for measuring the inclination of the leg based on the pressure applied to the inner wall of the leg support portion for supporting the leg and the sidewall of the leg well formed in the body in the state that the leg is inclined It is possible to provide a control method of a structure.

In addition, the vertical holding unit driving unit may provide a control method of the floating structure to control the vertical holding unit so that the moment in the direction opposite to the direction in which the leg is inclined act on the leg.

Embodiments of the present invention can measure the inclination of the leg with respect to the main body in real time to adjust the inclination of the leg.

In addition, when the inclination of the leg is increased, it is possible to reduce the inclination of the leg by directly applying an external force to the leg to reduce the inclination of the leg.

In addition, by controlling the inclination of the leg, it is possible to prevent damage caused by the increase in the magnitude of the moment applied to the leg.

In addition, it is possible to operate the floating structure stably for a long time by preventing the main body tilting, and preventing damage to the legs.

1 is a perspective view showing a floating structure according to an embodiment of the present invention;
2 is a view showing a jack-up state of the floating structure of FIG. 1;
FIG. 3 is a cross-sectional view showing a state cut along the line II ′ of FIG. 2.
4 is a cross-sectional view schematically showing the force applied to the leg when the leg of Figure 1 is inclined with respect to the body.
5 is a block diagram showing the configuration of the floating structure of FIG.
6 is a flow chart showing a control method of the floating structure of FIG.

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

In the following description of the present invention, detailed description of known functions and configurations incorporated herein will be omitted when it may make the subject matter of the present invention rather unclear.

FIG. 1 is a perspective view showing a floating structure according to an embodiment of the present invention, and FIG. 2 is a diagram showing a jack-up state of the floating structure of FIG.

1 and 2, a floating structure 1 according to an embodiment of the present invention includes a main body 10 capable of floating in water, a leg 20 extending vertically through the main body 10, And leg supports 30 that relatively move the legs 20 and the main body 10 in the vertical direction and support the legs 20.

The floating structure 1 may be a wind turbine installation vessel (WTIV) or a jack-up platform. In this embodiment, the floating structure 1 is a wind turbine installation vessel I'll explain it to you. However, the spirit of the present invention is not limited to this, and any floating structure having a jack-up mode to be described later may be included in the scope of the present invention.

The body 10 may have a planar structure of a floating rectangular shape as shown in FIG. 1, and may be formed in a structure having a wide width, a low height, and a short length as compared with a general commercial line (for example, a container line) . However, this is merely an example, and the body 10 according to the teachings of the present invention may have any three-dimensional structure in which the legs 20 and the leg supports 30 can be installed.

The main body 10 can be loaded with the load 2 according to the function of the floating structure 1. A blade, a nacelle, a tower, or the like, which is a part of an offshore wind power generator, can be loaded as the object 2 to be loaded on the main body 10 and the loading unit 2 for fixing the object 2 to the main body 10 (12) may be provided. The type and loading method of the load 2 shown in Fig. 1 are merely an example, and the load 2 can be loaded in various forms within the scope of the present invention. For example, the blades and nacelle can be loaded separately from each other, and the load 2 can be a riser pipe if the floating structure 1 is a jack-up platform.

In addition, the main body 10 may be provided with a propulsion device (not shown) for movement and position control.

A plurality of legs 20 may be provided depending on the purpose of use of the floating structure 1. In the embodiment of the present invention, a total of four legs 20 are provided, one pair at each of the port and starboard sides of the main body 10 I will explain what is provided as an example.

Leg 20 is installed to penetrate the main body 10 in the vertical direction, the leg 10 (Leg Well, Fig. 4, W) through which the leg 20 passes is formed. The legs 20 can be moved downward of the main body 10 and fixed to the seabed so that they are rigid enough to withstand the load of the main body 10 in the jack-up state of FIG. 2, , A triangular truss structure, or the like. In the present embodiment, the legs 20 are formed in a triangular truss structure.

