WO2020182231A2 - 一种打桩船及其姿态调整、定位控制和打桩方法 - Google Patents

一种打桩船及其姿态调整、定位控制和打桩方法 Download PDF

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Publication number
WO2020182231A2
WO2020182231A2 PCT/CN2020/089398 CN2020089398W WO2020182231A2 WO 2020182231 A2 WO2020182231 A2 WO 2020182231A2 CN 2020089398 W CN2020089398 W CN 2020089398W WO 2020182231 A2 WO2020182231 A2 WO 2020182231A2
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Prior art keywords
pile
hull
piling
ship
driving
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PCT/CN2020/089398
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English (en)
French (fr)
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WO2020182231A3 (zh
Inventor
唐文献
郭胜
张建
苏世杰
陈赟
刘琴
王为民
王月阳
齐继阳
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江苏科技大学
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Priority to JP2021544680A priority Critical patent/JP7369472B2/ja
Publication of WO2020182231A2 publication Critical patent/WO2020182231A2/zh
Publication of WO2020182231A3 publication Critical patent/WO2020182231A3/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B39/00—Equipment to decrease pitch, roll, or like unwanted vessel movements; Apparatus for indicating vessel attitude
    • B63B39/02—Equipment to decrease pitch, roll, or like unwanted vessel movements; Apparatus for indicating vessel attitude to decrease vessel movements by displacement of masses
    • B63B39/03—Equipment to decrease pitch, roll, or like unwanted vessel movements; Apparatus for indicating vessel attitude to decrease vessel movements by displacement of masses by transferring liquids
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02D—FOUNDATIONS; EXCAVATIONS; EMBANKMENTS; UNDERGROUND OR UNDERWATER STRUCTURES
    • E02D13/00—Accessories for placing or removing piles or bulkheads, e.g. noise attenuating chambers
    • E02D13/04—Guide devices; Guide frames
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02D—FOUNDATIONS; EXCAVATIONS; EMBANKMENTS; UNDERGROUND OR UNDERWATER STRUCTURES
    • E02D13/00—Accessories for placing or removing piles or bulkheads, e.g. noise attenuating chambers
    • E02D13/06—Accessories for placing or removing piles or bulkheads, e.g. noise attenuating chambers for observation while placing
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02D—FOUNDATIONS; EXCAVATIONS; EMBANKMENTS; UNDERGROUND OR UNDERWATER STRUCTURES
    • E02D13/00—Accessories for placing or removing piles or bulkheads, e.g. noise attenuating chambers
    • E02D13/10—Follow-blocks of pile-drivers or like devices
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02D—FOUNDATIONS; EXCAVATIONS; EMBANKMENTS; UNDERGROUND OR UNDERWATER STRUCTURES
    • E02D7/00—Methods or apparatus for placing sheet pile bulkheads, piles, mouldpipes, or other moulds
    • E02D7/02—Placing by driving
    • E02D7/06—Power-driven drivers
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F30/00—Computer-aided design [CAD]
    • G06F30/20—Design optimisation, verification or simulation

Definitions

  • the invention relates to a piling boat and a control method thereof, in particular to a piling boat and its attitude adjustment method, positioning control method and piling method.
  • Pile-driving boat is a kind of offshore piling equipment.
  • the pile-driving boat is used to install the pile in the soil under the sea. After the pile is installed, the wind power generation and other operating platforms can be installed on the pile.
  • the number of water engineering projects in coastal areas is increasing.
  • piling Ships are gradually developing in the direction of large-scale and automation.
  • offshore pile foundation projects have continuously improved requirements for the accuracy and efficiency of piling vessels.
  • the construction of pile foundation projects is affected by wind, ocean currents, water depth, geology and other conditions and environmental conditions. Traditional piling construction techniques and equipment cannot meet safety requirements. And duration requirements.
  • the pile position needs to be determined according to the results of geological exploration before piling. Different geological conditions provide different bearing capacity, and the impact resistance of the rock and soil layer in the depth direction is different. If the pile position deviation will cause the pile position to penetrate Different entry depths can easily lead to insufficient bearing capacity of the pile foundation and sometimes even broken piles. In severe cases, the superstructure will be tilted and destroyed, causing major property losses; in addition, after the pile driving vessel is separated from the pile, the inclined pile will be displaced due to its own weight , When designing the pile position, the displacement value is reserved to reduce the deflection.
  • the accurate pile driving position can ensure the reserved displacement value, thereby avoiding the pile from the low load-bearing position; therefore, in order to avoid seabed rocks or low load-bearing areas, the exploration income
  • the range of piles that can be erected is sometimes small, which requires higher piling accuracy to ensure the smooth implementation of piling operations.
  • the automatic balancing method and system for large cargo ships with ballast function described in patent ZL201410557626.2 will be located in the lower balance cabin
  • the water inside is pumped into a higher balance cabin to maintain the balance of the hull, but the compensation delay of this method is particularly large; and the anti-wave piling boat described in the patent ZL201420532754.7, although it improves the longitudinal stability of the piling boat,
  • the heave motion of the main deck is not controlled;
  • another example is the anti-wave piling boat described in patent ZL201420532727.X, although the impact of wind and waves on the piling boat is reduced, the compensation accuracy is low, the lag is large, and the compensation performance is unstable. Therefore, the problem of inclined piles of varying degrees often occurs in the current pile driving process, which is difficult to solve well.
  • the technical problem to be solved by the present invention is to provide a piling vessel with accurate positioning and good stability when the hull is working to realize accurate piling.
  • a pile driving ship including a hull, a pile frame is hinged on the bow, a pile lifting device is provided on the bow, and a pile driving device and a pile holding device are provided on the pile frame
  • the piling device includes a piling guide set on the pile frame, a pile hammer is movably arranged on the piling guide, and a pile cap is connected to the bottom of the pile hammer;
  • the hull is equipped with a pile slip braking device, and also includes a positioning control system and a hull attitude adjustment system
  • the hull attitude adjustment system includes at least four buoyancy adjustment devices that are symmetrically distributed under the deck to adjust the hull's floating state and a radar wave meter set on the hull;
  • the buoyancy adjustment device includes a ballast tank set on the hull , And a connecting plate arranged on the lower surface of the deck, the connecting plate is hinged with a propulsion device arranged vertically downwards, the bottom of the ballast
  • the positioning control system includes two GPS signal receivers connected to the computer control system for setting two different positions on the hull, and a computer connected to the computer control system.
  • the beneficial effect of the pile driver is that the pile driver adopts the precise positioning of the pile frame and the adjustment of the hull posture during pile driving to ensure the accuracy of pile driving, so that the steel pile can be accurately driven into the set position, and the pile cap is avoided.
  • Potential risks such as broken piles caused by changes in the force angle with the hull have improved the safety and service life of the offshore platform installed on it.
  • the hull obtains the position and attitude information of the hull through the GPS signal receiver, and establishes the absolute coordinate system and the ship coordinate system, and then calculates the real-time position information of the anchors and the hull connection points in the absolute coordinate system when the hull moves. The length of the cables, and finally the retracting and unwinding speed of each windlass is obtained.
  • each anchor cable Since the position of each anchor is fixed in the absolute coordinate system, when the pile driver is at a certain position in the working area, each anchor cable corresponds to a fixed length value. The length of each anchor cable at the actual position and the target position is different.
  • the retractable anchor chain can control the movement of the pile driver floating in the pile group operation area so that the pile frame on the hull can accurately move to the target position. This method overcomes the traditional drag Poor positioning accuracy caused by navigation, etc.
  • the pile driver adopts an adaptive hull attitude adjustment system, which detects the wave parameters through the wave detection device and feeds them back to the computer, using software Calculate the impact of waves on the hull, the control system responds in time according to the calculation results, and controls the attitude adjustment device to actively adjust the hull attitude, eliminate the pitch, roll and heave of the pile-driving ship, and improve the overall stability and wave resistance of the hull , Can adapt to the deep water and rapid ocean environment, especially the swelling, medium and long period wave sea area construction operation ability, to ensure the stable operation of piling operations, and overcome the previous hysteresis of the hull attitude adjustment after static or dynamic measurement.
