Arrangement speed and movement speed control method of arrangement ship

Abstract

The embodiment of the invention discloses a geotextile laying speed and geotextile laying ship moving speed control method. The method comprises the steps that the ship speed and environment data of a geotextile laying ship are obtained in real time; determining an arrangement speed based on the ship speed, the environmental data and a preset speed matching calculation formula; and generating a control signal of a driving device of the arrangement equipment based on the arrangement speed, and controlling the equipment speed of the arrangement equipment according to the control signal. The arrangement speed matched with the ship speed is calculated in real time, so that the central controller can adjust the speed of the arrangement equipment in real time according to the arrangement speed, changes of different sea conditions, ship body states and the like are flexibly coped, the system adapts to complex and changeable marine environments, the speed of the arrangement equipment is matched with the moving speed of the arrangement ship, and the arrangement efficiency is improved. The situation of operation interruption caused by speed mismatching is avoided, and the continuity and efficiency of arrangement operation are improved.

Description

Technical Field

[0001] The embodiments of the present invention relate to the technical field of ocean engineering, and in particular, to a method for controlling the laying speed and the moving speed of a laying vessel. Background Art

[0002] In the operation of laying arrangements on the seabed, the laying vessel needs to travel along a predetermined path at a certain speed, and at the same time, accurately lay laying materials, pipelines or cables, etc. on the seabed through the laying equipment.

[0003] In traditional laying methods, the moving speed of the laying vessel and the laying speed of the laying equipment are mostly set according to a fixed relationship between them. This method leads to certain problems in the matching between the moving speed of the laying vessel and the laying speed of the laying equipment. Especially in complex sea conditions, the moving speed of the laying vessel often fluctuates, resulting in unstable laying speed, thereby affecting the operation efficiency and operation quality. Therefore, how to effectively control the matching between the moving speed of the laying vessel and the laying speed to make it reach the best working state has become a key problem in improving the quality of ocean engineering operations. Summary of the Invention

[0004] The embodiments of the present invention provide a method for controlling the laying speed and the moving speed of a laying vessel, which can adjust the moving speed of the laying vessel and the laying speed of the laying equipment in real-time to improve the operation efficiency and control quality of seabed laying operations.

[0005] In a first aspect, the embodiments of the present invention provide a method for controlling the laying speed and the moving speed of a laying vessel, including:

[0006] Obtaining the vessel speed and environmental data of the laying vessel in real-time;

[0007] Determining the laying speed based on the vessel speed, the environmental data and a pre-set speed matching calculation formula;

[0008] Generating a control signal for the driving device of the laying equipment based on the laying speed, and controlling the equipment speed of the laying equipment according to the control signal.

[0009] In a second aspect, the embodiments of the present invention provide a device for controlling the laying speed and the moving speed of a laying vessel, the device includes:

[0010] A data acquisition module for obtaining the vessel speed and environmental data of the laying vessel in real-time;

[0011] A speed matching module for determining the laying speed based on the vessel speed, the environmental data and a pre-set speed matching calculation formula;

[0012] A speed control module is configured to generate a control signal for a driving device of a laying device based on the laying speed, and control the device speed of the laying device according to the control signal.

[0013] In a third aspect, an embodiment of the present invention further provides an electronic device, which includes a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the program, it implements the laying speed and laying ship moving speed control method as described in any one of the embodiments of the present invention.

[0014] In a fourth aspect, an embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored. When the program is executed by a processor, it implements the laying speed and laying ship moving speed control method as described in any one of the embodiments of the present invention.

[0015] In a fifth aspect, an embodiment of the present invention provides a computer program product, including a computer program, which implements the laying speed and laying ship moving speed control method as described in any one of the embodiments of the present invention when executed by a processor.

[0016] In the embodiments of the present invention, the ship speed and environmental data of the laying ship are obtained in real time; the laying speed is determined based on the ship speed, environmental data, and a preset speed matching calculation formula; a control signal for a driving device of the laying device is generated based on the laying speed, and the device speed of the laying device is controlled according to the control signal. The method of the embodiments of the present invention calculates the laying speed matching the ship speed in real time according to the environmental data and ship speed through the speed matching calculation formula, enabling the central controller to adjust the speed of the laying device in real time, flexibly respond to changes in different sea conditions, hull states, etc., adapt to the complex and changeable marine environment, match the speed of the laying device with the moving speed of the laying ship, and avoid the occurrence of operation interruption caused by speed mismatch, thereby improving the continuity and efficiency of the laying operation. Description of the Drawings

[0017] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following will briefly introduce the drawings required for use in the embodiments. It should be understood that the following drawings only show some embodiments of the present invention, and therefore should not be regarded as limiting the scope. For those of ordinary skill in the art, other related drawings can be obtained based on these drawings without creative efforts.