The leg support portion 30 is provided at a position corresponding to the leg well so that the leg 20 can pass therethrough and supports the leg 20 so that the leg 20 and the main body 10 can relatively move in the vertical direction . Specifically, the leg support 30 includes a driving device such as a motor (FIGS. 3 and 34), and moves the leg 20 in the vertical direction with respect to the main body 10 by the operation of the driving device 34. The main body 10 can be moved up and down with respect to the leg 20. For example, the pin support gear 35 and the motor 34 are installed in the leg support part 30, and the rack gear 24 is formed in the leg 20, so that the pinion gear 35 and the rack gear 24 are formed. By interlocking, relative movement of the leg 20 and the main body 10 in the up and down direction may be performed.

The vertical movement of the leg 20 and the main body 10 in the present embodiment means that the leg 20 moves in the vertical direction with respect to the main body 10 and that the main body 10 moves in the vertical direction relative to the leg 20 It will be understood that the present invention includes both moving in the up and down direction.

On the other hand, the main body 10 may be provided with a crane 40 capable of installing the offshore wind power generator by transporting the loads 2 such as blades, nacelles, and towers.

The floating structure 1 having the above configuration can be operated in a transit mode and a jackup mode.

The floating structure (1) moves to the navigation mode to the position where the offshore wind turbine is to be installed. In the general navigation mode, the floating structure 1 can move in a state in which the legs 20 are moved upward in order to reduce the resistance by the legs 20.

The floating structure 1 can be moved to the target position and then accurately positioned for lowering the leg 20 using dynamic positioning. The automatic position control can be continued until the leg 20 descends and touches the seabed.

Thereafter, the floating structure 1 is switched to the jack-up mode to insert the legs 20 into the seabed B. Fig. In this process, the legs 20 can be moved downwardly of the main body 10 by the gravity and the driving device of the leg support 30.

When the lower end of the leg 20 touches the seabed B, the leg 20 can no longer move downward. In this state, the floating structure 1 actuates the driving device of the leg support 30 to move the main body 10 upward along the legs 20. The load of the main body 10 acts to force the leg 20 into the seabed B so that the leg 20 penetrates into the seabed B and is fixed.

The main body 10 may be spaced apart from the sea surface S by moving the main body 10 upward along the legs 20 so that the main body 10 is separated from the sea surface S, The state that is different from the set work position can be referred to as a jack-up state.

The floating structure 1 is installed in the jack-up state by using the crane 40, and when the installation work is completed, the operation can be started again in the reverse order of the above procedure.

The method of switching the floating structure 1 to the jack-up state is merely an example, and various changes can be made within the scope of the present invention.

FIG. 3 is a cross-sectional view showing a state cut along the line II ′ of FIG. 2, and FIG. 4 is a cross-sectional view schematically showing an external force applied to the leg when the leg of FIG. 1 is inclined with respect to the main body.

Referring to FIGS. 3 and 4, the leg 20 includes a plurality of pillar portions 22 extending in the vertical direction, a connection portion 26 connecting the pillar portions 22, and a rack gear installed at the pillar portion 22. And (24).

The legs 20 may have a triangular shape when viewed from above, and the pillar portions 22 may be disposed at the vertex positions of the triangle. The connecting portion 26 may be provided so that a plurality of the pillar portions 22 are connected to each other so as to support the load applied to the pillar portion 22.

The rack gear 24 may be formed on both sides of the pillar portion 22 and may extend along the extending direction of the pillar portion 22. The pair of rack gears 24 provided in one pillar portion 22 may be arranged in a symmetrical form with each other so that the leg 20 can be stably supported by the leg support 30.

At this time, the columnar portion 22 may have a cylindrical shape, and the rack gear 24 may be formed to protrude from both sides of the columnar portion 22 across the central portion of the columnar portion 22. [

The shape of the leg 20 is merely an example, and the leg 20 can be provided in various forms as long as the spirit of the present invention is maintained. For example, the legs 20 may be provided in a rectangular shape when viewed from above, or may be provided in a cylindrical shape. In addition, the rack gear 24 may have other arrangements.

The leg support part 30 includes a case 31 forming a leg receiving part 32 through which the leg 20 passes in the vertical direction. The leg accommodating portion 32 may be formed in a shape of a longitudinal section of the leg 20, that is, a hole having a triangular shape as a whole. A pinion gear 35, The receiving portion 33 may be provided. A driving device 34 such as a motor for rotating the pinion gear 35 is provided in the case 31. [

The pinion gear 35 and the driving device 34 may be arranged such that a plurality of pairs of the pinion gear 35 and the driving unit 34 are paired on both sides of one pillar 22 and three pairs are arranged in the present embodiment.