  • the pile driving vessel is in a very stable state when working, and the accuracy of pile driving is well guaranteed.
  • the pile can be erected by adjusting the upper and lower pile holding devices
  • the adjustment of the position plays a role of rectifying and correcting; by controlling the movement of the hull and the position of the pile to correct, it can improve the positioning accuracy of the pile in severe sea conditions;
  • Another technical problem to be solved by the present invention is to provide a method for adjusting the posture of the piling ship.
  • the technical solution adopted by the present invention is: a method for adjusting the posture of a piling boat, the steps of which are:
  • Step 1 Use a radar wave meter to measure the wave height and period of the waves in each direction, and transmit the measured data to the computer;
  • Step 2 The computer uses the ANSYS/AQWA hydrodynamic analysis software to solve for the angle ⁇ y when the hull rotates around the Y axis for pitch motion, and the angle ⁇ x when the hull rotates around the X axis for roll motion, and the hull moves along Z
  • the axis moves the displacement s of the heave motion, and transmits the angle and displacement data to the computer;
  • Step 3 Establish a hull model, simplify the piling ship to a rectangular parallelepiped, and use the buoyancy center of the piling ship as the center to make a rectangular coordinate system.
  • the Y and Z axes are determined by the right hand rule. , The Y axis is along the width of the hull, and the positive direction of the Z axis is upwards perpendicular to the deck of the piling ship;
  • Step 4 The computer receives the angle obtained by the software.
  • the waterline is marked as MN when the ship is at rest, and when the piling ship rotates on the Y axis for pitching motion, the waterline is marked It is M1N1, the displacement volume of one end inclined downwards around the Y axis can be measured as Vy, the piling vessel length is L, the width is b, the inner diameter of the ballast tank is a, Wy is the angle between M1N1 and MN, the center of buoyancy The distance to the ship's edge in the positive X direction is L2, and the distance from the buoyancy center to the ship's edge in the positive Y direction is b2, and the static moment of the water in the Vy part of the wedge-shaped volume of the water entering the Y axis is:
  • Step 5 When the hull rolls around the X axis, mark the waterline as M2N2 when the ship is at rest. When the piling ship rotates on the X axis for pitch motion, the waterline is marked as M3N3, and x is between M2N2 and M3N3. It can be seen that the drainage volume at the end inclined downward around the X axis is Vx, and the static moment of the water in the water entering the wedge volume Vx to the X axis is:
  • Step 6 When the hull is heaving along the Z axis, mark the waterline as M4N4 when the ship is at rest.
  • M5N5 shows the reduced displacement volume of the hull Vz
  • Vz bhs
  • the volume of water that should be discharged in the ballast tank is V1
  • V 1 4 ⁇ a 2 h z
  • Step 7 The computer calculates the distance between the pressure plate and the top of the ballast water tank, and then controls the extension of each hydraulic cylinder to discharge the water in the ballast water tank into the sea, so that the sea water produces upward pressure on the lower end of the hull.
  • the reaction force increases the buoyancy of the piling boat, thereby adjusting the posture of the piling boat.
  • this method further calculates the required adjustment distance of the pressure plate by calculating the static moment of the water in the wedge-shaped volume of the water entering the hull, thereby performing active compensation and eliminating the pitch and roll of the piling ship It can adapt to more severe sea conditions and ensure the quality of piling.
  • Another technical problem to be solved by the present invention is to provide a method for accurately positioning and controlling the above-mentioned pile driving ship between different pile positions.
  • the technical solution adopted by the present invention is: the positioning control method of the piling boat, which includes the following steps:
  • Step 1 Install two GPS signal receivers and scanners on the hull, and establish an absolute coordinate system XOY and an onboard coordinate system X'O'Y' in the plane;
  • Step 2 The GPS signal receiver receives the coordinate information and combines the differential signal sent by the satellite base station to obtain the precise position coordinates of the GPS signal receiver in the absolute coordinate system;
  • Step 3 Obtain the coordinates O (X O , Y O ) of the origin of the ship's coordinate system in the absolute coordinate system according to the position coordinates and installation position of one of the GPS signal receivers;
  • Step 4 Obtain the Y'direction of the ship's coordinate system according to the position coordinates of the two GPS signal receivers;
  • Step 5 The piling vessel is towed to the working area and anchored.
  • the goniometer installed at the anchor cable connection point measures the angle of the anchor cable, and then calculates the distribution points (P 1 ⁇ P n ) of each anchor according to the length of the anchor cable.
  • the position coordinates in the absolute coordinate system XOY are
  • Step 6 Locate the O coordinate of the hull center.
  • the coordinates of each anchor and the hull connection point (Q 1 ⁇ Q n ) in the absolute coordinate system XOY are
  • Step 7 In the ship's coordinate system X'O'Y', according to the positional relationship between each connection point Q 1 ⁇ Q n and the ship center O, combined with the coordinate of the positioning O, each connection point is obtained in the absolute coordinate system XOY
  • the coordinates below are:
  • Step 8 The position of the stake target point is T'(X T' ,Y T' ). According to the hull in-position attitude, the position of the origin O'of the ship coordinate system when the piling vessel is in position is obtained.
  • ⁇ is the rotation angle of the hull
  • Step 9 The piling boat moves from point O to point O', and the hull motion time is set to a(s), and the speed of movement in each direction is:
  • v X is the moving speed of the hull along the X direction in the absolute coordinate system
  • v Y is the moving speed of the hull along the Y direction in the absolute coordinate system
  • ⁇ is the angular velocity of the hull rotation.
  • Step 10 When the hull moves to the point O', the coordinates of the connection point (Q 1 ' ⁇ Q n ') of each anchor and the hull in the absolute coordinate system are
  • Step 13 Control the retracting and unwinding speed of each windlass according to the obtained speed to realize the rapid and accurate movement of the piling boat.
  • the beneficial effect of the method is that the method of automatically controlling the movement of the hull is adopted, so that the piling vessel can reach the target position quickly and accurately, and the efficiency of piling and the accuracy of piling are improved.
  • This method of automatically controlling the movement of the hull can reduce the intensity of manual labor. Under this method, the operation of moving the hull to the target position can be completed quickly and accurately without the need for experienced operators.
  • the method of automatically controlling the movement of the hull is simple and efficient, and it is easy to realize the programming of automatic control software. This method is suitable for piling boats with different anchor numbers and has a wide range of applications;
  • Another technical problem to be solved by the present invention is to provide a piling method for precise and safe piling by the above-mentioned piling vessel.
  • the piling method of the piling ship includes the following steps:
  • Step 1 Tow the pile driver to the work area, drop the anchor; the transport boat loaded with the pile is in place;
  • Step 2 Lift the pile frame, and adopt the above-mentioned method for adjusting the posture of the pile driver to ensure that the hull is level during the process of lifting the pile frame;
  • Step 3 Determine the hull position and the target position of the pile-driving boat according to the positioning system of the pile-driving vessel, and then use the above-mentioned method of positioning the pile-driving boat to control the movement of the pile-driving vessel to the target position of the pile-loading pile;
  • Step 4 Control the hook and winch to retract the wire rope, put the hook down on the transport ship, and buckle it on the pile ears;
  • Step 5 Control the hook winch to retract the wire rope, and lift the pile upright;
  • Step 6 Lift the telescopic arm of the pile holder to clamp the pile;
  • Step 7 Use the above-mentioned method for positioning the piling boat to control the movement of the piling boat to the piling position of the pile; use two scanners to detect whether there is a deviation in the position of the pile. If there is a deviation in the position and attitude of the pile, the pile holder can be controlled Small range of movement, play the role of correction and righting;
  • Step 8 Lower the hydraulic pile hammer to a certain height so that the pile cap is placed on the top of the pile;
  • Step 9 Start the hydraulic pile hammer and start the piling operation.
