阅读说明：本技术 一种节能型斜坡道出运沉箱的方法 (Method for transporting caisson out of energy-saving ramp ) 是由 刘佳 于宝成 胡晓军 冯明锦 龚新曦 朱冠泽 于 2021-07-13 设计创作，主要内容包括：本发明涉及一种节能型斜坡道出运沉箱的方法,包括,S1建造出运斜坡与浮坑,S2设置出运设备,S3将待出运沉箱移动至放置平台边缘,S4对待出运沉箱进行牵引,直至将沉箱拉送至所述斜坡且沉箱能通过自身重力进行移动,S5对沉箱进行反向牵引,防止沉箱速度过快,S6浮坑内水位随涨潮达到沉箱浮游吃水位后,牵引船对沉箱进行托运,完成沉箱出运。本发明通过设置斜坡,使沉箱能通过自身重力下降,充分利用自身势能,降低了搬运过程中的能量消耗,同时,通过利用海水潮汐使沉箱达到吃水位,进一步减少了沉箱出运过程中的能源消耗；充分利用沉箱自身势能与潮汐能,降低了能源的消耗,同时达到了智能出运沉箱的目的。(The invention relates to a method for transporting a caisson out of an energy-saving ramp, which comprises the steps of S1 building a transportation slope and a floating pit, S2 arranging transportation equipment, S3 moving the caisson to be transported to the edge of a placing platform, S4 drawing the caisson to be transported until the caisson is drawn to the slope and can move through self gravity, S5 carrying out reverse drawing on the caisson to prevent the caisson from being too fast, and after the water level in the S6 floating pit reaches the caisson floating water level along with high tide, drawing a ship to carry the caisson to finish the transportation of the caisson. The caisson can descend through self gravity by arranging the slope, the potential energy of the caisson is fully utilized, the energy consumption in the carrying process is reduced, and meanwhile, the caisson reaches the draught level by utilizing the seawater tide, so that the energy consumption in the transporting process of the caisson is further reduced; the potential energy and tidal energy of the caisson are fully utilized, the energy consumption is reduced, and the aim of intelligently transporting the caisson is fulfilled.)

1. A method for transporting a caisson out of an energy-saving ramp is characterized by comprising the following steps,

step S1, constructing a shipping slope, wherein the top end of the slope is connected with a caisson placing platform, and the bottom end of the slope is provided with a floating pit;

step S2, setting a shipping device, which comprises a first winch and a second winch arranged on the caisson placing platform, and a third winch and a fourth winch arranged on the slope;

step S3, moving the caisson to be transported to the edge of a placement platform, and respectively connecting the caisson with the first winch, the second winch, the third winch and the fourth winch through steel wire ropes, wherein a first pulley is arranged between the caisson and the first winch, and a second pulley is arranged between the caisson and the second winch;

step S4, the third winch and the fourth winch drag the caisson to be transported out through a steel wire rope until the caisson is pulled to the slope and can move through self gravity;

step S5, the first winch and the second winch drag the caisson which moves through self gravity to prevent the caisson from descending too fast, when the caisson approaches the floating pit, the first winch and the second winch give up dragging the caisson, so that the caisson enters the floating pit under the action of self gravity;

step S6, connecting a traction ship with the caisson, and after the water level in the floating pit reaches the floating draft level of the caisson along with the flood tide, carrying the caisson by the traction ship to finish the shipment of the caisson;

in the steps S1-S6, a first generator is disposed on one side of the first pulley, a second generator is disposed on one side of the second pulley, the first pulley can be connected to the first generator, the second pulley can be connected to the second generator, when the caisson moves by its own weight, the caisson drives the pulleys to rotate, and further drives the generators to operate, and the generators recover potential energy of the caisson;

the top end of the caisson is provided with a displacement sensor and a speed sensor, the displacement sensor is used for detecting the advancing direction of the caisson, and the speed sensor is used for detecting the moving speed of the caisson;

the caisson transportation device is characterized in that a central control module is arranged in the caisson transportation process, the central control module is respectively connected with the first winch, the second winch, the third winch, the fourth winch, the first pulley, the second pulley, the displacement sensor and the speed sensor, and the central control module is used for adjusting the running state of each device in the caisson transportation process;

in the steps S1-S6, during the downward movement of the caisson, the speed sensor detects the moving speed of the caisson and transmits the detection result to the central control module, and the central control module determines the working mode of each winch according to the moving speed;

the displacement sensor detects the moving distance and the deviation angle in the sinking well downward moving process and transmits the detection result to the central control module, and the central control module adjusts the working mode of each winch according to the deviation angle.