On the other hand, the case 31 and the main body 10 is provided with a sensor unit for measuring the degree of inclination of the leg 20. The sensor part is inclined in the state in which the leg 20 is perpendicular to the main body 10 by external force that may be generated due to external environmental load such as wind, waves, or the like (hereinafter referred to as "leg tilt"). Can be measured. Here, a state in which the leg 20 is perpendicular to the main body 10 may be referred to as an original state, and a state inclined from the original state may be referred to as an inclined state.

The sensor unit may include a first sensor 51 disposed at a relatively high position and a second sensor 52 disposed at a relatively low position. That is, the first sensor 51 and the second sensor 52 are provided at different heights.

The first sensor 51 may be provided at an upper end of the leg support 30, and specifically, may be a distance sensor capable of measuring a distance between the leg 20 and an inner wall of the leg support 30. A plurality of first sensors 51 may be provided along the circumference of the leg 20. For example, each of the first sensors 51 may be provided at positions facing the pillars 22 of the leg 20. A distance between the column 22 and the inner wall of the leg support 30 can be measured.

The second sensor 52 may be provided at the lower end of the legwell W, and may be a distance sensing sensor that may measure the distance between the leg 20 and the sidewall of the legwell W, similarly to the first sensor 51. Can be. In this case, the second sensor 52 may be positioned at the lower end of the leg well W to be positioned under the wear plate 101 to prevent direct collision between the leg 20 and the main body 10.

Like the first sensor 52, a plurality of second sensors 52 may be provided along the circumference of the leg 20. For example, one second sensor 52 may be provided at a position facing the pillar part 22 of the leg 20. A distance between the column 22 and the sidewalls of the legwell W can be measured.

In the present exemplary embodiment, the first sensor 51 is provided at the upper end of the leg support 30, and the second sensor 52 is provided at the lower end of the legwell W, for example. It is not limited to this, it is sufficient that the first sensor 51 is provided at a position relatively higher than the second sensor 52. For example, the first sensor 51 may be provided at a position protruding a predetermined height from the leg support 30, and the second sensor 52 may be located above the wear plate 101.

In addition, in the present embodiment, the first sensor 51 and the second sensor 52 have been described as examples of distance sensing sensors, but this is only an example, and the inventive concept is not limited thereto. For example, the first sensor 51 and the second sensor 52 may be pressure sensors for measuring the pressing force, in which case the first sensor 51 and the second sensor 52 are in contact with the leg 20. Where possible, or may be provided at a position (eg, one side of the wear plate) that can receive a different size of force depending on the degree of inclination of the leg 20, to measure the pressure according to the contact of the leg 20.

In the present embodiment, the first sensor 51 and the second sensor 52 are provided at different heights as an example, but any one of them may be omitted. That is, the sensor unit may be composed of only the first sensor 51 or the second sensor 52. However, in order to measure the slope of the leg 20 more accurately, it may be desirable to measure at two or more different heights.

When the leg 20 does not tilt and remains perpendicular to the main body 10, the difference in distance measured by the plurality of first sensors 51 and the distance measured by the plurality of second sensors 52 are shown. Will be close to all zeros (in this case it would be zero). In addition, when viewed from above the main body 10, the difference between the distances measured by the first sensor 51 and the second sensor 52 provided at the same position will also be close to zero.

However, when the leg 20 is inclined with respect to the main body 10 by various external forces, the difference of the distances measured by the plurality of first sensors 51 or the distances measured by the plurality of second sensors 52. The difference in the distance between the first sensor 51 and the second sensor 52 provided at the same position when viewed from above the main body 10 will not be zero.

Taking the situation shown in FIG. 4 as an example, the leg 20 is inclined by θ to the right by the main body 10 by external forces such as wind and waves.