  • the detection system real-time detection of the depth of the pile into the mud after each hammering, and real-time adjustment of the hammering energy of the hydraulic pile hammer according to the detection results;
  • the attitude adjustment system of the piling vessel ensures that the hull is not affected by waves and remains level when working;
  • Step 10 After hammering the pile into the specified depth, retract the pile holder;
  • Step 11 Repeat steps 3 to 10 until all piles of a group of piles are poured into the mud to complete the pile driving operation;
  • Step 12 Retract the pile holder, lay down the pile frame, recover the positioning anchor, and prepare to tow the pile driver to the next working area.
  • this method locates the hull position and the target position of the piles, and then adopts the movement positioning method of the pile driver to control the movement of the pile driver to the target position of the piles to facilitate the lifting of the pile; and this method It can conveniently and accurately locate the piling position, and automatically adjust the pile position before piling, thereby further improving the piling accuracy, and the entire piling process is highly automated.
  • Figure 1 is a front view of the piling vessel of the present invention.
  • Figure 2 is a bottom view of the piling vessel of the present invention.
  • Figure 3 is a partial cross-sectional view of the side of the piling vessel of the present invention.
  • FIG. 4 is a cross-sectional view of the ballast tank of the present invention.
  • Figure 5 is a schematic diagram of a simplified piling ship coordinate system.
  • Figure 6 is a schematic diagram of the pitch coordinate system of the pile driver.
  • Figure 7 is a schematic diagram of the roll coordinate system of the pile driver.
  • Figure 8 is a top view of a piling ship.
  • Figure 9 is a schematic diagram of the coordinate system of the piling ship.
  • Figure 10 is a schematic diagram of the movement of the piling boat.
  • a piling vessel includes a hull 1.
  • the four corners of the hull 1 are respectively provided with buoyancy adjusting devices, and the lower surface of the deck 101 is connected with the buoyancy adjusting devices.
  • the buoyancy adjusting devices include those arranged on the hull 1.
  • the ballast tank 18 and the connecting plate 17 provided on the lower surface of the deck 101.
  • the connecting plate 17 is hinged with a propulsion device 182 arranged vertically downwards.
  • the bottom of the ballast tank 18 is provided with a through hole communicating with the outside world.
  • the ballast water tank 18 is provided with a water pressure plate 181 on the liquid surface, a sealing ring 185 is provided between the water pressure plate 181 and the inner wall of the ballast water tank 18, and the end of the propulsion device 182 passes through the top plate of the ballast water tank 18 It is hinged to the pressure plate 181, and the hull 1 is provided with a radar wave measuring instrument 20 for detecting sea surface wave conditions.
  • the radar wave measuring instrument 20 is connected with a computer control system.
  • the radar wave measuring instrument 20 detects data and calculates the number of hydraulic cylinders 182. The required movement distance of the piston rod drives the hydraulic cylinder 182 to drive the water pressure plate 181 to move up and down to drain or enter the water to control the floating state of the hull 1.
  • the hull 1 is equipped with a scanner 15 for scanning the upper and lower opposite piles 11, and the hull 1 There are GPS signal receivers 14 at two different positions; the hull 1 is equipped with windlasses 16 for anchoring at eight different positions, and the hull 1 is equipped with anchor cable connection points 19 that guide the anchor chain; hull 1 There is a pile frame 12 on the upper rotation, an automatic lying device 8 of the pile frame 12 is provided on the hull 1, a pile driving guide 10 is provided on the pile frame 12, a pile hammer 13 is movably provided on the pile driving guide 10, and the pile hammer 13 is provided with The first brake device 4 that restricts the position of the pile hammer on the piling guide 10, the upper part of the pile frame 12 is provided with transition rollers, the upper part of the pile hammer 13 is connected to the winch set on the hull 1 through the wire rope 2, and the hull 1 is provided with a passing brake The second brake device 5 that holds the winch drum to control the wire rope 2 to pull the pile hammer 13 to achieve
  • the method for adjusting the posture of the pile-driving ship is as follows:
  • Step 1 Use a radar wave meter to measure the wave height and period of the waves in each direction, and transmit the measured data to the computer;
  • Step 2 The computer uses the ANSYS/AQWA hydrodynamic analysis software to solve for the angle ⁇ y when the hull rotates around the Y axis for pitch motion, and the angle ⁇ x when the hull rotates around the X axis for roll motion, and the hull moves along Z
  • the axis moves the displacement s of the heave motion, and transmits the angle and displacement data to the computer;
  • Step 3 Establish a hull model, simplify the piling ship to a rectangular parallelepiped, and use the buoyancy center of the piling ship as the center to make a rectangular coordinate system.
  • the Y and Z axes are determined by the right hand rule. , The Y axis is along the width of the hull, and the positive direction of the Z axis is upwards perpendicular to the deck of the piling ship;
  • Step 4 The computer receives the angle obtained by the software.
  • the waterline is marked as MN when the ship is at rest, and when the piling ship rotates on the Y axis for pitching motion, the waterline is marked It is M1N1, the displacement volume of one end inclined downwards around the Y axis can be measured as Vy, the piling vessel length is L, the width is b, the inner diameter of the ballast tank is a, Wy is the angle between M1N1 and MN, the center of buoyancy The distance to the ship's edge in the positive X direction is L2, and the distance from the buoyancy center to the ship's edge in the positive Y direction is b2, and the static moment of the water in the Vy part of the wedge-shaped volume of the water entering the Y axis is:
  • Step 5 When the hull rolls around the X axis, mark the waterline as M2N2 when the ship is at rest. When the piling ship rotates on the X axis for pitch motion, the waterline is marked as M3N3, and x is between M2N2 and M3N3. It can be seen that the drainage volume at the end inclined downward around the X axis is Vx, and the static moment of the water in the water entering the wedge volume Vx to the X axis is:
  • Step 6 When the hull is heaving along the Z axis, mark the waterline as M4N4 when the ship is at rest.
  • M5N5 shows the reduced displacement volume of the hull Vz
  • Vz bhs
  • the volume of water that should be discharged in the ballast tank is V1
  • V 1 4 ⁇ a 2 h z
  • Step 7 The computer calculates the distance between the pressure plate and the top of the ballast water tank, and then controls the extension of each hydraulic cylinder to discharge the water in the ballast water tank into the sea, so that the sea water produces upward pressure on the lower end of the hull.
  • the reaction force increases the buoyancy of the piling boat, thereby adjusting the posture of the piling boat.
  • the method for positioning the piling boat movement includes the following steps:
  • Step 1 Install two GPS signal receivers and scanners on the hull, and establish an absolute coordinate system XOY and an onboard coordinate system X'O'Y' in the plane;
  • Step 2 The GPS signal receiver receives the coordinate information and combines the differential signal sent by the satellite base station to obtain the precise position coordinates of the GPS signal receiver in the absolute coordinate system;
  • Step 3 Obtain the coordinates O (X O , Y O ) of the origin of the ship's coordinate system in the absolute coordinate system according to the position coordinates and installation position of one of the GPS signal receivers;
  • Step 4 Obtain the Y'direction of the ship's coordinate system according to the position coordinates of the two GPS signal receivers;
  • Step 5 The piling vessel is towed to the working area and anchored.
  • the angle meter installed at the anchor cable connection point measures the angle of the anchor cable, and then calculates the eight anchor distribution points (P 1 ⁇ P 8 ) according to the length of the anchor cable.
  • the position coordinates in the absolute coordinate system XOY are
  • Step 6 Locate the O coordinate of the hull center.
  • the coordinates of the eight anchors and the hull connecting points (Q 1 ⁇ Q n ) in the absolute coordinate system XOY are
  • Step 7 In the ship coordinate system X'O'Y', according to the positional relationship between the eight connection points Q 1 ⁇ Q 8 and the ship center O, combined with the coordinates of the positioning O, the absolute coordinates of the eight connection points are obtained
  • the coordinates under XOY are:
  • Step 8 The position of the stake target point is T'(X T' ,Y T' ). According to the hull in-position attitude, the position of the origin O'of the ship coordinate system when the piling vessel is in position is obtained.
