Method, device and equipment for determining heading of dynamic positioning ship and medium

Abstract

The embodiment of the invention discloses a heading determination method, device and equipment for a dynamic positioning ship and a medium. The method comprises the following steps: obtaining dimensionless environmental load coefficients of a ship under various environmental parameters and actual environmental parameters of the ship under actual sea conditions when heading is given; according to the dimensionless environmental load coefficient and the actual environmental parameters, the environmental load of the ship when the heading is given is obtained; calculating a control instruction of each propeller on the ship when the environmental load is met, and determining the total power of the propeller under the given heading direction according to each control instruction; and according to the total power of the propellers under the multiple given heading directions, the target heading direction is determined in the multiple given heading directions. The most energy-saving target heading is obtained by carrying out thrust distribution on the ship under different given heading directions, the heading direction determination speed and accuracy can be improved, and energy consumption and labor cost during heading direction determination are reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of ship dynamic positioning, and in particular to a method, device, equipment and medium for determining the heading of a dynamically positioned ship. Background Art

[0002] In the greenhouse gas emission agreement, more stringent requirements are imposed on greenhouse gas emissions from ships, which means that energy efficiency needs to be further improved and energy consumption needs to be reduced during the ship's life cycle. Energy-saving operations for dynamically positioned ships are a key technology to achieve improved energy efficiency and reduced energy consumption.

[0003] There are two conventional solutions for dynamically positioned ships. First, the dynamic positioning operation area is appropriately enlarged, and the model prediction control method is adopted to achieve stable positioning of the ship in a specific area through a rolling optimization strategy. This method can effectively reduce the energy consumption of the operation, but the dynamic deviation during the ship operation is increased due to the enlarged operation area. Second, before the dynamic positioning operation begins, the bow direction is manually estimated based on the experience of the operator and information such as ocean currents and sea breezes. This method can appropriately improve the energy-saving effect, but it is not accurate enough to achieve the best energy-saving effect due to its reliance on experience, and it is not generalizable.

[0004] Therefore, there is an urgent need to provide a method for determining the heading of a dynamically positioned ship so as to improve the accuracy of heading determination while reducing energy consumption and manpower consumption. Summary of the invention

[0005] The present invention provides a heading determination method, device, equipment and medium for a dynamically positioned ship, so as to improve the speed and accuracy of heading determination and reduce the energy consumption and labor cost when determining the heading.

[0006] According to one aspect of the present invention, a method for determining the heading of a dynamically positioned vessel is provided, the method comprising:

[0007] Obtain the dimensionless environmental load coefficient of the ship under various environmental parameters, as well as the actual environmental parameters of the ship under actual sea conditions when the heading is given;

[0008] Obtaining the environmental load of the ship at a given heading according to the dimensionless environmental load coefficient and the actual environmental parameter;

[0009] Calculating control instructions for each thruster on the ship when the environmental load is met, and determining a total thruster power for a given bow-down direction according to each control instruction;

[0010] A target heading is determined among a plurality of given headings according to a plurality of given total thruster powers at headings down.

[0011] According to another aspect of the present invention, there is provided a heading determination device for a dynamically positioned vessel, the device comprising:

[0012] The environmental parameter acquisition module is used to obtain the dimensionless environmental load coefficient of the ship under various environmental parameters, as well as the actual environmental parameters of the ship under actual sea conditions when the heading is given;

[0013] An environmental load determination module, used to obtain the environmental load of the ship at a given heading according to the dimensionless environmental load coefficient and the actual environmental parameter;

[0014] A propeller power determination module, used to calculate the control instructions of each propeller on the ship when the environmental load is met, and determine the total power of the propeller with a given bow downward according to each control instruction;

[0015] The target heading determination module is used to determine the target heading among a plurality of given headings according to a plurality of given total thruster powers with the headings facing downward.

[0016] According to another aspect of the present invention, an electronic device is provided, the electronic device comprising:

[0017] at least one processor; and

[0018] a memory communicatively connected to the at least one processor; wherein,

[0019] The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the method for determining the heading of a dynamically positioned vessel according to any embodiment of the present invention.