In this case, the value measured by the first sensor 51 on the left side of the leg 20 may be smaller than the value measured by the first sensor 52 on the right side. In addition, the value measured by the second sensor 52 on the left side of the leg 20 may be larger than the value measured by the second sensor 52 on the right side. In addition, the value measured by the first sensor 51 on the left side of the leg 20 may be larger than the value measured by the second sensor 52 on the left side.

That is, since the values measured by the sensors 51 and 52 are changed due to the inclination of the legs 20, the legs 20 are inclined based on the values measured by the sensors 51 and 52. It can be inversely estimated.

The floating structure 1 includes a vertical holding part 60 to reduce the degree of inclination of the leg 20 when it is determined that the leg 20 is inclined more than a predetermined level.

The vertical holding part 60 may be provided in at least one or more of the leg support part 30 and the main body 10. In this embodiment, the vertical support part 60 is provided in both the leg support part 30 and the main body 10.

The vertical holding part 60 directly exerts a force on the pillar 22 or the rack gear 24 of the leg 20 to change the inclination of the leg 20. In this embodiment, the vertical holding portion 60 is shown as an example of applying a force to the column portion 22, the spirit of the present invention is not limited to this, the vertical holding portion 60 is a force on the rack gear 24 It may be arranged to add.

Specifically, the vertical holding part 60 is connected to the rod 61 and the rod 62 which is pulled in and out of the body 61, the leg 61 from the body 61, and selectively contacts the leg 20. It may include a roller (63).

The body 61 and the rod 62 are sufficient as long as they can be configured to reciprocate the roller 63. For example, the body 61 and the rod 62 may be a cylinder and a piston rod of a hydraulic cylinder. That is, a space in which the fluid is filled is formed in the body 61, and the rod 62 may reciprocate linearly according to the filling state of the fluid in the body 61.

In addition, the roller 63 may be rotatably connected to the end of the rod 62 and may be in direct contact with the leg 20 to apply a force to the leg 20. Since the roller 63 is provided to be rotatable, even if the inclination of the leg 20 is changed by the action of the vertical holding part 60, the roller 63 is rotated correspondingly. The vertical holding part 60 and the leg The contact state of 20 can be kept stable.

In the present embodiment, the roller 63 is provided as a means for directly contacting the leg 20 by way of example, but the spirit of the present invention is not limited thereto. For example, a plate corresponding to the shape of the pillar portion 22 may be provided instead of the roller 63.

The vertical holding part 60 may be disposed in the form of enclosing the leg 20 so that the leg 20 may be inclined. In the present embodiment, the vertical holding part 60 is illustrated as an example of being disposed on the outside of the pillar portion 22 so as to apply a force to each of the three pillar portions 22 of the leg 20. In this case, the vertical holding part 60 may be disposed such that the direction of the force applied by the roller 63 faces the center of the leg 20.

In addition, a plurality of vertical holding unit 60 may be provided in the vertical direction to apply a force at a different height with respect to one pillar portion (22). That is, the vertical holding part 60 may be arranged in a multi-layered structure surrounding the leg 20, and a plurality of vertical holding parts 60 may be disposed at one height. In the present embodiment, the case 31 of the leg support portion 30, in particular, the pinion gear 35 and the drive device 34 is arranged one below, and the main body 10 is shown as an example It was. However, the spirit of the present invention is not limited to the position and the number of the vertical holding unit 60.

When the leg 20 is inclined, the vertical holding part 60 applies a force to the leg 20 to reduce the angle at which the leg 20 is inclined. When the leg 20 is inclined by θ to the right as shown in FIG. 4, the vertical holding part 60 disposed on the right side and the upper side of the leg 20 pushes the leg 20 to the left and the leg 20 The vertical holding part 60 disposed at the left side and the lower side of the bottom side may push the leg 20 to the right side. At this time, the remaining vertical holding parts 60 may maintain the state in which the roller 63 is not in contact with the leg 20 by retracting the roller 63 in the direction of the body 61. When a force is applied to the leg 20 using the vertical holding part 60 as described above, the moment in the opposite direction to the inclined direction acts on the leg 20, whereby the leg 20 is connected to the main body 10. It will return to the vertical state.

5 is a block diagram showing the configuration of the floating structure of Figure 1, Figure 6 is a flow chart showing a control method of the floating structure of FIG.