  • ⁇ is the rotation angle of the hull
  • Step 9 The piling boat moves from point O to point O', and the hull motion time is set to a(s), and the speed of movement in each direction is:
  • v X is the moving speed of the hull along the X direction in the absolute coordinate system
  • v Y is the moving speed of the hull along the Y direction in the absolute coordinate system
  • ⁇ is the angular velocity of the hull rotation.
  • Step 10 When the hull moves to O'point, the coordinates of the eight anchors and the hull connection points (Q 1 ' ⁇ Q n ') in the absolute coordinate system are
  • Step 13 Control the retracting and unwinding speeds of the eight windlasses according to the obtained speeds to realize the rapid and accurate movement of the piling boat.
  • the piling method of a piling ship includes the following steps:
  • Step 1 Tow the pile driver 1 to the working area, drop the anchors; the transport boat loaded with the piles is in place;
  • Step 2 Lift the pile frame 12, and adopt the above-mentioned method for adjusting the posture of the pile driving vessel to ensure that the hull is level during the process of lifting the pile frame 12;
  • Step 3 Determine the hull position and the target position of the loading pile 11 according to the positioning system of the pile driver 1, and then use the above-mentioned movement positioning method of the pile driver 1 to control the movement of the pile driver 1 to the target position of the pile pile 11;
  • Step 4 Control the hook winch to retract and retract the wire rope, put the hook down on the transport ship, and buckle it on the lifting lugs of the pile 11;
  • Step 5 Control the hook winch to retract and unwind the wire rope, and lift the pile 11 upright;
  • Step 6 Lift the telescopic arm of the pile holding device 6, the main driving mechanism drives the pile holding unit and moves closer to the pile 11, and then moves the first clamping block and the second clamping block to press the pile 11;
  • Step 7 Use the above-mentioned method for positioning the movement of the pile driver 1 to control the movement of the pile driver 1 to the pile driving position of the pile 11; if the position and attitude deviation of the pile 11 exists, the small range movement of the pile holder 6 can be controlled to correct the deviation. effect;
  • Step 8 Lower the hydraulic pile hammer 13 to a certain height so that the pile cap 7 is sleeved on the top of the pile 11;
  • Step 9 Start the hydraulic pile hammer 13 to start the piling operation.
  • the detection system real-time detection of the mud depth of the pile 11 after each hammering, and real-time adjustment of the hammering of the hydraulic pile hammer 13 according to the detection results Energy;
  • the attitude adjustment system of the piling ship 1 ensures that the hull is not affected by waves and remains level when working;
  • Step 10 After hammering the pile into the specified depth, retract the pile holder 6;
  • Step 11 Repeat steps 3 to 10 until all the piles 11 are put into the mud to complete the pile driving operation;
  • Step 12 Retract the pile holder 6, lay down the pile frame 12, recover the positioning anchor, and prepare to tow the pile driver 1 to the next working area.

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Abstract

本发明公开了一种打桩船，包括船体，所述船体上四角分别设有浮力调节装置，船体上设有上下两个对立桩进行扫描的扫描仪，船体上在两个不同位置设有GPS信号接收器；船体上设有在至少四个不同位置下锚的锚机；船体上转动设有桩架，船体上设有桩架自动卧置装置，桩架上设有打桩导轨，打桩导轨上活动设有桩锤，桩锤上设有桩帽，桩架下部设有抱持立桩的抱桩器。本发明还公开了该打桩船的姿态调整方法、定位控制方法和打桩方法。本打桩船通过定位船体位置和装载立桩的目标位置，然后采用定位控制方法控制打桩船运动至装载立桩的目标位置，以方便立桩的吊装；然后精确的定位打桩位置，并在打桩前对立桩位置进行自动调整，从而提高打桩精度。