[0018] Figure 1 It is the first flowchart of a laying speed and laying ship moving speed control method provided by an embodiment of the present invention;

[0019] Figure 2 It is the second flowchart of a laying speed and laying ship moving speed control method provided by an embodiment of the present invention;

[0020] Figure 3 This is the third flowchart of a method for controlling the laying speed and the moving speed of a laying vessel provided by an embodiment of the present invention;

[0021] Figure 4 This is the fourth flowchart of a method for controlling the laying speed and the moving speed of a laying vessel provided by an embodiment of the present invention;

[0022] Figure 5 This is a schematic structural diagram of a device for controlling the laying speed and the moving speed of a laying vessel provided by an embodiment of the present invention;

[0023] Figure 6 This is a schematic structural diagram of an electronic device provided by an embodiment of the present invention. Detailed implementation manners

[0024] The present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It can be understood that the specific embodiments described herein are only used to explain the present invention, rather than limiting the present invention. Additionally, it should be noted that for the sake of description, only parts related to the present invention rather than all structures are shown in the accompanying drawings.

[0025] Figure 1 This is the first flowchart of a method for controlling the laying speed and the moving speed of a laying vessel provided by an embodiment of the present invention. The method of the embodiment of the present invention can adjust the moving speed of the laying vessel and the laying speed of the laying equipment in real-time to improve the efficiency and control quality of underwater laying operations. This method can be executed by a device for controlling the laying speed and the moving speed of a laying vessel provided by an embodiment of the present invention, and the device can be implemented in a software and / or hardware manner. The following embodiments will be described by taking the integration of the device in an electronic device as an example. The electronic device can be a computer device, a central controller, a server, etc. Refer to Figure 1 , and the method can specifically include the following steps:

[0026] Step 101, obtain the ship speed and environmental data of the laying vessel in real-time.

[0027] Among them, the laying vessel is a ship specially used for underwater engineering operations, mainly used for laying facilities such as soft mattresses, pipelines, and cables in coastal areas or inland waterways. The ship speed is the operating speed of the laying vessel during the working process. The environmental data includes but is not limited to the water temperature, salinity, water depth, wave height, wave period, bottom sediment type (such as sandy, muddy or rocky), water flow direction, velocity profile, dissolved oxygen content, water quality parameters, wind speed, air humidity, and weather conditions of the environment where the laying vessel is located.

[0028] Specifically, sensors for obtaining the ship speed and environmental data are installed on the laying ship. The sensors for obtaining environmental data include, but are not limited to, an acoustic Doppler current profiler for measuring the water flow speed and direction, a water temperature sensor, a depth sensor, and a wave gauge. The speed sensors are used to collect speed data at different positions of the laying ship, and the speed sensors include, but are not limited to, devices such as a radar speedometer, a global satellite positioning module, and an inertial measurement unit. In an optional implementation manner, when the laying ship is in an operating state, each environmental data sensor can collect the environmental data of the laying ship in real time and send the environmental data to the central controller in real time through a wireless communication module. The central controller can obtain according to each speed sensor and , is the displacement of the laying ship within the time interval , then the ship speed can be determined as .

[0029] Step 102: Determine the laying speed based on the ship speed, environmental data, and a preset speed matching calculation formula.

[0030] Among them, the laying speed is calculated by the central controller according to the ship speed and environmental data, etc., and is the speed of the laying equipment that matches the ship speed of the laying ship. The laying equipment is used to achieve precise underwater laying operations through a series of mechanical and control systems. The laying speed needs to match the ship speed to improve the efficiency of the laying operation. The laying speed is affected not only by the ship speed of the laying ship, but also by the actual operating environment, such as sea current, wind speed, and waves. The speed matching formula is determined according to big data in the field, historical data of the laying ship and laying equipment, etc., and is used to calculate the laying speed according to the ship speed and environmental data, etc. For example , represents the laying speed, and H is the environmental influence factor.

