CN-121990470-A - Automatic generation method for hoisting path of offshore wind power split installation fan assembly

CN121990470ACN 121990470 ACN121990470 ACN 121990470ACN-121990470-A

Abstract

The invention discloses an automatic generation method of a hoisting path of a split installation fan assembly for offshore wind power, which comprises the steps of obtaining engineering basic data, calculating the gravity center of the fan assembly and determining a hoisting point, creating a millimeter-level precision three-dimensional model, importing the ship, the fan assembly and an existing building by utilizing three-dimensional modeling software, configuring the model importing and collision rules, establishing a space coordinate system and a field initial arrangement scheme record, recording as a starting reference value of path calculation, setting motion parameters and priorities, determining the rotation direction of a crane arm, calculating the path of the crane arm for taking a hoisted object, and detecting the real-time collision state of the crane arm in the process of taking the hoisted object. The invention can quickly and automatically generate a plurality of groups of hoisting path schemes, quantitatively compare key parameters such as boom angle, collision detection times, hoisting time consumption and the like, assist a construction team in selecting an optimal scheme, and solve the problems of long trial-and-error period, dependence on experience selection and lack of quantitative basis of the traditional manual simulation.

Inventors

Meng Ruodie
Lu Xiaoyou
WANG JIE
ZHU HUI
YAO RENCHEN
ZHOU RUIYI
GAN SHIQIN
LI YEXUN
MA ZHENJIANG
LIU LU
XU JIAYAO
YAN SHENG

Assignees

中交第三航务工程局有限公司

Dates

Publication Date: 20260508
Application Date: 20260105

Claims (10)