2. The method for transporting the caisson through the energy-saving ramp according to claim 1, wherein when the caisson is transported through the caisson transporting method, the caisson to be transported is moved to the edge of the placing platform, the third winch and the fourth winch pull the caisson to move the caisson to the ramp, the velocity sensor detects the caisson moving velocity Vx and transmits the detection result to the central control module, the central control module is provided with a first preset downward moving velocity V1, a second preset downward moving velocity V2 and a third preset downward moving velocity V3, the central control module compares the moving velocity Vx with the first preset downward moving velocity V1,

when Vx is less than or equal to V1, the central control module judges that the caisson cannot move by the gravity of the central control module, and the third winch and the fourth winch continue to pull the caisson;

when Vx is larger than V1, the central control module judges that the caisson can move by means of self gravity, and the third winch and the fourth winch stop towing the caisson.

3. The method for transporting caissons out of an energy-saving ramp according to claim 2, wherein when the central control module determines that the caisson can move by its own weight, the speed sensor continues to detect the caisson moving speed Vy and transmits the detection result to the central control module, the central control module compares Vy with a second preset downward moving speed V2,

when Vy is less than or equal to V2, the central control module judges that the caisson does not move downwards enough to recover potential energy;

when Vy is larger than V2, the central control module judges that the caisson moves downwards enough to recover potential energy, the central control module controls the first pulley to be connected with the first generator, the second pulley is connected with the second generator, the first pulley drives the first generator to rotate, and the second pulley drives the second generator to rotate so as to recover the potential energy of the caisson into electric energy;

when the central control module judges that the caisson moves downwards enough to recover potential energy, the speed sensor continuously detects the movement speed Vw of the caisson and transmits the detection result to the central control module, the central control module compares the Vw with a second preset downward movement speed V3,

when Vw is less than or equal to V3, the central control module judges that the movement speed of the caisson is in a controllable range, and the central control module does not control the first winch and the second winch to drag the caisson;

when Vw is larger than V3, the central control module judges that the movement speed of the caisson is too high, and the central control module controls the first winch and the second winch to drag the caisson to reduce the movement speed of the caisson so that the caisson moves at the speed of Vw ', and V2 is larger than Vw' and is not larger than V3.

4. The method for transporting caisson out of energy-saving ramp according to claim 3, wherein when the caisson moves on the ramp, the displacement sensor detects the deviation angle D of the caisson movement and transmits the detection result to the central control module, a preset deviation angle parameter Dz is set in the central control module, the central control module compares the deviation angle D with the deviation angle parameter Dz,

when D is less than or equal to Dz, the central control module judges that the deviation angle of the caisson is in a preset range, and the central control module does not adjust the movement angle of the caisson;

and when D is larger than Dz, the central control module judges that the deviation angle of the caisson exceeds a preset unit, and the central control module adjusts each winch to adjust.

5. The method for transporting caissons out of a ramp according to claim 4, wherein the central control module is provided with a ramp length parameter Lz and a distance parameter L1 for the first preset caisson to move along the ramp direction, the displacement sensor detects the distance L for the caisson to move along the ramp direction in real time, Dz is determined according to the moving distance L of the caisson, the central control module compares L with L1,

when L is less than or equal to L1, Dz is d, and d is the minimum value of the deviation angle parameter preset in the central control module;

when L > L1, Dz is L/Lz × L, where L is the movement distance versus deviation angle calculation compensation parameter.

6. The method for transporting the caisson out of the energy-saving ramp according to claim 5, wherein when the central control module determines that the caisson deviates from the angle by more than a preset unit, the speed sensor detects the moving speed V of the caisson and transmits the detection result to the central control module, and the central control module compares V with V1,

when V is less than or equal to V1, the central control module adjusts the direction of the caisson by adjusting the traction force of the third winch and the fourth winch;

when V is larger than V1, the central control module adjusts the direction of the caisson by adjusting the traction force of the first winch and the second winch.

7. The method for transporting the caisson out of the energy-saving ramp according to claim 6, wherein when D > Dz and V ≦ V1, the central control module analyzes the information fed back by the displacement sensor to determine the caisson shifting direction,

when the caisson moves leftwards, the central control module controls the third winch to reduce the traction force, and the fourth winch maintains the traction force unchanged, so that the caisson moves rightwards;

when the caisson moves to the right side, the central control module controls the fourth winch to reduce the traction force, and the third winch maintains the traction force unchanged so as to correct the caisson moving direction to the left side;

when the caisson moving direction is corrected, the displacement sensor detects the deviation angle D 'of the caisson moving, the detection result is transmitted to the central control module, the central control module compares the deviation angle D' with the deviation angle parameter Dz,

when D' is less than or equal to Dz, the central control module judges that the deviation angle of the caisson is corrected to a preset range, and the central control module controls the third winch and the fourth winch to recover to a preset traction force;

and when D' is more than Dz, the central control module judges that the deviation angle of the caisson is not corrected to a preset range, and the central control module controls the third winch and the fourth winch to continuously maintain the current set traction force.