Description

一种打桩船及其姿态调整、定位控制和打桩方法 技术领域
本发明涉及一种打桩船及其控制方法，具体来说涉及一种打桩船及其姿态调整方法、定位控制方法和打桩方法。
背景技术
打桩船是一种海上打桩设备，通过打桩船将立桩安装在海下的土层中，立桩安装完成后即可在立桩上安装风力发电等作业平台。随着沿海地区扩大开放与纵深发展的需求和国家对环海经济圈的战略布局推动，沿海区域水上工程项目日益增加，为适应深水港码头、跨海大桥、海上风电基础等工程项目建设，打桩船逐渐向大型化、自动化方向发展。同时，海上桩基工程对打桩船作业精度和效率的要求不断提高，但桩基工程施工受风力、洋流、水深、地质等条件的影响和环境条件制约，传统的打桩施工工艺和装备不能满足安全和工期要求。
尤其因为海底地质情况复杂，在打桩之前，需要根据地质勘探结果来确定桩位，不同的地质条件提供的承载力不同，岩土层深度方向抗冲击力不同，若打桩位置偏差会导致桩位贯入深度不同，易造成桩基承载力不足甚至有时出现断桩情形，情况严重时会导致上层建筑倾斜毁坏，造成重大财产损失；此外，打桩船脱离立桩后，由于自重斜桩会发生移位，设计桩位时通过预留移位值来减少偏位，打桩位置准确可以保证预留的移位值，从而避免立桩处于低承载位置；所以为避免海底岩石或低承载区域等，勘探所得的可立桩范围有时较小，这就要求较高的打桩精度才能保证打桩作业顺利实施。
但是目前打桩作业过程大量工作依靠人工操作完成，打桩船在风浪流的影响下，无法保证打桩过程中船体平稳，无法满足立桩的位置和倾角的高精度要求。现有的提高打桩船稳定性的方法皆不能很好地解决问题，如专利ZL201410557626.2中所述的具有压载功能的大型货船舶体自动平衡方法和系统，将位于较低处的平衡舱内的水抽取到较高处的平衡舱内来维持船体平衡，但该方法的补偿滞后特别大；而如专利ZL201420532754.7中所述一种抗浪打桩船，虽提高打桩船纵向稳定性，但是对主甲板的垂荡运动没有控制；又如专利ZL201420532727.X所述的一种抗浪打桩船，虽然减少风浪对打桩船的影响，但是补偿精度低，滞后较大，补偿性能不稳定。所以目前打桩过程中常常出现不同程度的斜桩问题，难以很好解决。
且在群桩作业过程中，打桩船需在打桩区和吊桩区之间来回运动，通过拖拽或其他方法控制船体运动无法使船体上的桩架精准运动到需打桩位置，无法满足船体就位精度要求，极 大的影响了打桩的精度。
鉴于上述两部分原因，一些需要精确打桩才能建设海上平台的区域往往只能放弃开发。
发明内容
本发明所要解决的技术问题是：提供一种定位精准且船体工作时稳定性好以实现精确打桩的打桩船。
为解决上述技术问题，本发明所采用的技术方案为：一种打桩船，包括船体，船艏铰接设有桩架，船艏设有吊桩装置，桩架上设有打桩装置以及抱桩装置，打桩装置包括设置在桩架上的打桩导轨，打桩导轨上活动设有桩锤，桩锤底部连接有桩帽；船体上设有溜桩制动装置，还包括定位控制系统、船体姿态调整系统，所述的船体姿态调整系统包括对称分布在甲板下的至少四个调整船体浮态的浮力调节装置以及设置在船体上的雷达测波仪；浮力调节装置包括设置在船体上的压载水舱、以及甲板下表面上设置的连接板，连接板上铰接有竖直向下设置的推进装置，压载水舱的底部设有外界相连通的通孔，压载水舱内在液面上设有压水板，推进装置端部穿过压载水舱的顶板与压水板相铰接；雷达测波仪与计算机控制系统相连接，通过雷达测波仪检测数据计算各推进装置所需运动距离以驱动压水板上下移动排水或进水来控制船体浮态；所述定位控制系统包括与计算机控制系统相连接的设置船体上的两个不同位置的GPS信号接收器以及与计算机控制系统相连接的设置在船体上至少四个不同位置下锚的锚机；船体上相应地设有布置在船体端角处的锚索连接点，锚索连接点处装有与计算机控制系统相连接的测量锚索角度的测角仪；计算机控制系统通过GPS信号接收器得到船体位置信息，并建立绝对坐标系和随船坐标系，进而计算出船体移动时各锚与船体连接点处在绝对坐标系内的实时位置信息及各锚索长度，最终得出各锚机的收放速度以控制船体运动。
本打桩船的有益效果是：本打桩船采用对桩架的精准定位同时配合打桩时对船体姿态的调整来确保打桩的精度，使得钢桩能够准确地打入设定位置，避免了因桩帽施力角度随船体变动带来的断桩等潜在风险，提高了其上设置的海上平台的安全性及使用寿命。首先船体通过GPS信号接收器得到船体位置和姿态信息，并建立绝对坐标系和随船坐标系，进而计算出船体移动时各锚与船体连接点处在绝对坐标系内的实时位置信息及各锚索长度，最终得出各锚机的收放速度，由于各锚的位置在绝对坐标系下是固定的，打桩船在作业区域内某一位置时，各锚索对应有固定的长度值，船体在实际位置和目标位置处的各锚索长度是不同的，收放锚链可控制漂浮在群桩作业区域的打桩船运动使得船体上的桩架精确运动至目标位置，该方式克服了传统拖航运动等带来的定位精度差致使立桩很难精确打入设定位置的问题；同时，本打桩船采用自适应船体姿态调整系统，通过波浪检测装置检测波浪参数并反馈给计算机，使用软件计算出波浪对船体产生的影响，控制系统根据计算结果及时做出响应，控制姿态调 整装置主动调整船体姿态，消除打桩船的纵摇、横摇和垂荡，提高船体整体稳性和抗浪能力，可适应深水及急流的海洋环境，特别是涌浪、中长周期波海域施工作业能力作业能力，保证打桩作业稳定进行，克服以前通过静态或动态测量后才能够进行船体姿态调整的滞后性，使得打桩船在工作时处于十分稳定的状态，很好地保证了立桩打入的准确度。
另一方面，由于设置了上下两个扫描仪，如果扫描得出立桩位置与设定桩线有夹角或者位置与设置位置有偏移，可以通过调整上下两个抱桩装置来实现立桩位置的调整，起到纠偏扶正作用；通过控制船体运动和立桩位置纠偏，能在恶劣海况下，提高立桩定位精度；
本发明另一个所要解决的技术问题是：提供一种上述打桩船的姿态调整方法。
为解决上述技术问题，本发明所采用的技术方案为：打桩船的姿态调整方法，其步骤为：
步骤一、采用雷达测波仪测量各方向波浪的波高和周期，并把测量数据传送给计算机；
步骤二、计算机根据步骤一的数据，采用ANSYS/AQWA水动力分析软件求解得出船体绕Y轴旋转做纵摇运动的角度ωy，船体绕X轴旋转做横摇运动的角度ωx，船体沿Z轴移动做垂荡运动的位移s,并将角度和位移数据传送给计算机；
步骤三、建立船体模型，将该打桩船简化为长方体，以打桩船的浮心为圆心做直角坐标系，沿船体的长度方向设置X轴的正方向，Y轴和Z轴通过右手法则来确定，Y轴沿船体宽度方向，Z轴正方向为垂直于打桩船甲板向上；
步骤四、计算机接受到软件求解得到的角度，当船体绕Y轴做纵摇运动时，将船在静止状态下水线标记为MN，当打桩船以Y轴旋转做纵摇运动时，水线标记为M1N1，可测得绕Y轴向下倾斜的一端排水体积为Vy，设打桩船长为L，宽为b，压载水舱内径为a，Wy为M1N1与MN之间的夹角，浮心到X正方向的船边距离为L2，浮心到Y正方向的船边距离为b2,则入水楔形体积Vy部分的水对Y轴的静矩为：
Figure PCTCN2020089398-appb-000001
压载水舱中水体积对Y轴的静矩为：
M 2＝πa 2h yg(L 2-a)；
入水楔形体积对Y轴的静矩与一侧压载水舱中水量对Y轴的静矩相等，则：
Figure PCTCN2020089398-appb-000002
得到船体向下倾斜一端液压缸向下移动位移
Figure PCTCN2020089398-appb-000003
步骤五、船体绕X轴做横摇运动时，将船在静止状态下水线标记为M2N2，当打桩船以X轴旋转做纵摇运动时，水线标记为M3N3，x为M2N2与M3N3之间的夹角，可知绕X轴向下倾斜的一端排水体积为Vx，则入水楔形体积Vx部分的水对X轴的静矩为：
Figure PCTCN2020089398-appb-000004
压载水舱中水体积对X轴的静矩为：
M 4＝πa 2h x(b 2-a)；
入水楔形体积对X轴的静矩与一侧压载水舱中水量对X轴的静矩相等，则：
Figure PCTCN2020089398-appb-000005
得到船体向下倾斜一端两个液压缸向下移动位移
Figure PCTCN2020089398-appb-000006