[0020] According to another aspect of the present invention, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the method for determining the heading of a dynamically positioned vessel according to any embodiment of the present invention when executed.

[0021] According to another aspect of the present invention, there is provided a computer program product, comprising a computer program, wherein when the computer program is executed by a processor, the method for determining the heading of a dynamically positioned vessel according to any embodiment of the present invention is implemented.

[0022] The technical solution of the embodiment of the present invention obtains the dimensionless environmental load coefficient of the ship under various environmental parameters and the actual environmental parameters of the ship under actual sea conditions when the heading is given; obtains the environmental load of the ship when the heading is given according to the dimensionless environmental load coefficient and the actual environmental parameters; calculates the control instructions of each thruster on the ship when the environmental load is met, and determines the total thruster power for a given bow downward according to each control instruction; determines the target heading among multiple given headings according to multiple given total thruster powers for bow downwards, thereby solving the energy-saving heading determination problem of the dynamically positioned ship, and obtains the most energy-saving target heading by distributing the thrust of the ship at different given bow downwards, thereby improving the speed and accuracy when determining the heading, and reducing the energy consumption and labor cost when determining the heading.

[0023] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0025] Figure 1 is a flow chart of a method for determining the heading of a dynamically positioned vessel provided according to Embodiment 1 of the present invention;

[0026] Figure 2 is a flow chart of a method for determining the heading of a dynamically positioned vessel provided according to a second embodiment of the present invention;

[0027] Figure 3 is a schematic diagram of ship degrees of freedom provided according to the second embodiment of the present invention;

[0028] Figure 4 1 is a schematic structural diagram of a heading determination device for a dynamically positioned ship provided according to a third embodiment of the present invention;

[0029] Figure 5 The present invention is a schematic diagram of the structure of an electronic device for implementing a method for determining the heading of a dynamically positioned vessel according to an embodiment of the present invention. DETAILED DESCRIPTION

[0030] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0031] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0032] Embodiment 1

[0033] Figure 1 This is a flow chart of a method for determining the heading of a dynamically positioned ship according to a first embodiment of the present invention. This embodiment is applicable to energy-saving heading determination in a dynamically positioned ship. The method can be executed by a heading determination device for a dynamically positioned ship. The heading determination device for a dynamically positioned ship can be implemented in the form of hardware and / or software. The heading determination device for a dynamically positioned ship can be configured in an electronic device, which can be a computer, etc. Figure 1 As shown, the method includes:

[0034] Step 110: Obtain the dimensionless environmental load coefficient of the ship under various environmental parameters, and the actual environmental parameters of the ship under actual sea conditions when the heading is given.

[0035] Wherein, environmental parameters include but are not limited to wind information and water flow information at sea where the ship is located. For example, environmental parameters may include wind speed, wind direction, flow velocity and flow direction, etc. The dimensionless environmental load coefficient may refer to the conversion of actual environmental parameters into a numerical value related to a specific reference area and the actual value of the environmental parameter. For example, the dimensionless environmental load coefficient may include a dimensionless wind load coefficient and a dimensionless flow load coefficient. The dimensionless wind load coefficient may be the conversion of actual wind force into a numerical value related to a specific reference area, air density and wind speed. The dimensionless flow load coefficient may be the conversion of actual hydrodynamic force into a numerical value related to a specific reference area, water density and flow velocity.

[0036] In an embodiment of the present invention, the dimensionless environmental load coefficient of the ship under various environmental parameters can be simulated and calculated, and the obtained dimensionless environmental load coefficient can be stored. When determining the heading, the dimensionless environmental load coefficient can be directly read to calculate the environmental load of the ship at a given heading.

[0037] The actual environmental parameters can be obtained by using equipment such as anemometers and current meters to obtain information on offshore wind speed and direction, current speed and direction, with wind direction and current direction being the destination.

[0038] Step 120: Obtain the environmental load of the ship at a given heading according to the dimensionless environmental load coefficient and the actual environmental parameters.