8. The method for transporting the caisson out of the energy-saving ramp according to claim 7, wherein when D > Dz and V1 < V ≦ V2, the center control module determines the caisson offset direction through the information fed back by the displacement sensor,

when the caisson moves leftwards, the central control module controls the second winch to start to pull the caisson, and the first winch maintains a non-starting state so as to correct the caisson moving direction to the right side;

when the movement direction of the caisson is inclined to the right, the central control module controls the first winch to start to drag the caisson, and the second winch maintains a non-starting state so as to correct the movement direction of the caisson to the left side;

when the caisson moving direction is corrected, the displacement sensor detects the deviation angle D 'of the caisson moving, the detection result is transmitted to the central control module, the central control module compares the deviation angle D' with the deviation angle parameter Dz,

when D' is less than or equal to Dz, the central control module judges that the deviation angle of the caisson is corrected to a preset range, and the central control module controls the first winch and the second winch to remove traction;

and when D' is more than Dz, the central control module judges that the deviation angle of the caisson is not corrected to a preset range, and the central control module controls the first winch and the second winch to continuously maintain the current set traction force.

9. The energy efficient ramp caisson discharging method of claim 8, wherein when D > Dz and V1 > V2, the central control module determines caisson offset direction through information analysis fed back by the displacement sensors,

when the movement direction of the caisson deviates to the left, the central control module controls the first winch to reduce the traction force, and the second winch maintains the traction force unchanged, so that the movement direction of the caisson is corrected to the right;

when the caisson moves to the right side, the central control module controls the second winch to reduce the traction force, and the first winch maintains the traction force unchanged so as to correct the caisson moving direction to the left side;

when the caisson moving direction is corrected, the displacement sensor detects the deviation angle D 'of the movement of the caisson, the detection result is transmitted to the central control module, and the central control module transmits the deviation angle D' and the deviation angle parameter Dz.

Technical Field

The invention relates to the technical field of heavy object transportation, in particular to a method for transporting a caisson out of an energy-saving slope way.

Background

In the prior port engineering construction process, the caisson is transported out and used more frequently by translating the caisson to a floating dock or a semi-submerged barge on land by utilizing an air bag, and then launching the caisson by the floating dock or the semi-submerged barge, or by combining a slide way with an inclined frame vehicle. In the above process, a floating dock and a semi-submersible barge are used for shipping caissons, a professional caisson shipping dock needs to be newly built, the large ship needs to be dispatched, the shipping is complicated, and the energy consumption in the shipping process is too large.

Disclosure of Invention

Therefore, the invention provides an energy-saving method for transporting a caisson out of a slope way, which is used for solving the problems of complexity and high energy consumption in the caisson transportation process in the prior art.

In order to achieve the above objects, the present invention provides a method for transporting a caisson out of a ramp, comprising,

step S1, constructing a shipping slope, wherein the top end of the slope is connected with a caisson placing platform, and the bottom end of the slope is provided with a floating pit;

step S2, setting a shipping device, including a first winch and a second winch arranged on the caisson placing platform, and a third winch and a fourth winch arranged on the slope;

step S3, moving the caisson to be transported to the edge of a placement platform, and respectively connecting the caisson with the first winch, the second winch, the third winch and the fourth winch through steel wire ropes, wherein a first pulley is arranged between the caisson and the first winch, and a second pulley is arranged between the caisson and the second winch;

step S4, the third winch and the fourth winch drag the caisson to be transported out through a steel wire rope until the caisson is pulled to the slope and can move through self gravity;

step S5, the first winch and the second winch drag the caisson which moves through self gravity to prevent the caisson from descending too fast, when the caisson approaches the floating pit, the first winch and the second winch give up dragging the caisson, so that the caisson enters the floating pit under the action of self gravity;

step S6, connecting a traction ship with the caisson, and after the floating pit reaches the floating draft level of the caisson along with the water level flood tide, carrying the caisson by the traction ship to finish the shipment of the caisson;

in the steps S1-S6, a first generator is disposed on one side of the first pulley, a second generator is disposed on one side of the second pulley, the first pulley can be connected to the first generator, the second pulley can be connected to the second generator, when the caisson moves by its own weight, the caisson drives the pulleys to rotate, and further drives the generators to operate, and the generators recover potential energy of the caisson;

the top end of the caisson is provided with a displacement sensor and a speed sensor, the displacement sensor is used for detecting the advancing direction of the caisson, and the speed sensor is used for detecting the moving speed of the caisson;

the caisson transportation device is characterized in that a central control module is arranged in the caisson transportation process, the central control module is respectively connected with the first winch, the second winch, the third winch, the fourth winch, the first pulley, the second pulley, the displacement sensor and the speed sensor, and the central control module is used for adjusting the running state of each device in the caisson transportation process;

in the process of moving the caisson downwards, the speed sensor detects the moving speed of the caisson and transmits the detection result to the central control module, and the central control module determines the working mode of each winch according to the moving speed;

the displacement sensor detects the moving distance and the deviation angle in the sinking well downward moving process and transmits the detection result to the central control module, and the central control module adjusts the working mode of each winch according to the deviation angle.

