阅读说明：本技术 一种智能化辅助系泊及登乘装置及控制方法 (Intelligent auxiliary mooring and boarding device and control method ) 是由 王振宇 李�昊 郑克洪 于 2021-07-30 设计创作，主要内容包括：本申请公开了一种智能化辅助系泊及登乘装置及控制方法,涉及水工建筑维护领域,包括：消能组件,其内侧与船舶固接,外侧顶靠在风电平台的立柱上；登乘装置,用于提供登乘从船舶登入到风电平台；锁紧装置,包括锁链、锁匙棒、锁盘构件、绞盘、收放机构,所述锁盘构件在所述风电平台的立柱上,所述锁盘构件上具有锁芯,所述锁链的前端连有可插入所述锁芯的锁匙棒,后端连接在所述收放机构上,所述收放机构固定在所述船舶上；信息采集装置,包括波浪传感器、风速传感器和位移传感器；控制单元,用于接收所述信息采集装置采集的信号、用于控制所述收放机构的收放量、用于控制所述登乘装置的登船角度。具有智能化程度高、操作方便、安全性高等优点。(The application discloses intelligent auxiliary mooring and boarding device and control method relates to the field of hydraulic construction maintenance, and includes: the inner side of the energy dissipation component is fixedly connected with the ship, and the outer side of the energy dissipation component abuts against the upright post of the wind power platform; the boarding device is used for providing boarding from a ship to the wind power platform; the locking device comprises a lock chain, a key rod, a lock disc component, a winch and a retraction mechanism, wherein the lock disc component is arranged on a stand column of the wind power platform, the lock disc component is provided with a lock cylinder, the front end of the lock chain is connected with the key rod capable of being inserted into the lock cylinder, the rear end of the lock chain is connected to the retraction mechanism, and the retraction mechanism is fixed on the ship; the information acquisition device comprises a wave sensor, a wind speed sensor and a displacement sensor; and the control unit is used for receiving the signals acquired by the information acquisition device, controlling the receiving and releasing amount of the receiving and releasing mechanism and controlling the boarding angle of the boarding device. The intelligent control system has the advantages of high intelligent degree, convenience in operation, high safety and the like.)

1. The utility model provides an intelligent marine auxiliary mooring and boarding device which characterized in that includes:

the inner side of the energy dissipation component is fixedly connected with the ship, and the outer side of the energy dissipation component abuts against the upright post of the wind power platform;

the boarding device is used for providing boarding from a ship to the wind power platform;

the locking device comprises a lock chain, a key rod, a lock disc component, a winch and a retraction mechanism, wherein the lock disc component is arranged on a stand column of the wind power platform, the lock disc component is provided with a lock cylinder, the front end of the lock chain is connected with the key rod capable of being inserted into the lock cylinder, the rear end of the lock chain is connected to the retraction mechanism, and the retraction mechanism is fixed on the ship;

the information acquisition device comprises a wave sensor, a wind speed sensor and a displacement sensor;

and the control unit is used for receiving the signals acquired by the information acquisition device, controlling the receiving and releasing amount of the receiving and releasing mechanism and controlling the boarding angle of the boarding device.

2. An intelligent auxiliary offshore mooring and boarding device according to claim 1, characterized in that the energy dissipation assembly employs energy dissipation pulley blocks.

3. The intelligent auxiliary offshore mooring and boarding device of claim 1, wherein the boarding device comprises an angle control device, a first energy dissipation cylinder, a second energy dissipation cylinder, a boarding gangway and a buckle, the angle control device is fixed on a deck of the ship, one end of the first energy dissipation cylinder is fixed on the angle control device, the other end of the first energy dissipation cylinder is fixed on one end of the boarding gangway, and the other end of the boarding gangway is connected with the buckle through the second energy dissipation cylinder.

4. The intelligent auxiliary offshore mooring and boarding device according to claim 1, wherein the lock cylinder is provided with a hole for the key rod to pass through, and the key rod passes through the hole and is clamped on the end face of the lock cylinder after being rotated by a preset angle.

5. The intelligent auxiliary offshore mooring and boarding device of claim 1, wherein the lock plate member is formed by fixedly connecting two semicircular steel fasteners through bolts.