5 and 6, the floating structure 1 may include a controller 200 for controlling the components. The control unit 200 controls the tilt detection unit 220 for detecting a state in which the leg 20 is inclined, and the vertical maintenance unit driver 230 for driving the vertical maintenance unit 60 for applying a force to the leg 20. can do. In addition, the memory 210 stores information necessary for the control of the controller 200, the tilt detector 220, and the vertical maintenance unit 230, and a power supply unit (not shown) that supplies power to the above components. Can be controlled.

The memory 210 may store inclination information which is a reference for determining whether to correct the inclined state by applying an external force to the leg 20. In this case, the inclination information may include an angle in which the actual leg 20 is inclined with respect to the main body 10, or may include information such as a difference between values detected by the first sensor 51 and the second sensor 52. Can be.

In addition, when it is determined that the leg 20 is inclined, the memory 210 may store the position, number, and the like of the vertical holding unit 60 to be driven, and should be applied by the vertical holding unit 60. The magnitude of the force can also be stored. Such information may be set differently according to the degree of inclination of the leg 20.

The tilt detection unit 220 determines the degree of inclination of the leg 20 with respect to the main body 10, and based on the values detected by the first sensor 51 and the second sensor 52, the leg 20 may be used. Judge the degree of inclination. In some cases, the sensor unit may directly correspond to the tilt detection unit 220. In other words, the tilt sensor 220 may be configured of a first sensor 51 and a second sensor 52.

In addition, the vertical holding unit driver 230 applies a driving signal to the vertical holding unit 60 according to the signal of the control unit 200. The driving signal may include a magnitude of a force to be applied to the leg 20 through the roller 63 or a moving distance of the rod 62.

The tilt detection unit 220 transmits the information about the slope of the leg 20 to the controller 200 based on the values obtained by the first sensor 51 and the second sensor 52 (S110).

The controller 200 compares the inclination of the leg 20 received from the inclination detection unit 220 with a preset inclination range stored in the memory 210 (S120). Here, the preset slope range may be set within a range of degrees in consideration of the safety of the floating structure (1).

If the inclination of the leg 20 is out of a predetermined range, the leg 20 is inclined much, so that the leg 20 collides with the main body 10 or the leg support part 30 and the like, so that the leg 20 or the main body ( 10), damage may occur to the leg support part 30, or an excessive moment is applied to the leg 20, such that the leg 20 is deformed or destroyed. Therefore, the control unit 200 applies a driving signal to the vertical holding unit driving unit 230, so that the vertical holding unit 60 applies a force in a direction of reducing the inclination of the leg 20 (S130). In this case, the direction of reducing the inclination of the leg 20 may mean a direction in which the leg 20 is perpendicular to the main body 10.

In addition, when the control unit 200 applies a force to the leg 20, as shown in Figure 4, only a portion of the vertical holding portion 60 to apply force to the leg 20, a portion of the vertical holding portion 60 May control not to contact the leg 20.

If the inclination of the leg 20 does not deviate from the preset range, since there is no concern about damage to the leg 20, the control unit 200 applies a driving signal to the vertical holding unit 230 to vertically. The holding part 60 can be prevented from applying a force to the leg 20. Specifically, the contact between the roller 63 and the pillar portion 22 can be released.

Such a series of processes can be done in real time. In detail, the inclination detector 220 may measure inclination of the leg 20 in real time when the floating structure 1 is in the jack-up mode, and transmit the inclination information to the controller 200. The controller 200 may control the vertical holding unit 230 in real time based on this, and may adjust the force applied to the leg 20 in real time by the vertical holding unit 60.

According to the floating structure 1 and the control method according to the embodiment of the present invention having the structure as described above, the slope of the leg 20 by measuring the slope of the leg 20 with respect to the main body 10 in real time I can regulate it.

Specifically, a force is applied to the leg 20 by the vertical holding part 60 according to the inclination of the leg 20 detected in real time, whereby the leg 20 has a predetermined angle range with respect to the main body 10. Can only tilt inside.

Therefore, it is possible to prevent the leg 20 from colliding with the main body 10 or the leg support part 30 and the like, thereby causing damage to the leg 20 or the main body 10 and the leg support part 30.