Further, when the caisson is transported by the caisson transporting method, the caisson to be transported is moved to the edge of the placing platform, the third winch and the fourth winch pull the caisson to move the caisson to a ramp, the speed sensor detects the moving speed Vx of the caisson and transmits the detection result to the central control module, a first preset downward moving speed V1, a second preset downward moving speed V2 and a third preset downward moving speed V3 are arranged in the central control module, the central control module compares the moving speed Vx with the first preset downward moving speed V1,

when Vx is less than or equal to V1, the central control module judges that the caisson cannot move by the gravity of the central control module, and the third winch and the fourth winch continue to pull the caisson;

when Vx is larger than V1, the central control module judges that the caisson can move by means of self gravity, and the third winch and the fourth winch stop towing the caisson.

Further, when the central control module judges that the caisson can move by the self gravity, the speed sensor continuously detects the caisson moving speed Vy and transmits the detection result to the central control module, the central control module compares the Vy with a second preset downward moving speed V2,

when Vy is less than or equal to V2, the central control module judges that the caisson does not move downwards enough to recover potential energy;

when Vy is larger than V2, the central control module judges that the caisson moves downwards enough to recover potential energy, the central control module controls the first pulley to be connected with the first generator, the second pulley is connected with the second generator, the first pulley drives the first generator to rotate, and the second pulley drives the second generator to rotate so as to recover the potential energy of the caisson into electric energy;

when the central control module judges that the caisson moves downwards enough to recover potential energy, the speed sensor continuously detects the movement speed Vw of the caisson and transmits the detection result to the central control module, the central control module compares the Vw with a second preset downward movement speed V3,

when Vw is less than or equal to V3, the central control module judges that the movement speed of the caisson is in a controllable range, and the central control module does not control the first winch and the second winch to drag the caisson;

when Vw is larger than V3, the central control module judges that the movement speed of the caisson is too high, and the central control module controls the first winch and the second winch to drag the caisson to reduce the movement speed of the caisson so that the caisson moves at the speed of Vw ', and V2 is larger than Vw' and is not larger than V3.

Further, when the caisson moves on the ramp, the displacement sensor detects the deviation angle D of the movement of the caisson and transmits the detection result to the central control module, a preset deviation angle parameter Dz is arranged in the central control module, the central control module compares the deviation angle D with the deviation angle parameter Dz,

when D is less than or equal to Dz, the central control module judges that the deviation angle of the caisson is in a preset range, and the central control module does not adjust the movement angle of the caisson;

and when D is larger than Dz, the central control module judges that the deviation angle of the caisson exceeds a preset unit, and the central control module adjusts each winch to adjust.

Furthermore, a ramp length parameter Lz and a distance parameter L1 of the first preset caisson moving along the ramp direction are arranged in the central control module, the displacement sensor detects the distance L of the caisson moving along the ramp direction in real time, Dz is determined according to the moving distance L of the caisson, the central control module compares L with L1,

when L is less than or equal to L1, Dz is d, and d is the minimum value of the deviation angle parameter preset in the central control module;

when L > L1, Dz is L/Lz × L, where L is the movement distance versus deviation angle calculation compensation parameter.

Further, when the central control module judges that the deviation angle of the caisson exceeds a preset unit, the speed sensor detects the moving speed V of the caisson and transmits the detection result to the central control module, the central control module compares the V with the V1,

when V is less than or equal to V1, the central control module adjusts the direction of the caisson by adjusting the traction force of the third winch and the fourth winch;

when V is larger than V1, the central control module adjusts the direction of the caisson by adjusting the traction force of the first winch and the second winch.

Further, when D is more than Dz and V is less than or equal to V1, the central control module analyzes and determines the caisson offset direction through the information fed back by the displacement sensor,

when the caisson moves leftwards, the central control module controls the third winch to reduce the traction force, and the fourth winch maintains the traction force unchanged, so that the caisson moves rightwards;

when the caisson moves to the right side, the central control module controls the fourth winch to reduce the traction force, and the third winch maintains the traction force unchanged so as to correct the caisson moving direction to the left side;

when the caisson moving direction is corrected, the displacement sensor detects the deviation angle D 'of the caisson moving, the detection result is transmitted to the central control module, the central control module compares the deviation angle D' with the deviation angle parameter Dz,

when D' is less than or equal to Dz, the central control module judges that the deviation angle of the caisson is corrected to a preset range, and the central control module controls the third winch and the fourth winch to recover to a preset traction force;

and when D' is more than Dz, the central control module judges that the deviation angle of the caisson is not corrected to a preset range, and the central control module controls the third winch and the fourth winch to continuously maintain the current set traction force.

Further, when D is more than Dz and V is more than V1 and less than V2, the central control module analyzes and determines the deviation direction of the caisson through the information fed back by the displacement sensor,

when the caisson moves leftwards, the central control module controls the second winch to start to pull the caisson, and the first winch maintains a non-starting state so as to correct the caisson moving direction to the right side;

when the movement direction of the caisson is inclined to the right, the central control module controls the first winch to start to drag the caisson, and the second winch maintains a non-starting state so as to correct the movement direction of the caisson to the left side;

when the caisson moving direction is corrected, the displacement sensor detects the deviation angle D 'of the caisson moving, the detection result is transmitted to the central control module, the central control module compares the deviation angle D' with the deviation angle parameter Dz,

when D' is less than or equal to Dz, the central control module judges that the deviation angle of the caisson is corrected to a preset range, and the central control module controls the first winch and the second winch to remove traction;

and when D' is more than Dz, the central control module judges that the deviation angle of the caisson is not corrected to a preset range, and the central control module controls the first winch and the second winch to continuously maintain the current set traction force.