6. An intelligent offshore auxiliary mooring and boarding device according to claim 1, wherein one of said semicircular steel fixtures has said lock cylinder thereon.

7. The method for controlling the intelligent auxiliary offshore mooring and boarding device according to claim 1, characterized in that the method comprises the following steps:

(1) wind speed data and wind speed V measured by the wind speed sensor₁The wind speed is decomposed into a transverse wind speed V according to the wind direction_1xWith longitudinal wind speed V_1yMeasuring wave height h and wave velocity V by using the wave sensor₂And an included angle theta between the wave direction and the ship body, measuring the displacement height of each part of the ship body by using the displacement sensor, and calculating the ship bow lifting H':

H'＝η₁h₁+η₂h₂+η₃h₃+η₄h₄ (1)

in the formula, H' is the ship bow elevation, H₁、h₂、h₃、h₄The base values to be raised for overcoming the influence of wind force, water flow force, wave force and dead weight respectively, wherein the wind speed coefficientCoefficient of water flowCoefficient of wavinessCoefficient of self-weight eta₄In the formula, L is the ship length, and all coefficients are substituted into the formula (1) to obtain the height H' of the ship bow to be lifted;

(2) according to the wind speed data and the wind speed V measured by the wind speed sensor₁According to the wind direction, the wind speed is divided into V_1xAnd V_1yAnd a known coefficient A_xw、A_ywδ wherein A is_xwIs the transverse wind area of the ship, A_ywCalculating the influence of wind load on the chain force to be F for the longitudinal wind area of the ship and delta being the uneven wind pressure reduction coefficient₁；

Calculating the influence of the wind load on the chain force to be F through the wind load on the chain force calculation formulas (2) and (3)₁；

F_x1＝73×10^-5A_xwV_1x ²δ(N) (2)

F_y1＝49×10^-5A_ywV_1y ²δ(N) (3)

In the formula F_x1For wind-borne forces horizontal to the hull, F_y1For wind loads perpendicular to the hull, A_xwIs the transverse wind area of the ship, A_ywIs the longitudinal wind area of the ship, V_1xFor transverse wind speed, V_1yThe longitudinal wind speed is adopted, and delta is the wind pressure uneven reduction coefficient;

(3) according to the water flow force F measured by the wave sensor and the wave speed V measured by the wave sensor₂And the known coefficient C_xsc、C_xmc、C_ycCalculating to obtain waterThe influence of the flow force on the magnitude of the chain force is F₂；

Calculating the influence of the water flow force on the chain force to be F through the calculation formulas (4) and (6) of the influence of the water flow force on the chain force₂；

F_xsc＝C_xsc×ρ/2×V₂ ²×B (4)

F_xmc＝C_xmc×ρ/2×V₂ ²×B (5)

F_yc＝C_yc×ρ/2×V₂ ²×S (6)

In the formula F_xscIs the transverse component of the current force applied to the bow, F_xmcIs the transverse component of the stern under the force of water flow, F_ycLongitudinal component of the force of the ship on the water flow, C_xscIs the coefficient of horizontal component of the water flow force bow, C_xmcIs the stern transverse polynomial coefficient of water flow, C_ycIs the longitudinal fractional coefficient of water flow force, V₂The wave velocity is B, the area of a transverse projection surface below the draught of the ship is B, and the area of a surface below the draught of the ship is S;

(4) and calculating the influence of the wave load on the chain locking force according to the wave height H, the wave direction angle theta and the known ship body length L measured by the wave sensor to obtain F₃；

Calculating the influence F of the wave load on the chain force through wave force calculation formulas (7) and (8)₃；

In the formula F_x3For transverse component of wave force applied to the ship, F_y3Is the longitudinal component of the ship under the wave force, theta is the wave direction angle, L is the ship length, H is the wave height, D is the ship draught, tau₁、τ₂Is an integral coefficient, a_xTo reflect the parameters of the relationship between vessel roll and wave period, a_yParameters reflecting the relationship between ship pitching and wave period;