步骤六、船体沿Z轴做垂荡运动时，将船在静止状态下水线标记为M4N4，当打桩船沿Z轴旋转做垂荡运动时，水线标记为M5N5，可知船体减少的排水量的体积为Vz,则Vz＝bhs，压载水仓中应排出的水体积为V1，则V 1＝4πa 2h z，那么船体减少的排水量的体积Vz应等于压载水仓中排出的水体积V1，即bhs＝4πa 2h z，得到船体四个液压缸向下移动位移
Figure PCTCN2020089398-appb-000007
步骤七、由计算机计算出压水板与压载水舱顶部的距离，接着分别控制各液压缸伸长，将压载水舱中的水排入海中，使海水对船体向下一端产生向上的反力，增大了打桩船的浮力，从而对打桩船进行姿态调整。
本方法的有益效果是：本方法通过对入水楔形体积部分的水对船体产生的静矩，进一步计算出压水板所需调整的距离，从而进行主动补偿，消除了打桩船的纵摇和横摇，能适应更加恶劣的海况环境，确保打桩质量。
本发明另一个所要解决的技术问题是：提供一种上述打桩船在不同桩位间精确定位控制方法。
为解决上述技术问题，本发明所采用的技术方案为：打桩船定位控制方法，包括以下步骤：
步骤一、在船体上安装两个GPS信号接收器和扫描仪，在平面内，建立绝对坐标系XOY 和随船坐标系X'O'Y'；
步骤二、GPS信号接收器接收坐标信息并结合卫星基站发出的差分信号，得出GPS信号接收器在绝对坐标系下的精确位置坐标；
步骤三、根据其中一个GPS信号接收器的位置坐标和安装位置，得到随船坐标系原点在绝对坐标系内的坐标O(X O,Y O)；
步骤四、根据两个GPS信号接收器位置坐标得到随船坐标系的Y’方向；
步骤五、打桩船拖航至作业区域并抛锚，锚索连接点处装有的测角仪测量锚索角度，再根据锚索放出长度，计算出各个锚分布点(P 1～P n)在绝对坐标系XOY中的位置坐标，分别为
Figure PCTCN2020089398-appb-000008
步骤六、定位船体中心O坐标，当船在O(X O,Y O)点时，各个锚与船体连接点(Q 1～Q n)在绝对坐标系XOY下的坐标为
Figure PCTCN2020089398-appb-000009
步骤七、在随船坐标系X'O'Y'中，根据各个连接点Q 1～Q n与船中心O的位置关系，再结合定位的O的坐标，得到各个连接点在绝对坐标系XOY下的坐标为：
Figure PCTCN2020089398-appb-000010
步骤八、立桩目标点位置为T'(X T',Y T')，根据船体就位姿态，得到打桩船就位时随船坐标系原点O'位置，
Figure PCTCN2020089398-appb-000011
θ为船体转动角度；
步骤九、打桩船从O点运动至O'点，设定船体运动时长为a(s)，得出各方向运动速度为：
Figure PCTCN2020089398-appb-000012
其中，v X为绝对坐标系下船体沿X方向的运动速度，
v Y为绝对坐标系下船体沿Y方向的运动速度，
ω为船体转动的角速度。
步骤十、当船体运动至O'点时，各个锚与船体连接点(Q 1'～Q n')绝对坐标系下的坐标为
Figure PCTCN2020089398-appb-000013
则在t时刻，Q i'的坐标为：
Figure PCTCN2020089398-appb-000014
步骤十一、计算钢丝绳长度，水深为h，忽略钢丝绳下垂，则钢丝绳长度L i(i＝1,2,...,n)为：
Figure PCTCN2020089398-appb-000015
步骤十二、在t时刻，各个锚机的收缆速度V i(i＝1,2,...,n)为：
Figure PCTCN2020089398-appb-000016
步骤十三、根据求得的速度来控制各个锚机收放速度，实现打桩船的快速准确运动。
本方法的有益效果是：采用自动控制船体运动的方法，使得打桩船快速、准确到达目标位置，提高了吊桩效率和打桩精度。
此自动控制船体运动的方法可以减轻人工劳动强度，此方法下，无需经验丰富的操控人员亦可快速、准确地完成船体运动到目标位置的作业。
自动控制船体运动的方法简单、高效，易于自动控制软件的编程实现，且此方法适用于不同锚数的打桩船，适用范围广；
本发明另一个所要解决的技术问题是：提供一种上述打桩船进行精确安全打桩的打桩方法。
为解决上述技术问题，本发明所采用的技术方案为：打桩船的打桩方法，包括以下步骤：
步骤一、将打桩船拖航至工作区域，抛下定位锚；装载立桩的运输船就位；
步骤二、起升桩架，且采用上述的打桩船的姿态调整方法使得船体在起升桩架过程中保证船体水平；
步骤三、根据打桩船的定位系统确定船体位置和装载立桩的目标位置，然后采用上述的打桩船运动定位方法控制打桩船运动至装载立桩的目标位置；
步骤四、控制吊钩绞车收放钢丝绳，将吊钩向下放到运输船上，并扣在立桩吊耳上；
步骤五、控制吊钩绞车收放钢丝绳，将立桩吊起并竖直；
步骤六、抬起抱桩器伸缩臂夹紧立桩；
步骤七、采用上述的打桩船运动定位方法控控制打桩船运动至立桩的打桩位置；通过两个扫描仪检测立桩位置是否存在偏差，若立桩存在位置姿态偏差，可控制抱桩器的小范围运动，起到纠偏扶正作用；
步骤八、下降液压桩锤一定高度，使得桩帽套在立桩顶端；
步骤九、启动液压桩锤，开始打桩作业，打桩过程中，通过检测系统，实时检测立桩在每次锤击后的入泥深度，根据检测结果，实时调整液压桩锤的锤击能量；同时，打桩船的姿态调整系统保证船体不受波浪影响，在工作时保持水平状态；
步骤十、将立桩锤入指定深度后，缩回抱桩器；
步骤十一、重复步骤三至十，直至一组立桩全部入泥，完成打群桩作业；
步骤十二、缩回抱桩器，卧倒桩架，回收定位锚，准备将打桩船拖航至下一工作区域。
本方法的有益效果是：本方法通过定位船体位置和装载立桩的目标位置，然后采用打桩船运动定位方法控制打桩船运动至装载立桩的目标位置，以方便立桩的吊装；且本方法可以方便精确的定位打桩位置，并在打桩前对立桩位置进行自动调整，从而进一步提高打桩精度，整个打桩过程自动化程度高。
附图说明
图1是本发明的打桩船正视图。
图2是本发明的打桩船仰视图。
图3是本发明的打桩船侧面局部剖视图。
图4是本发明的压载水舱剖视图。
图5是简化打桩船坐标系示意图。
图6是打桩船纵摇坐标系示意图。
图7是打桩船横摇坐标系示意图。
图8是打桩船俯视图。
图9是打桩船随船坐标系示意图。
图10是打桩船运动示意图。
图中：1-船体；101-甲板，2-钢丝绳，3-绞滚筒车，4-第一刹车装置，5-第二刹车装置，6-抱桩器，7-桩帽，8-自动卧置装置，9-吊耳切割装置，10-导轨，11-立桩，12-桩架；13-桩锤；14-GPS信号接收器、15-扫描仪、16-锚机、17-连接板，18-压载水舱，181-压水板，182-推进 装置，183-铰接接头，184-缓冲垫，185-密封圈，19-锚索连接点，20-雷达测波仪；
具体实施方式
下面结合附图，详细描述本发明的具体实施方案。
如图1-4所示，一种打桩船，包括船体1，所述船体1上四角分别设有浮力调节装置，甲板101下表面与浮力调节装置相连接，浮力调节装置包括设置在船体1上的压载水舱18、以及甲板101下表面上设置的连接板17，连接板17上铰接有竖直向下设置的推进装置182，压载水舱18的底部设有外界相连通的通孔，压载水舱18内在液面上设有压水板181，压水板181与压载水舱18内壁间设有密封圈185，推进装置182的端部穿过压载水舱18的顶板与压水板181相铰接，船体1上设有检测海面波浪状况的雷达测波仪20，雷达测波仪20与计算机控制系统相连接，通过雷达测波仪20检测数据计算个液压缸182的活塞杆所需运动距离以驱动液压缸182带动压水板181上下移动排水或进水来控制船体1浮态；船体1上设有上下两个对立桩11进行扫描的扫描仪15，船体1上在两个不同位置设有GPS信号接收器14；船体1上设有在八个不同位置下锚的锚机16，船体1上设有对锚链起导向作用的锚索连接点19；船体1上转动设有桩架12，船体1上设有桩架12的自动卧置装置8，桩架12上设有打桩导轨10，打桩导轨10上活动设有桩锤13，桩锤13上设有限制桩锤在打桩导轨10上位置的第一刹车装置4，桩架12上部设有过渡滚轮，桩锤13上部通过钢丝绳2与设置在船体1上的绞车相连接，船体1上设有通过刹住绞车滚筒来控制钢丝绳2拉住桩锤13以实现刹车的第二刹车装置5；桩锤13上设有桩帽7，桩架12下部设有抱持立桩11的抱桩器6，