Further, when D > Dz and V1 > V2, the central control module analyzes the information fed back by the displacement sensor to determine the caisson offset direction,

when the movement direction of the caisson deviates to the left, the central control module controls the first winch to reduce the traction force, and the second winch maintains the traction force unchanged, so that the movement direction of the caisson is corrected to the right;

when the caisson moves to the right side, the central control module controls the second winch to reduce the traction force, and the first winch maintains the traction force unchanged so as to correct the caisson moving direction to the left side;

when the caisson moving direction is corrected, the displacement sensor detects the deviation angle D 'of the caisson moving, the detection result is transmitted to the central control module, the central control module compares the deviation angle D' with the deviation angle parameter Dz,

when D' is less than or equal to Dz, the central control module judges that the deviation angle of the caisson is corrected to a preset range, and the central control module controls the first winch and the second winch to recover to a preset traction force;

and when D' is more than Dz, the central control module judges that the deviation angle of the caisson is not corrected to a preset range, and the central control module controls the first winch and the second winch to continuously maintain the current set traction force.

Compared with the prior art, the invention has the advantages that the caisson can descend through self gravity by arranging the slope, the potential energy of the caisson is fully utilized, the energy consumption in the carrying process is reduced, and meanwhile, the caisson reaches the draught level by utilizing the seawater tide, so that the energy consumption in the shipping process of the caisson is further reduced. The potential energy and tidal energy of the caisson are fully utilized, the energy consumption is reduced, and the aim of intelligently transporting the caisson is fulfilled.

Particularly, when Vy is larger than V2, the central control module judges that the caisson moves downwards enough to recover potential energy, the central control module controls the first pulley to be connected with the first generator, the second pulley is connected with the second generator, the first pulley drives the first generator to rotate, and the second pulley drives the second generator to rotate, so that the potential energy of the caisson is recovered and converted into electric energy; the caisson moves down the in-process and is connected guide pulley and generator, and further potential energy to the caisson is retrieved, has not only utilized the potential energy of caisson but also set up power generation facility and retrieve the potential energy at the transportation in-process, has retrieved the energy that the caisson made, the energy that consumes in the handling, has reduced the consumption of the energy, has reached the purpose of intelligence shipment caisson simultaneously.

Further, when the caisson moves on a slope, the displacement sensor detects the deviation angle D of the movement of the caisson, the detection result is transmitted to the central control module, a preset deviation angle parameter Dz is arranged in the central control module, the central control module compares the deviation angle D with the deviation angle parameter Dz, the caisson can deviate due to gravity center, slope flatness and the like in the process of moving by the gravitational potential energy of the caisson, the deviation angle of the caisson along a preset route can be detected by setting the displacement sensor, the working state of each winch is adjusted according to the deviation angle, the caisson is prevented from deviating in the moving process, and the caisson can stably enter a floating pit.

Furthermore, a ramp length parameter Lz and a distance parameter L1 of the first preset caisson moving along the ramp direction are arranged in the central control module, the displacement sensor detects the moving distance L of the caisson along the ramp direction in real time, Dz is determined according to the moving distance L of the caisson, the central control module compares L with L1, determines a deviation angle parameter Dz according to the moving distance of the caisson, when the moving distance of the caisson is smaller, a small deviation angle is generated, if the deviation angle is not controlled and corrected, the deviation angle may be further enlarged in the moving process of the caisson, so that the caisson cannot fall into the floating pit, meanwhile, if the deviation angle is not corrected in time, the time required for correction is lengthened, and when the moving distance of the caisson is larger, even if the deviation angle of the caisson is larger, the caisson falls into the floating pit even if the caisson deviates in the continuous moving process, so that the deviation angle of the caisson is determined by the moving distance L of the caisson, meanwhile, when the moving distance is small, the minimum value of the deviation angle parameter is set, and the winch is prevented from being adjusted when slightly deviated in the initial stage. The open caisson can smoothly enter the floating pit while the adjusting times are reduced.

Particularly, when the central control module judges that the deviation angle of the caisson exceeds a preset unit, the speed sensor detects the movement speed V of the caisson and transmits a detection result to the central control module, the central control module compares the V with the V1, when the central control module judges that the deviation angle of the caisson exceeds the preset unit, the central control module determines an adjusted winch according to the movement speed of the caisson, when the V is less than or equal to V1, the movement speed of the caisson is too low, and the movement route of the caisson is stable and the caisson is gradually accelerated by adjusting the traction force of the third winch and the fourth winch; when V is greater than V1, the traction of the third hoist and the fourth hoist may cause the sinking well to move down too fast, so the moving direction of the sinking well is adjusted by the traction of the first hoist and the second hoist.