[0031] Specifically, each speed sensor can collect the ship speed of the laying ship in real time and send the ship speed to the central controller. Due to the complexity and variability of the operating environment of the laying ship, the ship speed collected by the ship speed sensor may not be accurate enough. Therefore, after obtaining the ship speed, the central controller can correct the ship speed according to the environmental data. In an optional implementation manner, after obtaining the ship speed and environmental data, the central controller determines the speed correction factor of the laying ship based on the environmental data, and corrects the ship speed according to the speed correction factor to obtain the actual speed of the laying ship. Determine the sea condition correction amount according to the sea current information, wind speed information, and wave information, and determine the equipment performance correction amount based on the previously obtained equipment information of the laying equipment; substitute the sea condition correction amount, equipment performance correction amount, actual speed of the laying ship, previously determined sea condition coefficient, and equipment coefficient into the speed matching calculation formula to obtain the laying speed.

[0032] Step 103: Generate a control signal for the drive device of the laying equipment based on the laying speed, and control the equipment speed of the laying equipment according to the control signal.

[0033] Among them, the drive device is the core component of the laying equipment, which is used to convert the control signal into mechanical motion to drive the equipment to operate. The control signal is generated by the central controller and is used to instruct the drive device to operate at a predetermined speed. Specifically, after calculating the laying speed, the central controller needs to convert the laying speed into an electrical signal (control signal) to instruct the drive device to operate at a predetermined speed through the control signal. In this solution, optionally, generating a control signal for the drive device of the laying equipment based on the laying speed includes: determining the gain coefficient of the drive device of the laying equipment according to the environmental data; multiplying the gain coefficient by the laying speed to obtain the control signal of the drive device.

[0034] Among them, the gain coefficient of the drive device is a proportional factor used to convert the laying speed into the control signal of the drive device. The environmental data will affect the actual operation efficiency and response characteristics of the laying equipment. Therefore, the central controller can dynamically adjust the gain coefficient according to the environmental data to ensure the accuracy and adaptability of the control signal. For example, if the sea current speed is relatively large, it may be necessary to increase the gain coefficient to compensate for the influence of the sea current on the equipment speed.

[0035] In an alternative embodiment, the gain coefficient of the drive device can be determined according to a pre-set gain coefficient determination formula and environmental data: . Among them, is the basic gain coefficient. is the influence coefficient of the sea current, is the influence coefficient of the wind speed, is the influence coefficient of the wave. are all pre-set, is the sea current speed, is the wind speed, is the wave height. According to the environmental data, , and can be obtained. Further, after obtaining the gain coefficient of the drive device, the control signal of the drive device is obtained according to the gain coefficient and the laying speed: . Among them, is the input signal of the drive device of the laying equipment.

[0036] After receiving the control signal, the central controller can optimize the control signal through the digital signal processing module to ensure the accuracy and reliability of the control signal. For example, the central controller can perform noise filtering on the control signal: reducing noise interference during the transmission of the control signal; signal amplification: ensuring that the control signal intensity is sufficient to drive the laying equipment; signal correction: correcting the control signal according to the actual response characteristics of the laying equipment. The optimized control signal is transmitted to the driving device of the laying equipment through the wireless communication module. After receiving the control signal, the driving device of the laying equipment adjusts the rotation speed of the motor, the flow rate of the hydraulic pump, or the pressure of the pneumatic device according to the magnitude of the control signal, thereby controlling the laying equipment to operate at the laying speed. By generating the control signal through the central controller and dynamically adjusting the gain coefficient according to the environmental data, the operating speed of the laying equipment can be accurately controlled, enabling the laying equipment to operate stably in a complex marine environment and ensuring the efficient and precise completion of the laying operation.

[0037] The technical solution of this embodiment obtains the ship speed and environmental data of the laying ship in real time; determines the laying speed based on the ship speed, environmental data, and a pre-set speed matching calculation formula; generates a control signal for the driving device of the laying equipment based on the laying speed, and controls the equipment speed of the laying equipment according to the control signal. The technical solution of this embodiment calculates the laying speed matching the ship speed in real time according to the environmental data and the ship speed through the speed matching calculation formula, flexibly responds to changes in different sea conditions, hull states, etc., adapts to the complex and changeable marine environment, enables the central controller to adjust the speed of the laying equipment in real time to match the moving speed of the laying ship, and avoids the occurrence of operation interruptions caused by speed mismatches, improving the continuity and efficiency of the laying operation.