[0039] The given heading may be a preset step size, and the value range of the heading may be searched. For example, the preset step size may be 10°, and the given heading may be 0°, 10°, 20°, ..., 360°. In practical applications, the preset step size of the given heading may be dynamically adjusted according to different situations to meet different needs for calculation speed and prediction accuracy, and improve engineering practicality. When the preset step size is reduced, the optimization accuracy may be improved, but the calculation time may be increased.

[0040] Substituting the actual environmental parameters into the dimensionless environmental load coefficients obtained, the environmental load of the ship at a given heading can be obtained. When the environmental parameters are multi-dimensional information, the multi-dimensional information can be used to calculate the combined force in the same direction to obtain the environmental loads under multiple degrees of freedom.

[0041] Step 130: Calculate the control instructions for each thruster on the ship when the environmental load is met, and determine the total power of the thrusters with a given bow downward according to each control instruction.

[0042] By solving the inference distribution logic, the control instructions of each propeller on the ship can be obtained when the environmental load is met. For example, the pseudo-inverse method can be used for calculation. The control instructions include but are not limited to the thrust size and azimuth .in , is the total number of thrusters.

[0043] In an optional implementation of an embodiment of the present invention, calculating the control instructions for each propeller on the ship when the environmental load is met includes: calculating the thrust size and azimuth angle of each propeller on the ship when the environmental load is met by a pseudo-inverse method.

[0044] Among them, the pseudo-inverse method is also called the generalized inverse matrix method, which finds an optimal solution by calculating the "generalized inverse" of the matrix, usually the optimal solution in the sense of least squares. In an embodiment of the present invention, the distribution information of each propeller and the environmental load can be input through the calculation tool of the pseudo-inverse method to obtain the thrust size and azimuth of each propeller on the ship when the environmental load is met. The optimal solution can be found by calculating the control command through the pseudo-inverse method, and the determination rate of the control command can be improved. The propeller power can be calculated according to the control command.

[0045] Step 140: Determine a target heading among a plurality of given headings according to a plurality of given total thruster powers with the headings facing downward.

[0046] Among them, the total propeller power is the power of each propeller, that is, . Determining the target heading according to the total propeller power may be determining the most energy-efficient heading according to the total propeller power. Specifically, in an optional implementation of an embodiment of the present invention, a target heading is determined among a plurality of given headings according to a plurality of given total propeller powers of bows downward, including: taking a given heading corresponding to a minimum total propeller power among a plurality of given headings as the target heading. When the target heading is used for dynamic positioning of a ship, energy saving can be achieved, and the heading determination method provided by the embodiment of the present invention is simple, fast, highly accurate, and does not rely on manual experience.

[0047] On the basis of the above implementation mode, in order to further improve the accuracy of the target heading determination and avoid large energy consumption, a larger preset step size can be set first, and the control instructions can be determined under multiple given headings. Then, according to the changing trend of the control instructions, the possible range of the most energy-saving heading can be refined and the given heading can be updated, thereby improving the accuracy of the heading determination while reducing energy consumption.

[0048] Optionally, a target heading is determined among multiple given headings based on multiple given total thruster powers at bow-down directions, including: determining a heading range in which the energy-saving heading of the ship is located based on a change trend of multiple given total thruster powers at bow-down directions; obtaining multiple updated given headings within the heading range by reducing the heading interval value; returning to the step of obtaining actual environmental parameters of the ship under actual sea conditions when obtaining a given heading, and obtaining each updated given total thruster power at bow-down directions; and determining a target heading among multiple updated given headings based on each updated given total thruster power at bow-down directions.

[0049] For example, in a plurality of given headings arranged in sequence, the total propeller power first decreases and then increases, and it can be determined that the most energy-efficient heading may be in the heading range formed by the plurality of given headings arranged in sequence. For example, when the given headings are x1, x2, and x3, the corresponding total propeller power is Px1 , P x2 , P x3 , where P x2 Less than P x1 , P x2 Less than P x3 . At this time, the heading range of the ship's energy-saving heading can be determined as the interval (x1, x3). Therefore, a smaller heading interval value can be used within the heading range (x1, x3) to obtain multiple updated given headings. For example, the reduced heading interval value can be half of the preset step length. According to the updated given heading, the environmental load determination step of the ship at the given heading can be returned to obtain the total thruster power for the given bow. The given heading corresponding to the minimum total thruster power is taken as the target heading. Of course, if necessary, the heading range of the ship's energy-saving heading can be further updated and determined based on the trend of changes in the total thruster power to further improve the accuracy of the target heading determination.