Drawings

Fig. 1 is a flow chart of a method for transporting a caisson out of an energy-saving ramp according to the invention;

fig. 2 is a schematic diagram of a part of the apparatus for carrying out the method of the present invention;

fig. 3 is a top view of a section of equipment that employs the energy efficient ramp caisson removal method of the present invention.

Detailed Description

In order that the objects and advantages of the invention will be more clearly understood, the invention is further described below with reference to examples; it should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

Preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are only for explaining the technical principle of the present invention, and do not limit the scope of the present invention.

It should be noted that in the description of the present invention, the terms of direction or positional relationship indicated by the terms "upper", "lower", "left", "right", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, which are only for convenience of description, and do not indicate or imply that the device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention.

Furthermore, it should be noted that, in the description of the present invention, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

Referring to fig. 1, fig. 2 and fig. 3, fig. 1 is a flowchart illustrating a method for transporting a caisson by using an energy-saving ramp according to the present invention, fig. 2 is a schematic diagram illustrating a part of equipment employing the method for transporting a caisson by using an energy-saving ramp according to the present invention, and fig. 3 is a top view illustrating a part of equipment employing the method for transporting a caisson by using an energy-saving ramp according to the present invention. The invention provides a method for transporting a caisson out of an energy-saving slope way, which comprises the following steps,

step S1, constructing a shipping slope, wherein the top end of the slope is connected with a caisson 00 placing platform, and the bottom end of the slope is provided with a floating pit 22;

step S2, setting a shipping device, including a first winch 1 and a second winch 2 arranged on the caisson 00 placing platform, and a third winch 3 and a fourth winch 4 arranged on the slope;

step S3, moving the caisson 00 to be transported to the edge of a placing platform, and respectively connecting the caisson 00 to be transported to the first winch 1, the second winch 2, the third winch 3 and the fourth winch 4 through steel wire ropes, wherein a first pulley 5 is arranged between the caisson 00 and the first winch 1, and a second pulley 6 is arranged between the caisson 00 and the second winch 2;

step S4, the third winch 3 and the fourth winch 4 drag the caisson 00 to be transported out through steel wire ropes until the caisson 00 is pulled to the slope and the caisson 00 can move through self gravity;

step S5, the first hoist 1 and the second hoist 2 drag the caisson 00 moving by its own gravity to prevent the caisson 00 from lowering too fast, when the caisson 00 approaches the floating pit 22, the first hoist 1 and the second hoist 2 give up dragging the caisson 00, so that the caisson 00 enters the floating pit 22 under the action of its own gravity;

step S6, connecting a traction ship with the caisson 00, and after the floating pit 22 reaches the floating draft level of the caisson 00 along with the water level flood tide, carrying out consignment on the caisson 00 by the traction ship to finish the shipment of the caisson 00;

a first generator 7 is arranged on one side of the first pulley 5, a second generator 8 is arranged on one side of the second pulley 6, the first pulley 5 can be connected with the first generator 7, the second pulley 6 can be connected with the second generator 8, and each generator is used for recovering potential energy of the caisson 00;

a displacement sensor 9 and a speed sensor 10 are arranged at the top end of the caisson 00, the displacement sensor 9 is used for detecting the advancing direction of the caisson 00, and the speed sensor 10 is used for detecting the moving speed of the caisson 00;

a central control module is arranged in the process of transporting the caisson 00 out, the central control module is respectively connected with the first winch 1, the second winch 2, the third winch 3, the fourth winch 4, the first pulley 5, the second pulley 6, the displacement sensor 9 and the speed sensor 10, and the central control module is used for adjusting the running state of each device in the process of transporting the caisson 00 out;

according to the invention, the caisson 00 can descend through self gravity by arranging the slope, the potential energy of the caisson is fully utilized, the energy consumption in the carrying process is reduced, and meanwhile, the caisson 00 reaches the draught level by utilizing the seawater tide, so that the energy consumption in the transporting process of the caisson 00 is further reduced. The potential energy and tidal energy of the caisson 00 are fully utilized, the energy consumption is reduced, and meanwhile the aim of intelligently transporting the caisson 00 is fulfilled.

When the caisson 00 is transported out by adopting the method for transporting the caisson 00 out, the caisson 00 to be transported is moved to the edge of the placing platform, the third winch 3 and the fourth winch 4 pull the caisson 00 to move the caisson 00 to a ramp, the speed sensor 10 detects the moving speed Vx of the caisson 00 and transmits the detection result to the central control module, a first preset downward moving speed V1, a second preset downward moving speed V2 and a third preset downward moving speed V3 are arranged in the central control module, the central control module compares the moving speed Vx with the first preset downward moving speed V1,

in the present embodiment, V1 is 1m/s, V2 is 3m/s, and V3 is 5 m/s.