1. An automatic generation method of a hoisting path of a split installation fan assembly for offshore wind power is characterized by comprising the following steps: Step S1, engineering basic data are obtained; S2, calculating the gravity center of the fan assembly and determining a hanging point; Step S3, a millimeter-level precision three-dimensional model is created, a ship, a fan assembly and an existing building are imported by utilizing three-dimensional modeling software, and a model file is exported for standby after modeling is completed; S4, importing all the generated three-dimensional models into a virtual scene, and classifying and setting attributes for objects to be detected in a collision mode; step S5, a space coordinate system and a field initial arrangement scheme record are established and recorded as an initial reference value of path calculation; step S6, setting motion parameters and priorities; Step S7, determining the rotation direction of the crane arm; step S8, the boom takes the path calculation of the lifted object, and the path of the lifting fan assembly is planned according to the strategy of lifting firstly and then translating by combining the construction process; step S9, simulating the movement of the crane arm according to the path of the step S8, monitoring the collision state of the crane arm and an obstacle in real time through a physical engine of the virtual engine, if collision is detected, immediately suspending the movement, and recording the collision position, the current crane arm level and the pitching angle; Step S10, calculating a path of a lifting arm for installing a lifted object, controlling a crane to lift a fan assembly to a preset height, and obtaining the position of a lifting hook at the moment; Step S11, simulating the motion of a crane arm according to the path of the step S10, monitoring the collision state of a fan assembly and surrounding objects after hoisting in real time through a virtual engine physical engine, if collision is detected, immediately suspending the motion, and recording the collision position, the current crane arm level and the pitching angle; Step S12, checking whether the horizontal angle adjustable range and the pitching angle adjustable range of the crane arm are traversed, and if not, executing step S10; Step S13, if the barrier can not be avoided after the crane arm is traversed in the horizontal angle adjustable range and the pitching angle adjustable range, the current scheme is judged to be infeasible, and step S14 is executed; S14, the field space layout of the fan assembly needs to be readjusted, and after the construction scheme is updated, the step S1 is returned to restart path calculation; Step S15, automatically recording core indexes of the technical scheme, namely the maximum rotation angle, the maximum pitching angle, the collision detection times, the path adjustment times, the total hoisting time and the path length of the crane boom; And S16, extracting the key node data in the step S15, generating a hoisting action playback video in the virtual engine, and outputting a complete installation path file to obtain a complete installation path.
2. The automatic generation method of the hoisting path of the offshore wind power split installation fan assembly, which is disclosed in claim 1, is characterized in that in step S1, engineering basic data comprise geographical information of offshore wind power projects, design parameters of construction ships and design drawings of the fan assembly; The offshore wind project geographic information comprises wind farm position, seabed topography and ocean current data, and the construction ship design parameters comprise hull size, maximum hoisting weight of a crane, hoisting height, working radius and stability parameters; In the step S2, the gravity center position of each component is obtained through mechanical calculation based on drawing parameters of the fan component, the type of an adaptive hoisting tool is determined according to the weight of the component, the gravity center distribution and the hoisting safety requirement, and the specific positions of hoisting points of the components are defined by combining the tool and the component structure.
3. The automatic generation method of a hoisting path of a split installation fan assembly for offshore wind power according to claim 1, wherein in step S4, an attribute is set for classifying an object to be detected by collision, and the method comprises the following steps: Simple regular objects are directly marked with a "convexity" or a "concavity"; The complex object is split into a convex surface body and a concave surface body submodule, collision attributes are respectively configured, and a collision judgment threshold value is defined.
4. The automatic generation method of the hoisting path of the offshore wind power split installation fan assembly is characterized in that in step S5, an engineering special coordinate system is built in a virtual engine, the horizontal rotation 0-degree direction and the vertical rotation 0-degree direction are set, the site initial arrangement is carried out according to a construction scheme, the horizontal angle and the vertical angle of a crane boom in an initial state are obtained, and the initial reference value of path calculation is recorded.
5. The automatic generation method of the hoisting path of the offshore wind power split installation fan assembly, which is disclosed in claim 1, is characterized in that in step S6, a 'rotation movement stepping value' and a 'pitching movement stepping value' of a crane arm are set according to the performance and construction precision requirements of the crane, a specific movement priority rule is adopted, rotation movement is preferentially executed, and pitching movement is executed after the rotation direction approaches a target.
6. The automatic generation method of the lifting path of the offshore wind power split installation fan assembly according to claim 1, wherein in the step S7, based on the specific position of the lifting point of each assembly determined in the step S2 and the initial reference value of the path calculation recorded in the step S5, the connecting line included angle of a lifting hook of a lifting arm and a lifting point of a lifted object is calculated, and the rotation direction of the crane to be oriented to the lifted object is determined through trigonometric function operation in combination with the current vertical rotation angle of the lifting arm.
7. The automatic generation method of the hoisting path of the offshore wind power split installation fan assembly is characterized in that in the step S8, the crane boom is driven to rotate towards the hoisted object by taking an initial angle as a starting point according to a rotation stepping value until the crane boom rotates to the position closest to the hoisted object; when the crane arm is adjusted to the same horizontal position of the lifting hook and the lifting point of the lifted object, calculating the distance between the lifting hook and the lifting point of the lifted object, and driving the lifting hook to move downwards along the vertical direction; When the hook hanging point is aligned with the hanging object calculating hanging point, the virtual connection is completed and the step S10 is executed.
8. The automatic generation method of a hoisting path of a split installation fan assembly for offshore wind power according to claim 1, wherein in step S9, if a collision is triggered, the boom is controlled to retract to the angular position without the collision in the previous step; Attempting to adjust the motion parameters: If collision is caused by the rotation angle, the crane arm is rotated in a pitching mode according to the pitching stepping value, then rotation operation is continued until the crane arm rotates to the target horizontal angle, the crane arm is operated to the target vertical angle according to the pitching stepping value, and step S8 is repeated in the process.
9. The automatic generation method of a hoisting path of a split installation fan assembly for offshore wind power according to claim 1, wherein in step S10, a virtual connecting line of a current lifting hook position and a target installation position hoisting point is established, and an included angle between the line and the horizontal direction of a crane arm is calculated; determining a rotation direction by taking the included angle as an adjustment basis; driving the lifting arm to rotate according to the rotation stepping value, so that the included angle is gradually reduced until the rotating object to be lifted leaves the deck area of the lifting ship to the sea area; adjusting elevation angle according to the elevation step value, gradually increasing the elevation of the lifting point at the installation position of the lifted object, and rotating the lifting hook according to the rotation step value until the elevation angle is consistent with the plane position of the lifting point; and (3) lowering the crane hook, judging that the lifted object is in place when the current lifting point of the lifted object is coincident with the calculated lifting point of the installation position, and executing step S12.
10. The automatic generation method of a hoisting path of a split installation fan assembly for offshore wind power according to claim 1, wherein in step S11, if a collision is triggered, the boom is controlled to retract to the angular position without the collision in the previous step; Attempting to adjust the motion parameters: If collision is caused by the rotation angle, the crane boom is rotated in a pitching mode according to the pitching stepping value, and then the rotation operation is continued.