[0050] In order to avoid the target heading falling into the local optimal solution, when determining the heading range of the ship's energy-saving heading according to the change trend of the total propeller power, it is necessary to first traverse all given headings according to the preset step size to obtain the total propeller power for each given heading. When updating the given heading, multiple heading ranges may be obtained. When determining the target heading, the total propeller power under each heading range can be compared to obtain the most energy-saving heading and avoid the local optimum.

[0051] The technical solution of this embodiment obtains the dimensionless environmental load coefficient of the ship under various environmental parameters and the actual environmental parameters of the ship under actual sea conditions when the heading is given; obtains the environmental load of the ship when the heading is given according to the dimensionless environmental load coefficient and the actual environmental parameters; calculates the control instructions of each thruster on the ship when the environmental load is met, and determines the total thruster power for a given bow downward according to each control instruction; determines the target heading among multiple given headings according to multiple given total thruster powers for bow downwards, thereby solving the energy-saving heading determination problem of the dynamically positioned ship, and obtains the most energy-saving target heading by distributing the thrust of the ship at different given bow downwards, thereby improving the speed and accuracy of the heading determination, and reducing the energy consumption and labor cost of the heading determination.

[0052] Embodiment 2

[0053] Figure 2 It is a flow chart of a method for determining the heading of a dynamically positioned vessel provided according to Embodiment 2 of the present invention. This embodiment is a further refinement of the above technical solution. The technical solution in this embodiment can be combined with various optional solutions in one or more of the above embodiments.

[0054] Optionally, the dimensionless environmental load coefficient of the ship under various environmental parameters is obtained, including: constructing a geometric model of the ship; performing numerical simulation of the geometric model under various environmental parameters by computational fluid dynamics to obtain the dimensionless environmental load coefficient of the ship under various environmental parameters.

[0055] like Figure 2 As shown, the method includes:

[0056] Step 210: construct a geometric model of the ship.

[0057] The geometric model of the ship can be constructed by 1:1 proportional solid geometric modeling based on the dynamic positioning ship under study. By constructing the geometric model of the ship, the dimensionless environmental load coefficient can be determined based on the actual model of the ship, thereby improving the accuracy of the determination of the dimensionless environmental load coefficient and avoiding the problem of insufficient accuracy of the dimensionless environmental load coefficient due to the special ship type when using empirical formulas for calculation.

[0058] Step 220: numerically simulate the geometric model under various environmental parameters by computational fluid dynamics to obtain dimensionless environmental load coefficients of the ship under various environmental parameters.

[0059] Computational fluid dynamics can be used to simulate and analyze the flow behavior of fluids (liquids and gases). For example, the geometric model can be numerically simulated under various environmental parameters through software related to computational fluid dynamics to obtain the environmental load of the ship in multiple degrees of freedom, and then combined with the reference information corresponding to the dimensionless environmental load coefficient, the dimensionless environmental load coefficient can be converted.

[0060] When numerical simulation is performed by computational fluid dynamics, operations such as selection and generation of mesh type, setting of boundary conditions, setting of solver, and post-processing of results may be included. Specifically, in an embodiment of the present invention, when numerical simulation of computational fluid dynamics is performed, the mesh model is selected as a cut volume mesh, a prism layer mesh, and a surface reconstruction mesh; the hull surface is set as a wall boundary condition, fixed without slip, the fluid physics model is selected as air, and is set to constant density; the working pressure is set to one atmosphere, and the reference height is set on the water surface; the turbulence model selection should take into account both the vicinity of the hull and the far field, and the convection term adopts a second-order discrete format.

[0061] In an optional implementation of an embodiment of the present invention, a dimensionless environmental load coefficient of the ship under various environmental parameters is obtained by numerically simulating the geometric model under various environmental parameters through computational fluid dynamics, including: obtaining the dimensionless wind load coefficient of the ship by numerically simulating the geometric model under different wind directions and different wind speeds through computational fluid dynamics; obtaining the dimensionless flow load coefficient of the ship by numerically simulating the geometric model under different flow directions and different flow velocities through computational fluid dynamics.