When Vx is less than or equal to V1, the central control module judges that the caisson 00 cannot move by the gravity of the central control module, and the third winch 3 and the fourth winch 4 continue to pull the caisson 00;

when Vx is larger than V1, the central control module judges that the caisson 00 can move by the gravity of the central control module, and the third winch 3 and the fourth winch 4 stop towing the caisson 00.

When the central control module determines that the caisson 00 can move by the gravity of the central control module, the speed sensor 10 continuously detects the moving speed Vy of the caisson 00 and transmits the detection result to the central control module, the central control module compares the Vy with a second preset downward moving speed V2,

when Vy is less than or equal to V2, the central control module judges that the caisson 00 does not move downwards enough to recover potential energy;

when Vy is larger than V2, the central control module judges that the caisson 00 moves downwards enough to recover potential energy, the central control module controls the first pulley 5 to be connected with the first generator 7, the second pulley 6 is connected with the second generator 8, the first pulley 5 drives the first generator 7 to rotate, and the second pulley 6 drives the second generator 8 to rotate, so that the potential energy of the caisson 00 is recovered and converted into electric energy;

when the central control module determines that the caisson 00 moves downwards enough to recover potential energy, the speed sensor 10 continues to detect the moving speed Vw of the caisson 00 and transmits the detection result to the central control module, the central control module compares Vw with a second preset moving speed V3,

when Vw is less than or equal to V3, the central control module judges that the moving speed of the caisson 00 is in a controllable range, and the central control module does not control the first winch 1 and the second winch 2 to drag the caisson 00;

when Vw is greater than V3, the central control module determines that the movement speed of the caisson 00 is too high, and the central control module controls the first winch 1 and the second winch 2 to drag the caisson 00 to reduce the movement speed of the caisson 00, so that the caisson 00 moves at the velocity of Vw ', and V2 is greater than Vw' and less than or equal to V3.

The guide pulley is connected with the generator in the downward moving process of the caisson 00, potential energy of the caisson 00 is further recovered, the potential energy of the caisson 00 is utilized in the conveying process, the power generation device is further arranged to recover the potential energy, energy consumed in the manufacturing and conveying processes of the caisson 00 is recovered, energy consumption is reduced, and meanwhile the purpose of intelligently transporting the caisson 00 is achieved.

When the caisson 00 moves on a slope, the displacement sensor 9 detects the deviation angle D of the caisson 00 and transmits the detection result to the central control module, a preset deviation angle parameter Dz is arranged in the central control module, the central control module compares the deviation angle D with the deviation angle parameter Dz,

when D is less than or equal to Dz, the central control module judges that the deviation angle of the caisson 00 is in a preset range, and the central control module does not adjust the moving angle of the caisson 00;

and when D is larger than Dz, the central control module judges that the deviation angle of the caisson 00 exceeds a preset unit, and the central control module adjusts each winch to adjust.

In the process that the caisson 00 moves by the gravitational potential energy of the caisson, the caisson 00 can be deviated due to the gravity center, the slope flatness and other reasons, the angle of the caisson 00 deviated along the preset route can be detected by arranging the displacement sensor 9, the working state of each winch is adjusted according to the deviated angle, the caisson is prevented from being deviated in the moving process, and the caisson can stably enter the floating pit 22.

A ramp length parameter Lz and a distance parameter L1 of the first preset caisson 00 moving along the ramp direction are arranged in the central control module, the displacement sensor 9 detects the distance L of the caisson 00 moving along the ramp direction in real time, Dz is determined according to the moving distance L of the caisson 00, the central control module compares L with L1,

when L is less than or equal to L1, Dz is d, and d is the minimum value of the deviation angle parameter preset in the central control module;

when L > L1, Dz is L/Lz × L, where L is the movement distance versus deviation angle calculation compensation parameter.

Determining a deviation angle parameter Dz according to the moving distance of the caisson 00, when the moving distance of the caisson 00 is smaller, if the deviation angle is small, if the deviation angle is not controlled and corrected, the deviation angle can be further enlarged in the moving process of the caisson 00, so that the caisson cannot fall into the floating pit 22, meanwhile, if the correction is not carried out in time, the time required for correction is lengthened, meanwhile, when the moving distance of the caisson 00 is larger, even if the deviation angle of the caisson 00 is larger, the caisson 00 can fall into the floating pit 22 even if the caisson 00 deviates in the process of continuing to move, therefore, the deviation angle of the caisson 00 is determined by the moving distance L of the caisson 00, meanwhile, when the moving distance is smaller, the minimum value of the deviation angle parameter is set, and the winch is required to be adjusted to prevent slight deviation in the initial stage. The open caisson can smoothly enter the floating pit 22 while the adjusting times are reduced.

In the present embodiment, Lz is 100m, L is 10 °, L1 is 50m, and d is 5 °.