(5) according to the displacement height h' of the bow measured by the displacement sensor, iterative calculation is carried out to obtain F which is the influence on the magnitude of the chain force for overcoming the dead weight load of the bow₄；

Through a lifting force calculation formula (9) for overcoming the self-weight load of the bow, the influence on the magnitude of the chain force for overcoming the self-weight load of the bow is calculated to be F₄；

In the formula F_{Sliding device}The V row is the volume of water drained by the ship, rho, for the reaction force of the energy dissipation pulley on the ship_{Water (W)}Is the density of seawater;

f obtained by the above calculation₁、F₂、F₃And F₄The mooring force F can be obtained;

F＝F₁+F₂+F₃+F₄ (10)

and (5) calculating to obtain the pulling force F required by the chain when the ship bow is lifted by H', and pulling the chain by using a retraction mechanism to complete the lifting of the bow.

Technical Field

The application relates to the technical field of wind power platform boarding devices, in particular to an intelligent auxiliary mooring and boarding device at sea and a control method.

Background

The wind power platform is built on the ocean, and when the facilities need to be built and maintained, workers need to sit on ships to get close to the facilities and then get in the facilities through the boarding devices. At present, offshore wind power platforms built in China mostly adopt boarding appliances such as hanging baskets, vertical ladders and the like to board. However, these devices are hazardous and expensive to manufacture. Some related schemes at home and abroad propose to modify operation and maintenance ships, such as adding a hydraulic compensation driving device, reducing sloshing during boarding by using a track moving inclined ladder and the like, but the compensation mode is still greatly influenced by surge and storm when the ships stop on a wind level platform. The ship is easy to cause that the ship is not easy to stand stably when a worker uses the ship board ladder to board, and safety accidents occur.

Disclosure of Invention

The embodiment of the application aims to provide an intelligent offshore auxiliary mooring and boarding device and a control method, so as to solve the technical problems that in the related technology, when a ship is parked at a wind level platform, the influence of surge and storm is large, so that a worker is not easy to stand stably when using a side ladder to board and board, and safety accidents occur.

According to a first aspect of the embodiments of the present application, there is provided an intelligent auxiliary offshore mooring and boarding device, including:

the inner side of the energy dissipation component is fixedly connected with the ship, and the outer side of the energy dissipation component abuts against the upright post of the wind power platform;

the boarding device is used for providing boarding from a ship to the wind power platform;

the locking device comprises a lock chain, a key rod, a lock disc component, a winch and a retraction mechanism, wherein the lock disc component is arranged on a stand column of the wind power platform, the lock disc component is provided with a lock cylinder, the front end of the lock chain is connected with the key rod capable of being inserted into the lock cylinder, the rear end of the lock chain is connected to the retraction mechanism, and the retraction mechanism is fixed on the ship;

the information acquisition device comprises a wave sensor, a wind speed sensor and a displacement sensor;

and the control unit is used for receiving the signals acquired by the information acquisition device, controlling the receiving and releasing amount of the receiving and releasing mechanism and controlling the boarding angle of the boarding device.

Optionally, the energy dissipation assembly adopts an energy dissipation pulley block.

Optionally, the boarding device includes an angle adjusting device, a first energy dissipation cylinder, a second energy dissipation cylinder, a boarding gangway ladder, and a buckle, the angle adjusting device is fixed on the deck of the ship, one end of the first energy dissipation cylinder is fixed on the angle adjusting device, the other end of the first energy dissipation cylinder is fixed on one end of the boarding gangway ladder, and the other end of the boarding gangway ladder is connected with the buckle through the second energy dissipation cylinder.

Optionally, a hole for the key rod to pass through is formed in the lock core, and the key rod passes through the hole and is clamped on the end face of the lock core after rotating by a preset angle.

Optionally, the lock disc member is formed by fixedly connecting two semicircular steel fixing pieces through bolts.

Optionally, one of the semicircular steel fasteners is provided with the lock cylinder.