如图5-7所示，打桩船的姿态调整方法，其步骤为：
步骤一、采用雷达测波仪测量各方向波浪的波高和周期，并把测量数据传送给计算机；
步骤二、计算机根据步骤一的数据，采用ANSYS/AQWA水动力分析软件求解得出船体绕Y轴旋转做纵摇运动的角度ωy，船体绕X轴旋转做横摇运动的角度ωx，船体沿Z轴移动做垂荡运动的位移s,并将角度和位移数据传送给计算机；
步骤三、建立船体模型，将该打桩船简化为长方体，以打桩船的浮心为圆心做直角坐标系，沿船体的长度方向设置X轴的正方向，Y轴和Z轴通过右手法则来确定，Y轴沿船体宽度方向，Z轴正方向为垂直于打桩船甲板向上；
步骤四、计算机接受到软件求解得到的角度，当船体绕Y轴做纵摇运动时，将船在静止状态下水线标记为MN，当打桩船以Y轴旋转做纵摇运动时，水线标记为M1N1，可测得绕Y轴向下倾斜的一端排水体积为Vy，设打桩船长为L，宽为b，压载水舱内径为a，Wy为M1N1与MN之间的夹角，浮心到X正方向的船边距离为L2，浮心到Y正方向的船边距离为b2,则入水楔形体积Vy部分的水对Y轴的静矩为：
Figure PCTCN2020089398-appb-000017
压载水舱中水体积对Y轴的静矩为：
M 2＝πa 2h yg(L 2-a)；
入水楔形体积对Y轴的静矩与一侧压载水舱中水量对Y轴的静矩相等，则：
Figure PCTCN2020089398-appb-000018
得到船体向下倾斜一端液压缸向下移动位移
Figure PCTCN2020089398-appb-000019
步骤五、船体绕X轴做横摇运动时，将船在静止状态下水线标记为M2N2，当打桩船以X轴旋转做纵摇运动时，水线标记为M3N3，x为M2N2与M3N3之间的夹角，可知绕X轴向下倾斜的一端排水体积为Vx，则入水楔形体积Vx部分的水对X轴的静矩为：
Figure PCTCN2020089398-appb-000020
压载水舱中水体积对X轴的静矩为：
M 4＝πa 2h x(b 2-a)；
入水楔形体积对X轴的静矩与一侧压载水舱中水量对X轴的静矩相等，则：
Figure PCTCN2020089398-appb-000021
得到船体向下倾斜一端两个液压缸向下移动位移
Figure PCTCN2020089398-appb-000022
步骤六、船体沿Z轴做垂荡运动时，将船在静止状态下水线标记为M4N4，当打桩船沿Z轴旋转做垂荡运动时，水线标记为M5N5，可知船体减少的排水量的体积为Vz,则Vz＝bhs，压载水仓中应排出的水体积为V1，则V 1＝4πa 2h z，那么船体减少的排水量的体积Vz应等于压载水仓中排出的水体积V1，即bhs＝4πa 2h z，得到船体四个液压缸向下移动位移
Figure PCTCN2020089398-appb-000023
步骤七、由计算机计算出压水板与压载水舱顶部的距离，接着分别控制各液压缸伸长，将压载水舱中的水排入海中，使海水对船体向下一端产生向上的反力，增大了打桩船的浮力，从而对打桩船进行姿态调整。
如图8-10所示，打桩船运动定位方法包括以下步骤：
步骤一、在船体上安装两个GPS信号接收器和扫描仪，在平面内，建立绝对坐标系XOY和随船坐标系X'O'Y'；
步骤二、GPS信号接收器接收坐标信息并结合卫星基站发出的差分信号，得出GPS信号接收器在绝对坐标系下的精确位置坐标；
步骤三、根据其中一个GPS信号接收器的位置坐标和安装位置，得到随船坐标系原点在绝对坐标系内的坐标O(X O,Y O)；
步骤四、根据两个GPS信号接收器位置坐标得到随船坐标系的Y’方向；
步骤五、打桩船拖航至作业区域并抛锚，锚索连接点处装有的测角仪测量锚索角度，再根据锚索放出长度，计算出八个锚分布点(P 1～P 8)在绝对坐标系XOY中的位置坐标，分别为
Figure PCTCN2020089398-appb-000024
步骤六、定位船体中心O坐标，当船在O(X O,Y O)点时，八个锚与船体连接点(Q 1～Q n)在绝对坐标系XOY下的坐标为
Figure PCTCN2020089398-appb-000025
步骤七、在随船坐标系X'O'Y'中，根据八个连接点Q 1～Q 8与船中心O的位置关系，再结合定位的O的坐标，得到八个连接点在绝对坐标系XOY下的坐标为：
Figure PCTCN2020089398-appb-000026
步骤八、立桩目标点位置为T'(X T',Y T')，根据船体就位姿态，得到打桩船就位时随船坐标系原点O'位置，
Figure PCTCN2020089398-appb-000027
θ为船体转动角度；
步骤九、打桩船从O点运动至O'点，设定船体运动时长为a(s)，得出各方向运动速度为：
Figure PCTCN2020089398-appb-000028
其中，v X为绝对坐标系下船体沿X方向的运动速度，
v Y为绝对坐标系下船体沿Y方向的运动速度，
ω为船体转动的角速度。
步骤十、当船体运动至O'点时，八个锚与船体连接点(Q 1'～Q n')绝对坐标系下的坐标为
Figure PCTCN2020089398-appb-000029
则在t时刻，Q i'的坐标为：
Figure PCTCN2020089398-appb-000030
步骤十一、计算钢丝绳长度，水深为h，忽略钢丝绳下垂，则钢丝绳长度L i(i＝1,2,...,8)为：
Figure PCTCN2020089398-appb-000031
步骤十二、在t时刻，八个锚机的收缆速度V i(i＝1,2,...,8)为：
Figure PCTCN2020089398-appb-000032
步骤十三、根据求得的速度来控制八个锚机收放速度，实现打桩船的快速准确运动。
如图1-10所示，打桩船的打桩方法，包括以下步骤：
步骤一、将打桩船1拖航至工作区域，抛下定位锚；装载立桩的运输船就位；
步骤二、起升桩架12，且采用上述的打桩船的姿态调整方法使得船体在起升桩架12过程中保证船体水平；
步骤三、根据打桩船1的定位系统确定船体位置和装载立桩11的目标位置，然后采用上述的打桩船1运动定位方法控制打桩船1运动至装载立桩11的目标位置；
步骤四、控制吊钩绞车收放钢丝绳，将吊钩向下放到运输船上，并扣在立桩11吊耳上；
步骤五、控制吊钩绞车收放钢丝绳，将立桩11吊起并竖直；
步骤六、抬起抱桩器6的伸缩臂，主驱动机构驱动抱桩单元并向立桩11靠拢，然后移动第一夹块和第二夹块顶紧立桩11；
步骤七、采用上述的打桩船1运动定位方法控控制打桩船1运动至立桩11的打桩位置； 若立桩11存在位置姿态偏差，可控制抱桩器6的小范围运动，起到纠偏扶正作用；
步骤八、下降液压桩锤13一定高度，使得桩帽7套在立桩11顶端；
步骤九、启动液压桩锤13，开始打桩作业，打桩过程中，通过检测系统，实时检测立桩11在每次锤击后的入泥深度，根据检测结果，实时调整液压桩锤13的锤击能量；同时，打桩船1的姿态调整系统保证船体不受波浪影响，在工作时保持水平状态；
步骤十、将立桩锤入指定深度后，缩回抱桩器6；
步骤十一、重复步骤三至十，直至一组立桩11全部入泥，完成打群桩作业；
步骤十二、缩回抱桩器6，卧倒桩架12，回收定位锚，准备将打桩船1拖航至下一工作区域。
上述的实施例仅例示性说明本发明创造的原理及其功效，以及部分运用的实施例，而非用于限制本发明；应当指出，对于本领域的普通技术人员来说，在不脱离本发明创造构思的前提下，还可以做出若干变形和改进，这些都属于本发明的保护范围。

Claims (4)

  1. 一种打桩船，包括船体，船艏铰接设有桩架，船艏设有吊桩装置，桩架上设有打桩装置以及抱桩装置，打桩装置包括设置在桩架上的打桩导轨，打桩导轨上活动设有桩锤，桩锤底部连接有桩帽；船体上设有溜桩制动装置，其特征在于：还包括定位控制系统、船体姿态调整系统，所述的船体姿态调整系统包括对称分布在甲板下的至少四个调整船体浮态的浮力调节装置以及设置在船体上的雷达测波仪；浮力调节装置包括设置在船体上的压载水舱、以及甲板下表面上设置的连接板，连接板上铰接有竖直向下设置的推进装置，压载水舱的底部设有外界相连通的通孔，压载水舱内在液面上设有压水板，推进装置端部穿过压载水舱的顶板与压水板相铰接；雷达测波仪与计算机控制系统相连接，通过雷达测波仪检测数据计算各推进装置所需运动距离以驱动压水板上下移动排水或进水来控制船体浮态；所述定位控制系统包括与计算机控制系统相连接的设置船体上的两个不同位置的GPS信号接收器以及与计算机控制系统相连接的设置在船体上至少四个不同位置下锚的锚机；船体上相应地设有布置在船体端角处的锚索连接点，锚索连接点处装有与计算机控制系统相连接的测量锚索角度的测角仪；计算机控制系统通过GPS信号接收器得到船体位置信息，并建立绝对坐标系和随船坐标系，进而计算出船体移动时各锚与船体连接点处在绝对坐标系内的实时位置信息及各锚索长度，最终得出各锚机的收放速度以控制船体运动。