[0062] Specifically, when numerically simulating the geometric model under various environmental parameters by computational fluid dynamics, the direction interval of wind or flow computational simulation can be selected as a preset angle. For example, the preset angle is 10°, followed by 0°, 10°, ..., 350°, 360°. By performing numerical simulation of computational fluid dynamics at various angles, wind loads and flow loads under multiple degrees of freedom can be obtained. For example, in an embodiment of the present invention, wind loads and flow loads under three degrees of freedom can be selected, namely, longitudinal, lateral, and bow wind loads (respectively , , ), and the longitudinal, transverse, and bow flow loads (respectively , , ).

[0063] Furthermore, according to the formula, the dimensionless wind load coefficient is: ;in, , , are the dimensionless wind load coefficients in the longitudinal, transverse, and bow directions, is the relative wind direction, is the positive wind projected area, is the side wind projected area, For the captain, is the air density, is the relative wind speed. The forward wind projection area refers to the two-dimensional projection area of ​​the ship in the windward direction, perpendicular to the wind direction. The side wind projection area refers to the two-dimensional projection area of ​​the ship in the direction perpendicular to the longitudinal axis of the hull, that is, perpendicular to the wind direction when viewed from the side.

[0064] The dimensionless flow load factor is: ;in, , , are the dimensionless flow load coefficients in the longitudinal, transverse, and bow directions, is the relative flow direction, For the width, For water, is the vertical line spacing, is the density of seawater, is the relative flow rate.

[0065] in, Figure 3 FIG. 1 is a schematic diagram of ship degrees of freedom provided according to the second embodiment of the present invention. Figure 3 As shown, the x direction is the longitudinal direction of the ship, the y direction is the transverse direction of the ship, and the direction from the x direction to the y direction is the bow direction.

[0066] The embodiment of the present invention obtains the dimensionless environmental load coefficient by means of computational fluid dynamics analysis, and maintains the dimensionless environmental load coefficient. When the subsequent heading is determined, the saved dimensionless environmental load coefficient can be read to calculate the environmental load of the ship when the heading is given, which can improve the accuracy of the determination of the dimensionless environmental load coefficient, reduce the complexity of the determination of the dimensionless environmental load coefficient, and facilitate the environmental load calculation.

[0067] Step 230: Acquire actual environmental parameters of the ship under actual sea conditions when the heading is given.

[0068] Step 240: Obtain the environmental load of the ship at a given heading according to the dimensionless environmental load coefficient and the actual environmental parameters.

[0069] In an optional implementation of an embodiment of the present invention, the environmental load of the ship at a given heading is obtained according to the dimensionless environmental load coefficient and the actual environmental parameters, including: obtaining the wind load according to the dimensionless wind load coefficient and the actual wind speed and direction in the actual environmental parameters; obtaining the flow load according to the dimensionless flow load coefficient and the actual flow speed and direction in the actual environmental parameters; and summarizing the wind load and the flow load to obtain the environmental load of the ship at a given heading.

[0070] Specifically, the wind load can be obtained by substituting the actual wind speed and direction in the actual environmental parameters into the dimensionless environmental load coefficient formula, such as the longitudinal, transverse, and bow wind loads (respectively , , ). Substituting the actual flow velocity and direction in the actual environmental parameters into the dimensionless flow load coefficient formula, the flow load can be obtained, such as the longitudinal, transverse, and bow flow loads (respectively , , ).

[0071] Wind loads and flow loads can be added together. When summarizing, the resultant force can be applied in the same direction. For example, the longitudinal, transverse, and bow wind loads and flow loads can be summed up separately to obtain the environmental load of the ship at a given bow direction. For example, the longitudinal, transverse, and bow environmental load resultants are , , .in, , , .

[0072] By determining the environmental loads under wind loads and flow loads, the influence of various factors on the ship at sea and the influence of multiple degrees of freedom can be considered, thereby improving the reliability of energy-saving heading determination.