According to a second aspect of the embodiments of the present invention, there is provided a control method of an intelligent marine auxiliary mooring and boarding device, the method including the steps of:

(1) wind speed data and wind speed V measured by the wind speed sensor₁The wind speed is decomposed into a transverse wind speed V according to the wind direction_1xWith longitudinal wind speed V_1yMeasuring wave height h and wave velocity V by using the wave sensor₂And an included angle theta between the wave direction and the ship body, measuring the displacement height of each part of the ship body by using the displacement sensor, and calculating the ship bow lifting H':

H'＝η₁h₁+η₂h₂+η₃h₃+η₄h₄ (1)

in the formula, H' is the ship bow elevation, H₁、h₂、h₃、h₄The base values to be raised for overcoming the influence of wind force, water flow force, wave force and dead weight respectively, wherein the wind speed coefficientCoefficient of water flowCoefficient of wavinessCoefficient of self-weight eta₄In the formula, L is the ship length, and all coefficients are substituted into the formula (1) to obtain the height H' of the ship bow to be lifted;

(2) according to the wind speed data and the wind speed V measured by the wind speed sensor₁According to the wind direction, the wind speed is divided into V_1xAnd V_1yAnd a known coefficient A_xw、A_ywδ wherein A is_xwIs the transverse wind area of the ship, A_ywCalculating the influence of wind load on the chain force to be F for the longitudinal wind area of the ship and delta being the uneven wind pressure reduction coefficient₁；

Calculating the influence of the wind load on the chain force to be F through the wind load on the chain force calculation formulas (2) and (3)₁；

F_x1＝73×10^-5A_xwV_1x ²δ(N) (2)

F_y1＝49×10^-5A_ywV_1y ²δ(N) (3)

In the formula F_x1For wind-borne forces horizontal to the hull, F_y1For wind loads perpendicular to the hull, A_xwIs the transverse wind area of the ship, A_ywIs the longitudinal wind area of the ship, V_1xFor transverse wind speed, V_1yThe longitudinal wind speed is adopted, and delta is the wind pressure uneven reduction coefficient;

(3) according to the water flow force F measured by the wave sensor and the wave speed V measured by the wave sensor₂And the known coefficient C_xsc、C_xmc、C_yc，The influence of the water flow force on the chain force is calculated to be F₂；

Calculating the influence of the water flow force on the chain force to be F through the calculation formulas (4) and (6) of the influence of the water flow force on the chain force₂；

F_xsc＝C_xsc×ρ/2×V₂ ²×B (4)

F_xmc＝C_xmc×ρ/2×V₂ ²×B (5)

F_yc＝C_yc×ρ/2×V₂ ²×S (6)

In the formula F_xscIs the transverse component of the current force applied to the bow, F_xmcIs the transverse component of the stern under the force of water flow, F_ycLongitudinal component of the force of the ship on the water flow, C_xscIs the coefficient of horizontal component of the water flow force bow, C_xmcIs the stern transverse polynomial coefficient of water flow, C_ycIs the longitudinal fractional coefficient of water flow force, V₂The wave velocity is B, the area of a transverse projection surface below the draught of the ship is B, and the area of a surface below the draught of the ship is S;

(4) and calculating the influence of the wave load on the chain locking force according to the wave height H, the wave direction angle theta and the known ship body length L measured by the wave sensor to obtain F₃；

Calculating the influence F of the wave load on the chain force through wave force calculation formulas (7) and (8)₃；

In the formula F_x3For transverse component of wave force applied to the ship, F_y3Is the longitudinal component of the ship under the wave force, theta is the wave direction angle, L is the ship length, H is the wave height, D is the ship draught, tau₁、τ₂Is an integral coefficient, a_xFor reflecting rolling and wave of shipsParameter of wave period relation, a_yParameters reflecting the relationship between ship pitching and wave period;

(5) according to the displacement height h' of the bow measured by the displacement sensor, iterative calculation is carried out to obtain F which is the influence on the magnitude of the chain force for overcoming the dead weight load of the bow₄；

Through a lifting force calculation formula (9) for overcoming the self-weight load of the bow, the influence on the magnitude of the chain force for overcoming the self-weight load of the bow is calculated to be F₄；

In the formula F_{Sliding device}The V row is the volume of water drained by the ship, rho, for the reaction force of the energy dissipation pulley on the ship_{Water (W)}Is the density of seawater;

f obtained by the above calculation₁、F₂、F₃And F₄The mooring force F can be obtained;

F＝F₁+F₂+F₃+F₄ (10)

and (5) calculating to obtain the pulling force F required by the chain when the ship bow is lifted by H', and pulling the chain by using a retraction mechanism to complete the lifting of the bow.