In particular, it is possible to prevent the excessive moment that can be generated by the leg 20 is inclined excessively, it is possible to prevent damage such as deformation, destruction of the leg 20.

Therefore, the floating structure 1 can be stably operated for a long time.

On the other hand, in the embodiment of the present invention has been described as an example that the vertical holding portion 60 to apply a pushing force to the leg 20, the vertical holding portion 60 may be provided by applying a pulling force to the leg 20. have. In this case, the vertical holding part 60 may be connected to the leg 20 in a freely movable state, and may apply a pulling force to the leg 20 under the control of the controller 200.

As described above as a specific embodiment of the floating structure and the control method thereof, but this is only an example, the present invention is not limited thereto, the broadest range according to the basic idea disclosed herein It should be interpreted as having. Skilled artisans may implement a pattern of features that are not described in a combinatorial and / or permutational manner with the disclosed embodiments, but this is not to depart from the scope of the present invention. It will be apparent to those skilled in the art that various changes and modifications may be readily made without departing from the spirit and scope of the invention as defined by the appended claims.

1: Floating structure 10: Body
12: loading unit 101: wear plate
20: leg 22:
24: rack gear 30: leg support
31 case 32 leg receiving portion
33: pinion gear receiving portion 34: drive device
35: Pinion gear 40: Crane
51: first sensor 52: second sensor
60: vertical holding part 61: body
62: rod 63: roller
200: control unit 210: memory
220: tilt detection unit 230: vertical holding unit driving unit

Claims (11)

In a floating structure operated in a sailing mode and a jack-up mode,
A body that can float in water;
A leg passing through the body in a vertical direction;
Leg support portion for relatively moving the main body and the leg in the vertical direction;
An inner wall of a leg support provided on at least one of the main body and the leg support, for measuring the degree of inclination of the leg in a state perpendicular to the main body, the leg support supporting the leg in the inclined state of the leg; And a first sensor disposed above the leg support to measure the inclination of the leg based on the pressure applied to the side wall of the leg well formed in the main body, and a second sensor disposed at a lower position than the first sensor. Sensor unit comprising a; And
And a vertical holding portion for applying a force to the leg so that the leg can return to a state perpendicular to the main body according to a measurement result of the sensor portion. The method of claim 1,
Wherein:
Pillar portion extending in the vertical direction;
A connecting portion connecting the pillars; And
It includes a rack gear provided in the pillar portion,
The vertical holding portion is a floating structure for applying a force to the pillar portion or the rack gear. 3. The method according to claim 1 or 2,
The vertical holding unit,
body;
A rod drawn in and out of the body; And
And a roller connected to the rod and selectively contacting the leg to apply force. The method of claim 3, wherein
The vertical holding portion is arranged in a multi-layered structure surrounding the leg,
If the leg is inclined more than a predetermined level relative to the body, only a portion of the two or more vertical holding portion to apply a force to the leg. delete The method of claim 1,
The first structure and the second sensor is a floating structure that is arranged in a plurality surrounding the leg. 3. The method according to claim 1 or 2,
Floating structure is disposed in the leg well of the main body is a wear plate that absorbs the impact of the impact of the leg. In the control method of the floating structure operated in the navigation mode and jack-up mode,
The leg is perpendicular to the body through an inclination detector for measuring the inclination of the leg based on the pressure applied to the inner wall of the leg support portion supporting the leg and the side wall of the leg well formed on the body while the leg is inclined. A tilt detection step of measuring a degree of tilting in a state;
Determining whether the inclination of the leg measured in the inclination detecting step is within a preset range; And
And applying a force to a direction of reducing the inclination of the leg through a vertical holding unit driving unit according to the determination result. The method of claim 8,
The tilt detection unit,
And measuring the inclination of the leg through the distance between the inner wall of the leg support portion supporting the leg and the leg and the sidewall of the leg well formed on the body and the leg. delete The method of claim 8,
The vertical holding unit driving unit,
And a vertical structure for controlling the vertical holding part such that a moment in a direction opposite to the direction in which the leg is inclined acts on the leg.

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