[0038] Figure 2 This is the second flowchart of a method for controlling the laying speed and the moving speed of a laying ship provided by an embodiment of the present invention. This embodiment is a refinement based on the above embodiment. The specific method can be as Figure 2 shown, and the method may include the following steps:

[0039] Step 201, obtain the ship speed and environmental data of the laying ship in real time.

[0040] Step 202, determine the speed correction factor of the laying ship based on the environmental data, and correct the ship speed according to the speed correction factor to obtain the actual speed of the laying ship.

[0041] Among them, the environmental data includes sea current information, wind speed information, wave information, and hull motion information. The speed correction factor is used to correct the ship speed to obtain the actual speed of the mattress-laying ship. Specifically, due to the complexity and variability of the operating environment of the mattress-laying ship, the ship speed collected by the ship speed sensor may not be accurate enough. Therefore, after obtaining the ship speed, the central controller determines the speed correction factor of the mattress-laying ship according to the environmental data, and corrects the ship speed according to the speed correction factor.

[0042] Exemplarily, before obtaining the ship speed and environmental data of the mattress-laying ship in real time, determine the influence degrees of sea current, wind speed, and the ship's own motion on the ship speed according to big data in the field, etc., and determine each influence factor (such as sea current influence factor, wind speed influence factor, and hull influence factor) according to each influence degree. Multiply the sea current speed by the sea current influence factor to obtain the sea current influence factor, multiply the wind speed influence factor by the wind speed to obtain the wind speed influence factor, and multiply the hull influence factor by the ship's own operation data (such as hull pitch angle and rotation angle, etc.) to obtain the hull influence factor. Add the sea current influence factor, the wind speed influence factor, and the hull influence factor to obtain the correction factor of the ship speed. Further, after obtaining the ship speed data and environmental data of the mattress-laying ship, substitute the relevant environmental data into the calculation method of the speed correction factor to obtain the speed correction factor of the ship speed. According to , and The actual speed of the mattress-laying ship is obtained as: .

[0043] Step 203: Determine the mattress-laying speed based on the actual speed of the mattress-laying ship, environmental data, and speed matching calculation formula.

[0044] The speed matching formula is determined according to big data in the field, historical data of the mattress-laying ship and mattress-laying equipment, etc., and is a formula used to calculate the mattress-laying speed according to the ship speed and environmental data, etc. After obtaining the actual speed, substitute the actual speed and relevant environmental data into the speed matching calculation formula to obtain the mattress-laying speed. In this solution, optionally, determining the mattress-laying speed based on the actual speed of the mattress-laying ship, environmental data, and speed matching calculation formula includes: determining a sea condition correction amount based on sea current information, wind speed information, and wave information, and determining an equipment performance correction amount based on the previously obtained equipment information of the mattress-laying equipment; substituting the sea condition correction amount, the equipment performance correction amount, the actual speed of the mattress-laying ship, the previously determined sea condition coefficient, and the equipment coefficient into the speed matching calculation formula to obtain the mattress-laying speed.

[0045] The sea condition correction amount is the amount adjusted based on the influence of factors such as sea current speed, wind speed, and wave height on the laying speed. The equipment performance correction amount is the amount adjusted based on the characteristics of the laying equipment (such as speed response time and dynamic characteristics). Specifically, after obtaining the sea current speed, wind speed, and wave height, the sea condition correction amount can be determined as . The equipment performance correction amount is determined according to the pre-determined equipment performance correction function as: . Further, substituting the sea condition correction amount, the equipment performance correction amount, the actual speed of the laying vessel, the pre-determined sea condition coefficient, and the equipment coefficient into the speed matching calculation formula, the laying speed is obtained as: , is the sea condition coefficient, is the equipment coefficient. Through the sea condition correction amount and the equipment performance correction amount, etc., the influence of the environment and the equipment itself on the laying speed can be taken into account, so as to accurately determine the laying speed matching the ship speed, ensure the efficient and stable progress of the laying operation in a complex marine environment, and improve the flexibility and adaptability of the laying operation at the same time.

[0046] Step 204: Generate a control signal for the drive device of the laying equipment based on the laying speed, and control the equipment speed of the laying equipment according to the control signal.