The technical scheme provided by the embodiment of the application can have the following beneficial effects:

according to the embodiment, the intelligent marine auxiliary mooring and boarding device comprises the lock chain, the key bar, the lock disc component, the winch, the retraction jack device, the boarding device and the energy dissipation component, so that the problem that a ship is seriously shaken when the ship is parked on the wind power platform is solved, the technical effect that a worker can safely board the wind power platform is achieved, and the intelligent marine auxiliary mooring and boarding device has excellent practical applicability.

Through wave sensor, wind speed sensor and displacement sensor, the wave height, wave direction and the wind speed of wave can real-time supervision to handle through the control unit and find the height that the bow should be raised under current environment, so overcome when the stormy waves is great, the unable safe work's of boats and ships problem has so reached under great stormy waves, and boats and ships also can guarantee the technological effect of safe work.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and together with the description, serve to explain the principles of the application.

Fig. 1 is a schematic structural diagram of an intelligent marine auxiliary mooring and boarding apparatus according to an exemplary embodiment.

Fig. 2 is a schematic structural view of the boarding gangway shown according to an exemplary embodiment.

FIG. 3 is a block diagram illustrating the mounting of a lock collar member to a wind power platform according to an exemplary embodiment.

FIG. 4 is a schematic diagram illustrating an external configuration of a lock collar member according to an exemplary embodiment.

FIG. 5 is a schematic diagram illustrating the internal structure of a lock collar member according to an exemplary embodiment.

In the figure: 1. a control unit; 2-1, an angle regulating device; 2-2-1, a first energy dissipation cylinder; 2-2-2 and a second energy dissipation cylinder; 2-3, boarding the gangway ladder; 2-4, buckling; 3. energy dissipation pulleys; 4-1, chain; 4-2, a key bar; 4-3, a lock plate member; 4-4, a winch; 5-1, a wave sensor; 5-2, a wind speed sensor; 5-3, a displacement sensor.

Detailed Description

Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present application, as detailed in the appended claims.

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in this application and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.

It is to be understood that although the terms first, second, third, etc. may be used herein to describe various information, such information should not be limited to these terms. These terms are only used to distinguish one type of information from another. For example, first information may also be referred to as second information, and similarly, second information may also be referred to as first information, without departing from the scope of the present application. The word "if" as used herein may be interpreted as "at … …" or "when … …" or "in response to a determination", depending on the context.

Referring to fig. 1 to 5, an embodiment of the present invention provides an intelligent marine auxiliary mooring and boarding device, including a control unit 1, a boarding device 2, an energy dissipation assembly 3, a locking device 4, and an information acquisition device, where the inner side of the energy dissipation assembly 3 is fixedly connected to a ship, and the outer side of the energy dissipation assembly abuts against a vertical column of a wind power platform; the boarding device 2 is used for boarding from a ship to the wind power platform; the locking device 4 comprises a lock chain 4-1, a key rod 4-2, a lock disc component 4-3, a winch 4-4 and a retraction mechanism, wherein the lock disc component 4-3 is arranged on a stand column of the wind power platform, the lock disc component 4-3 is provided with a lock cylinder, the front end of the lock chain 4-1 is connected with the key rod 4-2 capable of being inserted into the lock cylinder, the rear end of the lock chain 4-1 is connected to the retraction mechanism, and the retraction mechanism is fixed on the ship; the information acquisition device comprises a wave sensor 5-1, a wind speed sensor 5-2 and a displacement sensor 5-3; the control unit 1 is used for receiving the signals acquired by the information acquisition device, controlling the receiving and releasing amount of the receiving and releasing mechanism and controlling the boarding angle of the boarding device 2.

In this embodiment, energy dissipation subassembly 3 adopts the energy dissipation assembly pulley, 3 rigid couplings of energy dissipation pulley lean on in wind-powered electricity generation platform slip from top to bottom at the bow.