[0073] Step 250: Calculate the thrust and azimuth of each propeller on the ship when the environmental load is met by using a pseudo-inverse method.

[0074] Step 260: Determine the total power of the given bow-down thrusters according to the thrust of each thruster.

[0075] Step 270: taking the given heading corresponding to the minimum total thruster power among the multiple given headings as the target heading.

[0076] Among them, in an embodiment of the present invention, when a given heading corresponding to the minimum total thruster power among multiple given headings is used as the target heading, the heading range of the ship's energy-saving heading can be determined according to the change trend of the total thruster power in multiple given bow directions; by reducing the heading interval value, multiple updated given headings are obtained within the heading range; the actual environmental parameter step of the ship under actual sea conditions when obtaining a given heading is returned to obtain the total thruster power in each updated given bow direction; the given heading corresponding to the minimum total thruster power in each updated given heading is determined as the target heading.

[0077] The technical solution of the embodiment of the present invention is to construct a geometric model of the ship; perform numerical simulation of the geometric model under various environmental parameters through computational fluid dynamics to obtain the dimensionless environmental load coefficient of the ship under various environmental parameters; obtain the actual environmental parameters of the ship under actual sea conditions when the heading is given; obtain the environmental load of the ship when the heading is given according to the dimensionless environmental load coefficient and the actual environmental parameters; calculate the thrust and azimuth of each propeller on the ship when the environmental load is met by the pseudo-inverse method; determine the total power of the propeller with a given bow downward according to the thrust of each propeller; and convert multiple given The given heading corresponding to the minimum total thruster power in the heading is used as the target heading, which solves the problem of determining the energy-saving heading of the dynamically positioned ship. By distributing the thrust downward at different given bow directions, the most energy-saving target heading is obtained, which can improve the speed and accuracy of heading determination and reduce the energy consumption and labor cost of heading determination. By selecting the energy-saving heading through computational fluid dynamics analysis combined with the thruster power, the shortcomings of selecting the energy-saving heading based on manual experience can be overcome, and the energy-saving heading can be provided quickly and accurately before the ship carries out dynamic positioning operations, thereby achieving the lowest energy consumption of the ship's dynamic positioning operations.

[0078] Illustratively, an application example of the method for determining the heading of a dynamically positioned vessel provided in an embodiment of the present invention is: obtaining a dimensionless environmental load coefficient, and combining it with the actual environmental parameters of the ship under actual sea conditions to obtain the three-degree-of-freedom environmental load of the ship at a given heading; calculating the thrust magnitude and azimuth of each thruster that meets the environmental load; calculating the total power of all thrusters, increasing the given heading according to a preset step size, and determining whether the given heading is less than 360°. If so, returning to the step of combining the actual environmental parameters of the ship under actual sea conditions to obtain the three-degree-of-freedom environmental load step of the ship at a given heading, and then obtaining the total power of all thrusters at a given heading. If not, taking the given heading corresponding to the minimum value of the total propeller power as the most energy-saving target heading.

[0079] Embodiment 3

[0080] Figure 4 FIG. 1 is a schematic diagram of a device for determining the heading of a dynamically positioned ship according to Embodiment 3 of the present invention. Figure 4 As shown, the device includes: an environmental parameter acquisition module 410, an environmental load determination module 420, a thruster power determination module 430 and a target heading determination module 440. Among them:

[0081] The environmental parameter acquisition module 410 is used to acquire the dimensionless environmental load coefficient of the ship under various environmental parameters, and the actual environmental parameters of the ship under actual sea conditions when the heading is given;

[0082] The environmental load determination module 420 is used to obtain the environmental load of the ship at a given heading according to the dimensionless environmental load coefficient and the actual environmental parameters;

[0083] The propeller power determination module 430 is used to calculate the control instructions of each propeller on the ship when the environmental load is met, and determine the total power of the propeller with a given bow downward according to each control instruction;

[0084] The target heading determination module 440 is used to determine the target heading among a plurality of given headings according to a plurality of given total thruster powers with the headings facing downward.