When the central control module judges that the deviation angle of the caisson 00 exceeds a preset unit, the speed sensor 10 detects the moving speed V of the caisson 00 and transmits the detection result to the central control module, the central control module compares the V with the V1,

when V is less than or equal to V1, the central control module adjusts the direction of the caisson 00 by adjusting the traction force of the third winch 3 and the fourth winch 4;

when V is larger than V1, the central control module adjusts the direction of the caisson 00 by adjusting the traction force of the first winch 1 and the second winch 2.

When the central control module judges that the deviation angle of the caisson 00 exceeds a preset unit, the central control module determines an adjusted winch according to the moving speed of the caisson 00, when V is less than or equal to V1, the moving speed of the caisson 00 is too low, and the moving route of the caisson 00 is stable and the open caisson is gradually accelerated by adjusting the traction forces of the third winch 3 and the fourth winch 4; when V is greater than V1, the traction of the third hoist 3 and the fourth hoist 4 may cause the sinking well to move down too fast, so the moving direction of the sinking well is adjusted by the traction of the first hoist 1 and the second hoist 2.

When D is more than Dz and V is less than or equal to V1, the central control module analyzes and determines the deviation direction of the caisson 00 through the information fed back by the displacement sensor 9,

when the movement direction of the caisson 00 deviates to the left, the central control module controls the third winch 3 to reduce the traction force, and the fourth winch 4 maintains the traction force unchanged, so that the movement direction of the caisson 00 is corrected to the right side;

when the movement direction of the caisson 00 is inclined to the right, the central control module controls the fourth winch 4 to reduce the traction force, and the third winch 3 maintains the traction force unchanged so as to correct the movement direction of the caisson 00 to the left side;

when the moving direction of the caisson 00 is corrected, the displacement sensor 9 detects the deviation angle D 'of the caisson 00 and transmits the detection result to the central control module, the central control module compares the deviation angle D' with the deviation angle parameter Dz,

when D' is less than or equal to Dz, the central control module judges that the deviation angle of the caisson 00 is corrected to a preset range, and the central control module controls the third winch 3 and the fourth winch 4 to recover to a preset traction force;

and when D' is more than Dz, the central control module judges that the deviation angle of the caisson 00 is not corrected to a preset range, and the central control module controls the third winch 3 and the fourth winch 4 to continuously maintain the current set traction force.

When D is more than Dz and V is more than V1 and less than or equal to V2, the central control module analyzes and determines the deviation direction of the caisson 00 through the information fed back by the displacement sensor 9,

when the movement direction of the caisson 00 deviates to the left, the central control module controls the second winch 2 to start to drag the caisson 00, and the first winch 1 maintains a non-starting state so as to correct the movement direction of the caisson 00 to the right;

when the movement direction of the caisson 00 is inclined to the right, the central control module controls the first winch 1 to be started to pull the caisson 00, and the second winch 2 is kept in a non-starting state so that the movement direction of the caisson 00 is corrected to the left side;

when the moving direction of the caisson 00 is corrected, the displacement sensor 9 detects the deviation angle D 'of the caisson 00 and transmits the detection result to the central control module, the central control module compares the deviation angle D' with the deviation angle parameter Dz,

when D' is less than or equal to Dz, the central control module judges that the deviation angle of the caisson 00 is corrected to a preset range, and the central control module controls the first winch 1 and the second winch 2 to remove traction;

when D' is larger than Dz, the central control module judges that the deviation angle of the caisson 00 is not corrected to a preset range, and the central control module controls the first winch 1 and the second winch 2 to continuously maintain the current set traction force.

When D > Dz and V1 > V2, the central control module analyzes the information fed back by the displacement sensor 9 to determine the deviation direction of the caisson 00,

when the movement direction of the caisson 00 is deviated to the left, the central control module controls the first winch 1 to reduce the traction force, and the second winch 2 maintains the traction force unchanged, so that the movement direction of the caisson 00 is corrected to the right side;

when the movement direction of the caisson 00 is inclined to the right, the central control module controls the second winch 2 to reduce the traction force, and the first winch 1 maintains the traction force unchanged so as to correct the movement direction of the caisson 00 to the left side;

when the moving direction of the caisson 00 is corrected, the displacement sensor 9 detects the deviation angle D 'of the caisson 00 and transmits the detection result to the central control module, the central control module compares the deviation angle D' with the deviation angle parameter Dz,

when D' is less than or equal to Dz, the central control module judges that the deviation angle of the caisson 00 is corrected to a preset range, and the central control module controls the first winch 1 and the second winch 2 to recover to a preset traction force;

when D' is larger than Dz, the central control module judges that the deviation angle of the caisson 00 is not corrected to a preset range, and the central control module controls the first winch 1 and the second winch 2 to continuously maintain the current set traction force.

So far, the technical solutions of the present invention have been described in connection with the preferred embodiments shown in the drawings, but it is easily understood by those skilled in the art that the scope of the present invention is obviously not limited to these specific embodiments. Equivalent changes or substitutions of related technical features can be made by those skilled in the art without departing from the principle of the invention, and the technical scheme after the changes or substitutions can fall into the protection scope of the invention.