In this embodiment, the boarding device includes an angle control device 2-1, a first energy dissipation cylinder 2-2-1, a second energy dissipation cylinder 2-2-2, a boarding gangway ladder 2-3, and a buckle 2-4, the angle control device 2-1 is fixed on a deck of the ship, one end of the first energy dissipation cylinder 2-2-1 is fixed on the angle control device 2-1, the other end of the first energy dissipation cylinder is fixed on one end of the boarding gangway ladder 2-3, and the other end of the boarding gangway ladder 2-3 is connected with the buckle 2-4 through the second energy dissipation cylinder 2-2-2.

The first energy dissipation cylinder 2-2-1 and the second energy dissipation cylinder 2-2-2 can adopt electric cylinders and can be controlled by the control unit 1, and the hardness is controlled by the control unit 1.

The boarding gangway ladder can adopt the prior art and can be stretched.

In this embodiment, the lock disc member 4-3 is fixedly mounted on a column of the wind power platform and is formed by fixedly connecting two semicircular steel fasteners through bolts, wherein one of the semicircular steel fasteners is provided with the lock cylinder.

In this embodiment, a hole for the key rod 4-2 to pass through is formed in the lock core, and the key rod 4-2 passes through the hole and is clamped on the end face of the lock core after being rotated by a predetermined angle. The rotary key bar 4-2 can be pulled out of the lock disk member 4-3 by rotating the key bar 4-2.

The control unit 1 collects sea wave data through a wave sensor 5-1, a wind speed sensor 5-2, a displacement sensor 5-3 and the like, calculates an optimal boarding scheme, enables an operation and maintenance ship to be abutted against a wind power platform through an energy dissipation pulley 3 in an energy dissipation assembly, adjusts the boarding gangway 2-3 to an optimal boarding angle through an angle adjusting device 2-1, extends the boarding gangway 2-3 to be close to the wind power platform and is fixed on the wind power platform through a buckle 3-1, locks a lock chain 4-1 on a lock disc component 4-3, and raises a bow to a certain height through a winch 4-4, so that instability caused by different wave heights is reduced. When the worker is positioned at one side close to the ship, the first energy dissipation cylinder 2-2-1 is fixedly connected with the deck side and is in soft connection with the wind power platform, and when the worker is positioned at one side close to the wind power platform, the second energy dissipation cylinder 2-2-2 is fixedly connected with the wind power platform and is in soft connection with the deck side. After the worker finishes working and safely ascends the deck through the gangway ladder, the control unit 1 unlocks the lock chain 4-1 and retracts the boarding gangway ladder 2-3. The device for boarding the wind power platform is stable, convenient and accurate in work, can reduce boarding risks, and enables workers to safely and quickly board the wind power platform.

The optimal riding scheme calculated above is the control method to be described below.

The embodiment of the invention also provides a control method of the intelligent offshore auxiliary mooring and boarding device, which comprises the following steps:

(1) wind speed data wind speed V measured by the wind speed sensor 5-2₁The wind speed is decomposed into a transverse wind speed V according to the wind direction_1xWith longitudinal wind speed V_1yMeasuring wave height h and wave velocity V by using the wave sensor₂And an included angle theta between the wave direction and the ship body, measuring the displacement height of each part of the ship body by using the displacement sensor, and calculating the ship bow lifting H':

H'＝η₁h₁+η₂h₂+η₃h₃+η₄h₄ (1)

in the formula, H' is the ship bow elevation, H₁、h₂、h₃、h₄The basic values to be raised for overcoming the influence of wind force, water flow force, wave force and dead weight are 1m, wherein the wind speed coefficientCoefficient of water flowCoefficient of wavinessCoefficient of self-weight eta₄，η₄Usually 0.5 is taken, wherein L is the ship length, and each coefficient is substituted into the formula (1) to obtain the height H' of the ship bow to be lifted. The data measured by the information acquisition device can be obtained by fitting calculation.