[0085] Optionally, the target heading determination module 440 includes:

[0086] The target heading first determination unit is used to take the given heading corresponding to the minimum total propeller power among the multiple given headings as the target heading.

[0087] Optionally, the target heading determination module 440 includes:

[0088] A heading range determination unit, used to determine the heading range of the ship's energy-saving heading according to a plurality of given heading-down propeller total power change trends;

[0089] A given heading updating unit is used to obtain a plurality of updated given headings within a heading range by reducing a heading interval value;

[0090] A propeller power determination unit, used to return to the step of obtaining actual environmental parameters of the ship under actual sea conditions when the ship is at a given heading, and obtain the total propeller power at each updated given heading downward;

[0091] The target heading second determination unit is used to determine the target heading from a plurality of updated given headings according to each updated given heading-down total propeller power.

[0092] Optionally, the environment parameter acquisition module 410 includes:

[0093] A geometric model building unit, used for building a geometric model of a ship;

[0094] The dimensionless environmental load coefficient determination unit is used to perform numerical simulation on the geometric model under various environmental parameters through computational fluid dynamics to obtain the dimensionless environmental load coefficient of the ship under various environmental parameters.

[0095] Optional, dimensionless environmental load factor determination unit, including:

[0096] The dimensionless wind load coefficient determination subunit is used to perform numerical simulation of the geometric model under different wind directions and wind speeds through computational fluid dynamics to obtain the dimensionless wind load coefficient of the ship;

[0097] The dimensionless flow load coefficient determination subunit is used to perform numerical simulation on the geometric model under different flow directions and different flow velocities through computational fluid dynamics to obtain the dimensionless flow load coefficient of the ship.

[0098] Optionally, the environmental load determination module 420 includes:

[0099] A wind load determination unit is used to obtain the wind load according to the dimensionless wind load coefficient and the actual wind speed and direction in the actual environmental parameters;

[0100] A flow load determination unit, used for obtaining the flow load according to the dimensionless flow load coefficient and the actual flow velocity and flow direction in the actual environmental parameters;

[0101] The environmental load determination unit is used to summarize the wind load and the flow load to obtain the environmental load of the ship at a given heading.

[0102] Optionally, the thruster power determination module 430 includes:

[0103] The control instruction determination unit is used to calculate the thrust and azimuth of each propeller on the ship when the environmental load is met through the pseudo-inverse method.

[0104] The heading determination device for a dynamically positioned ship provided in an embodiment of the present invention can execute the heading determination method for a dynamically positioned ship provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0105] Embodiment 4

[0106] Figure 5 A schematic diagram of the structure of an electronic device 10 that can be used to implement an embodiment of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or required herein.

[0107] like Figure 5 As shown, the electronic device 10 includes at least one processor 11, and a memory connected to the at least one processor 11, such as a read-only memory (ROM), a random access memory (RAM), etc., wherein the memory stores a computer program that can be executed by at least one processor, and the processor 11 can perform various appropriate actions and processes according to the computer program stored in the ROM 12 or the computer program loaded from the storage unit 18 to the RAM 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other through a bus 14. An input / output (I / O) interface is also connected to the bus 14.

[0108] A number of components in the electronic device 10 are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0109] The processor 11 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as a method for determining the heading of a dynamically positioned vessel.

[0110] In some embodiments, the heading determination method of a dynamically positioned vessel may be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or installed on the electronic device 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the heading determination method of a dynamically positioned vessel described above may be performed. Alternatively, in other embodiments, the processor 11 may be configured to perform the heading determination method of a dynamically positioned vessel in any other appropriate manner (e.g., by means of firmware).

[0111] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0112] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that when the computer program is executed by the processor, the functions / operations specified in the flow chart and / or block diagram are implemented. The computer program may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0113] In the context of the present invention, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, device, or equipment. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices, or equipment, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0114] To provide interaction with a user, the systems and techniques described herein may be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device. Other types of devices may also be used to provide interaction with the user; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form (including acoustic input, voice input, or tactile input).

[0115] The systems and techniques described herein may be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0116] A computing system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The client and server relationship is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS services.