Description

Automatic generation method for hoisting path of offshore wind power split installation fan assembly Technical Field The invention belongs to the technical field of offshore wind power engineering, and particularly relates to an automatic generation method of a hoisting path of an offshore wind power split installation fan assembly. Background Under the large background of global active energy transformation and strong development of renewable energy sources to cope with climate change and realize carbon neutralization, offshore wind power is taken as a key component part of renewable energy sources, and the renewable energy source has the remarkable advantages of no occupation of land and land resources, abundant wind energy resources, stable wind speed, high power generation efficiency, spatial approach to the eastern coastal electricity load center and the like, and is extremely rapid in development. The installed capacity of the offshore wind power in China is obviously increased, the global ratio is nearly half, and a relatively complete technical chain and industrial chain are constructed. However, the assembly installation operation of the offshore wind turbine has a plurality of difficult problems. With the continuous trend of the single-machine capacity of the blower to be large, for example, a 26 megawatt offshore wind generating set is taken off line, the size and the weight of the blower assembly are increased sharply, and the blower assembly is as long as 120 meters, which enables the blower assembly to be far beyond the deck size of a construction ship, the placement position and the operation space of various blower assemblies on the deck are required to be planned finely before installation, otherwise, collision risks are very easy to occur, and meanwhile, the performance parameters of the crane are required to be fully considered, so that the crane can meet the hoisting requirements of large-size and large-weight assemblies. Traditional hoisting path planning relies on construction technicians to simulate in a three-dimensional model manually, so that collision risks among suspended objects and hoisting equipment, on-site buildings and components are manually checked, the path is required to be manually adjusted again once collision occurs, the trial and error cost in the whole process is high, the period is long, and the requirements of offshore wind power efficient and safe construction are difficult to meet. Therefore, the automatic generation method of the hoisting path of the offshore wind power split installation fan assembly is provided. Disclosure of Invention In order to solve the problems in the prior art, the invention provides an automatic generation method for a lifting path of a split installation fan assembly for offshore wind power, which can quickly and automatically generate a plurality of groups of lifting path schemes, quantitatively compare key parameters such as a crane boom angle, collision detection times, lifting time consumption and the like, assist a construction team to select an optimal scheme, and solve the problems of long trial-and-error period, dependence on experience selection and lack of quantitative basis of the traditional manual simulation. The technical scheme for achieving the purpose is as follows: An automatic generation method of a hoisting path of a split installation fan assembly for offshore wind power comprises the following steps: Step S1, engineering basic data are obtained; S2, calculating the gravity center of the fan assembly and determining a hanging point; Step S3, a millimeter-level precision three-dimensional model is created, a ship, a fan assembly and an existing building are imported by utilizing three-dimensional modeling software, and a model file is exported for standby after modeling is completed; S4, importing all the generated three-dimensional models into a virtual scene, and classifying and setting attributes for objects to be detected in a collision mode; step S5, a space coordinate system and a field initial arrangement scheme record are established and recorded as an initial reference value of path calculation; step S6, setting motion parameters and priorities; Step S7, determining the rotation direction of the crane arm; step S8, the boom takes the path calculation of the lifted object, and the path of the lifting fan assembly is planned according to the strategy of lifting firstly and then translating by combining the construction process; step S9, simulating the movement of the crane arm according to the path of the step S8, monitoring the collision state of the crane arm and an obstacle in real time through a physical engine of the virtual engine, if collision is detected, immediately suspending the movement, and recording the collision position, the current crane arm level and the pitching angle; Step S10, calculating a path of a lifting arm for installing a lifted object, controlling a crane to lift a fan assembly