(2) According to the wind speed data and the wind speed V measured by the wind speed sensor 5-2₁According to the wind direction, the wind speed is divided into V_1xAnd V_1yAnd a known coefficient A_xw、A_ywδ wherein A is_xwIs the transverse wind area of the ship, A_ywCalculating the influence of wind load on the chain force to be F for the longitudinal wind area of the ship and delta being the uneven wind pressure reduction coefficient₁；

Calculating the influence of the wind load on the chain force to be F through the wind load on the chain force calculation formulas (2) and (3)₁；

F_x1＝73×10^-5A_xwV_1x ²δ(N) (2)

F_y1＝49×10^-5A_ywV_1y ²δ(N) (3)

In the formula F_x1For wind-borne forces horizontal to the hull, F_y1For wind loads perpendicular to the hull, A_xwIs the transverse wind area of the ship, A_ywIs the longitudinal wind area of the ship, V_1xFor transverse wind speed, V_1yThe longitudinal wind speed is adopted, and delta is the wind pressure uneven reduction coefficient;

(3) according to the water flow force F measured by the wave sensor 5-1 and the wave speed V measured by the wave sensor₂And the known coefficient C_xsc、C_xmc、C_yc，The influence of the water flow force on the chain force is calculated to be F₂；

Calculating formulas (4) - (6) through influence of water flow on chain force, wherein the influence of water flow force on the chain force is F₂；

F_xsc＝C_xsc×ρ/2×V₂ ²×B (4)

F_xmc＝C_xmc×ρ/2×V₂ ²×B (5)

F_yc＝C_yc×ρ/2×V₂ ²×S (6)

In the formula F_xscIs the transverse component of the current force applied to the bow, F_xmcIs the transverse component of the stern under the force of water flow, F_ycLongitudinal component of the force of the ship on the water flow, C_xscIs the coefficient of horizontal component of the water flow force bow, C_xmcIs the stern transverse polynomial coefficient of water flow, C_ycIs the longitudinal fractional coefficient of water flow force, V₂The wave velocity is B, the area of a transverse projection surface below the draught of the ship is B, and the area of a surface below the draught of the ship is S;

(4) and calculating the influence of the wave load on the chain force according to the wave height H, the wave direction angle theta and the known ship body length L measured by the wave sensor 5-1 to obtain F₃；

Calculating the influence F of the wave load on the chain force through wave force calculation formulas (7) to (8)₃；

In the formula F_x3For transverse component of wave force applied to the ship, F_y3Is the longitudinal component of the ship under the wave force, theta is the wave direction angle, L is the ship length, H is the wave height, D is the ship draught, tau₁、τ₂Is an integral coefficient, a_xTo reflect the parameters of the relationship between vessel roll and wave period, a_yParameters reflecting the relationship between ship pitching and wave period;

(5)，according to the displacement height h' of the bow measured by the displacement sensor 5-3, iterative calculation is carried out to obtain F which is the influence on the magnitude of the chain force for overcoming the dead weight load of the bow₄；

Through a lifting force calculation formula (9) for overcoming the self-weight load of the bow, the influence on the magnitude of the chain force for overcoming the self-weight load of the bow is calculated to be F₄；

In the formula F_{Sliding device}The V row is the volume of water drained by the ship, rho, for the reaction force of the energy dissipation pulley on the ship_{Water (W)}Is the density of seawater;

f obtained by the above calculation₁、F₂、F₃And F₄The mooring force F can be obtained;

F＝F₁+F₂+F₃+F₄ (10)

and (5) calculating to obtain the pulling force F required by the chain when the ship bow is lifted by H', and pulling the chain by using a retraction mechanism to complete the lifting of the bow.

According to the embodiment, the wind power platform is further improved, the novel intelligent marine auxiliary mooring and boarding device is utilized, the problem that the worker is not easy to stand stably when boarding the wind power platform is solved, the dumping safety problem is easy to occur, and the personal safety of the worker is guaranteed.

Other embodiments of the present application will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure disclosed herein. This application is intended to cover any variations, uses, or adaptations of the invention following, in general, the principles of the application and including such departures from the present disclosure as come within known or customary practice within the art to which the invention pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the application being indicated by the following claims.

It will be understood that the present application is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the application is limited only by the appended claims.