[0117] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0118] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A method for determining the heading of a dynamically positioned vessel, characterized in that: include: Obtain the dimensionless environmental load coefficient of the ship under various environmental parameters, as well as the actual environmental parameters of the ship under actual sea conditions when the heading is given; Obtaining the environmental load of the ship at a given heading according to the dimensionless environmental load coefficient and the actual environmental parameter; Calculating control instructions for each thruster on the ship when the environmental load is met, and determining a total thruster power for a given bow-down direction according to each control instruction; determining a target heading among a plurality of given headings according to a plurality of given total thruster powers at headings downward; Determine the target heading among multiple given headings based on multiple given total thruster powers at heading down, including: The given heading corresponding to the minimum total thruster power among multiple given headings is taken as the target heading.

2. The method for determining the heading of a dynamically positioned vessel according to claim 1, characterized in that: Determine the target heading among multiple given headings based on multiple given total thruster powers at heading down, including: According to the total propeller power variation trends of multiple given bow-down directions, the heading range of the ship's energy-saving heading is determined; By reducing the heading interval value, a plurality of updated given headings are obtained within the heading range; Return to the step of obtaining the actual environmental parameters of the ship under the actual sea conditions when the heading is given, and obtain the total propeller power at each updated given heading downward; A target heading is determined from a plurality of updated given headings according to each updated given heading-down total propeller power.

3. The method for determining the heading of a dynamically positioned vessel according to claim 1, characterized in that: Obtain the dimensionless environmental load coefficient of the ship under various environmental parameters, including: Construct the geometric model of the ship; The geometric model is numerically simulated under various environmental parameters by computational fluid dynamics to obtain dimensionless environmental load coefficients of the ship under various environmental parameters.

4. The method for determining the heading of a dynamically positioned vessel according to claim 3, characterized in that: The geometric model is numerically simulated under various environmental parameters by computational fluid dynamics to obtain dimensionless environmental load coefficients of the ship under various environmental parameters, including: By using computational fluid dynamics, numerical simulation is performed on the geometric model under different wind directions and wind speeds to obtain a dimensionless wind load coefficient of the ship; The geometric model is numerically simulated under different flow directions and different flow velocities by computational fluid dynamics to obtain the dimensionless flow load coefficient of the ship.

5. The method for determining the heading of a dynamically positioned vessel according to claim 4, characterized in that: According to the dimensionless environmental load coefficient and the actual environmental parameter, the environmental load of the ship at a given heading is obtained, including: Obtaining wind load according to the dimensionless wind load coefficient and the actual wind speed and direction in the actual environmental parameters; Obtaining flow load according to the dimensionless flow load coefficient and the actual flow velocity and direction in the actual environmental parameters; The wind load and the flow load are summed up to obtain the environmental load of the ship at a given heading.

6. The method for determining the heading of a dynamically positioned vessel according to claim 1, characterized in that: Calculate the control instructions of each propeller on the ship when the environmental load is met, including: The thrust magnitude and azimuth angle of each propeller on the ship when the environmental load is met are calculated by a pseudo-inverse method.

7. A heading determination device for a dynamically positioned vessel, characterized in that: include: The environmental parameter acquisition module is used to obtain the dimensionless environmental load coefficient of the ship under various environmental parameters, as well as the actual environmental parameters of the ship under actual sea conditions when the heading is given; An environmental load determination module, used to obtain the environmental load of the ship at a given heading according to the dimensionless environmental load coefficient and the actual environmental parameter; A propeller power determination module, used to calculate the control instructions of each propeller on the ship when the environmental load is met, and determine the total power of the propeller with a given bow downward according to each control instruction; A target heading determination module is used to determine a target heading among a plurality of given headings according to a plurality of given total thruster powers with the headings facing downward; The target heading determination module comprises: a first target heading determination unit, which is used to take the given heading corresponding to the minimum total propeller power among a plurality of given headings as the target heading.

8. An electronic device, characterized in that: The electronic device comprises: at least one processor; and a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the heading determination method for a dynamically positioned vessel according to any one of claims 1-6.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the method for determining the heading of a dynamically positioned vessel according to any one of claims 1 to 6 when executed.

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