  2. 如权利要求1所述的打桩船的姿态调整方法，其步骤为：
    步骤一、采用雷达测波仪测量各方向波浪的波高和周期，并把测量数据传送给计算机；
    步骤二、计算机根据步骤一的数据，采用ANSYS/AQWA水动力分析软件求解得出船体绕Y轴旋转做纵摇运动的角度ωy，船体绕X轴旋转做横摇运动的角度ωx，船体沿Z轴移动做垂荡运动的位移s,并将角度和位移数据传送给计算机；
    步骤三、建立船体模型，将该打桩船简化为长方体，以打桩船的浮心为圆心做直角坐标系，沿船体的长度方向设置X轴的正方向，Y轴和Z轴通过右手法则来确定，Y轴沿船体宽度方向，Z轴正方向为垂直于打桩船甲板向上；
    步骤四、计算机接受到软件求解得到的角度，当船体绕Y轴做纵摇运动时，将船在静止状态下水线标记为MN，当打桩船以Y轴旋转做纵摇运动时，水线标记为M1N1，可测得绕Y轴向下倾斜的一端排水体积为Vy，设打桩船长为L，宽为b，压载水舱内径为a，Wy为M1N1与MN之间的夹角，浮心到X正方向的船边距离为L2，浮心到Y正方向的船边距离为b2,则入水楔形体积Vy部分的水对Y轴的静矩为：
    Figure PCTCN2020089398-appb-100001
    压载水舱中水体积对Y轴的静矩为：
    M 2＝πa 2h yg(L 2-a)；
    入水楔形体积对Y轴的静矩与一侧压载水舱中水量对Y轴的静矩相等，则：
    Figure PCTCN2020089398-appb-100002
    得到船体向下倾斜一端液压缸向下移动位移
    Figure PCTCN2020089398-appb-100003
    步骤五、船体绕X轴做横摇运动时，将船在静止状态下水线标记为M2N2，当打桩船以X轴旋转做纵摇运动时，水线标记为M3N3，
    x为M2N2与M3N3之间的夹角，可知绕X轴向下倾斜的一端排水体积为Vx，则入水楔形体积Vx部分的水对X轴的静矩为：
    Figure PCTCN2020089398-appb-100004
    压载水舱中水体积对X轴的静矩为：
    M 4＝πa 2h x(b 2-a)；
    入水楔形体积对X轴的静矩与一侧压载水舱中水量对X轴的静矩相等，则：
    Figure PCTCN2020089398-appb-100005
    得到船体向下倾斜一端两个液压缸向下移动位移
    Figure PCTCN2020089398-appb-100006
    步骤六、船体沿Z轴做垂荡运动时，将船在静止状态下水线标记为M4N4，当打桩船沿Z轴旋转做垂荡运动时，水线标记为M5N5，可知船体减少的排水量的体积为Vz,则
    Vz＝bhs，压载水仓中应排出的水体积为V1，则V 1＝4πa 2h z，那么船体减少的排水量的体积Vz应等于压载水仓中排出的水体积V1，即bhs＝4πa 2h z，得到船体四个液压缸向下移动位移
    Figure PCTCN2020089398-appb-100007
    步骤七、由计算机计算出压水板与压载水舱顶部的距离，接着分别控制各液压缸伸长，将压载水舱中的水排入海中，使海水对船体向下一端产生向上的反力，增大了打桩船的浮力，从而对打桩船进行姿态调整。
  3. 如权利要求1所述的打桩船定位控制方法，包括以下步骤：
    步骤一、在船体上安装两个GPS信号接收器和扫描仪，在平面内，建立绝对坐标系XOY和随船坐标系X'O'Y'；
    步骤二、GPS信号接收器接收坐标信息并结合卫星基站发出的差分信号，得出GPS信号接收器在绝对坐标系下的精确位置坐标；
    步骤三、根据其中一个GPS信号接收器的位置坐标和安装位置，得到随船坐标系原点在绝对坐标系内的坐标O(X O,Y O)；
    步骤四、根据两个GPS信号接收器位置坐标得到随船坐标系的Y’方向；
    步骤五、打桩船拖航至作业区域并抛锚，锚索连接点处装有的测角仪测量锚索角度，再根据锚索放出长度，计算出各个锚分布点(P 1～P n)在绝对坐标系XOY中的位置坐标，分别为
    Figure PCTCN2020089398-appb-100008
    步骤六、定位船体中心O坐标，当船在O(X O,Y O)点时，各个锚与船体连接点(Q 1～Q n)在绝对坐标系XOY下的坐标为
    Figure PCTCN2020089398-appb-100009
    步骤七、在随船坐标系X'O'Y'中，根据各个连接点Q 1～Q n与船中心O的位置关系，再结合定位的O的坐标，得到各个连接点在绝对坐标系XOY下的坐标为：
    Figure PCTCN2020089398-appb-100010
    步骤八、立桩目标点位置为T'(X T',Y T')，根据船体就位姿态，得到打桩船就位时随船坐标系原点O'位置，
    Figure PCTCN2020089398-appb-100011
    θ为船体转动角度；
    步骤九、打桩船从O点运动至O'点，设定船体运动时长为a(s)，得出各方向运动速度 为：
    Figure PCTCN2020089398-appb-100012
    其中，v X为绝对坐标系下船体沿X方向的运动速度，
    v Y为绝对坐标系下船体沿Y方向的运动速度，
    ω为船体转动的角速度。
    步骤十、当船体运动至O'点时，各个锚与船体连接点(Q 1'～Q n')绝对坐标系下的坐标为
    Figure PCTCN2020089398-appb-100013
    则在t时刻，Q i'的坐标为：
    Figure PCTCN2020089398-appb-100014
    步骤十一、计算钢丝绳长度，水深为h，忽略钢丝绳下垂，则钢丝绳长度L i(i＝1,2,...,n)为：
    Figure PCTCN2020089398-appb-100015
    步骤十二、在t时刻，各个锚机的收缆速度V i(i＝1,2,...,n)为：
    Figure PCTCN2020089398-appb-100016
    步骤十三、根据求得的速度来控制各个锚机收放速度，实现打桩船的快速准确运动。
  4. 如权利要求1所述的打桩船的打桩方法，包括以下步骤：
    步骤一、将打桩船拖航至工作区域，抛下定位锚；装载立桩的运输船就位；
    步骤二、起升桩架，且采用如权利要求2所述的打桩船的姿态调整方法使得船体在起升桩架过程中保证船体水平；
    步骤三、根据打桩船的定位系统确定船体位置和装载立桩的目标位置，然后采用如权利要求3所述的打桩船定位控制方法控制打桩船运动至装载立桩的目标位置；
    步骤四、控制吊钩绞车收放钢丝绳，将吊钩向下放到运输船上，并扣在立桩吊耳上；
    步骤五、控制吊钩绞车收放钢丝绳，将立桩吊起并竖直；
    步骤六、抬起抱桩器夹紧立桩；
    步骤七、采用如权利要求3所述的打桩船运动定位方法控控制打桩船运动至立桩的打桩位置；通过两个扫描仪检测立桩位置是否存在偏差，若立桩存在位置姿态偏差，控制抱桩器的小范围运动来调整立桩位置；
    步骤八、下降液压桩锤一定高度，使得桩帽套在立桩顶端；
    步骤九、启动液压桩锤，开始打桩作业，打桩过程中，通过检测系统，实时检测立桩在每次锤击后的入泥深度，根据检测结果，实时调整液压桩锤的锤击能量；同时，打桩船的姿态调整系统保证船体不受波浪影响，在工作时保持水平状态；
    步骤十、将立桩锤入指定深度后，缩回抱桩器；
    步骤十一、重复步骤三至十，直至一组立桩全部入泥，完成打群桩作业；
    步骤十二、缩回抱桩器，卧倒桩架，回收定位锚，准备将打桩船拖航至下一工作区域。
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