[0047] In the technical solution of this embodiment, the ship speed and environmental data of the laying vessel are obtained in real time. Determine the speed correction factor of the laying vessel based on the environmental data; correct the ship speed according to the speed correction factor to obtain the actual speed of the laying vessel. The environmental data includes sea current information, wind speed information, wave information, and hull movement information; determine the laying speed based on the actual speed of the laying vessel, the environmental data, and the speed matching calculation formula. Generate a control signal for the drive device of the laying equipment based on the laying speed, and control the equipment speed of the laying equipment according to the control signal. The technical solution of this embodiment can accurately determine the actual speed of the laying vessel according to the environmental data, etc., laying a foundation for accurately determining the laying speed subsequently. By dynamically adjusting the speed of the laying equipment according to the laying speed, ensure that the speeds of the two match, thereby improving the efficiency of the laying operation.

[0048] Figure 3 This is the third flowchart of a method for controlling the laying speed and the moving speed of a laying vessel provided by an embodiment of the present invention. The specific method can be as Figure 3 shown, and this method may include the following steps:

[0049] Step 301: Obtain the laying speed at the current moment, and obtain the feedback parameters of the laying equipment through various sensors of the laying equipment.

[0050] Among them, the feedback parameter includes the actual equipment speed of the laying equipment at the current moment. The laying speed at the current moment is calculated by the central controller and is a speed that matches the laying ship speed. Specifically, after controlling the laying equipment to operate at the laying speed, due to the complexity and variability of the laying environment, the speed of the laying equipment may change. Therefore, during the laying process of the laying equipment, the laying equipment can be monitored in real time to determine whether its actual equipment speed differs too much from the laying speed. In an optional implementation manner, the laying equipment is equipped with multiple sensors for monitoring parameters such as pipeline tension, laying progress, material position, and laying speed. The central controller can obtain parameters such as the actual equipment speed, pipeline tension, laying progress, material position, and laying speed through the sensors of the laying equipment.

[0051] Step 302: Adjust the speed of the laying equipment based on the actual equipment speed and the laying speed at the current moment.

[0052] Specifically, after determining the actual equipment speed and the laying speed at the current moment, if the actual equipment speed and the laying speed at the current moment differ greatly, it means that the laying equipment does not maintain the best working state, then the speed of the laying equipment can be adjusted. If the actual equipment speed and the laying speed at the current moment differ little, then there is no need to adjust the speed of the laying equipment. In this solution, optionally, adjusting the speed of the laying equipment based on the actual equipment speed and the laying speed at the current moment includes: calculating the absolute value of the difference between the actual equipment speed and the laying speed at the current moment to obtain a deviation value; when the deviation value is greater than a preset deviation threshold, adjusting the gain coefficient of the driving device and the speed correction factor of the laying ship based on the deviation value, and adjusting the speed of the laying equipment according to the adjusted gain coefficient and the adjusted speed correction factor.

[0053] Among them, the deviation threshold is determined in advance according to field big data, etc., and is a value used to measure whether the speed of the laying equipment needs to be adjusted. When the deviation value is greater than the deviation threshold, it means that the laying equipment does not maintain the best working state, then the speed of the laying equipment can be adjusted. When the deviation value is not greater than the deviation threshold, there is no need to adjust the speed of the laying equipment. Let represent the deviation value, . Among them, is the feedback data, is the laying speed expected by the central controller (i.e., the laying speed at the current moment obtained). If is greater than the deviation threshold, the central controller can adjust and to adjust the speed of the laying equipment so that the laying equipment always maintains the best working state.

[0054] In the above steps, the central controller makes adjustments only when the deviation value exceeds the deviation threshold, avoiding frequent adjustments caused by minor fluctuations and improving the stability of the laying operation. Dynamically adjusting the gain coefficient and the speed correction factor according to real-time environmental data can adapt to complex marine environments and equipment operating conditions, enhancing the reliability and adaptability of the laying operation.

[0055] The technical solution of this embodiment obtains the laying speed at the current moment; obtains the feedback parameters of the laying equipment through various sensors of the laying equipment; the feedback parameters include the actual equipment speed of the laying equipment at the current moment; and adjusts the speed of the laying equipment based on the actual equipment speed and the laying speed at the current moment. The technical solution of this embodiment can determine in real time whether the laying equipment is operating at a predetermined speed, and adjust it in a timely manner when the laying equipment deviates, so that the laying equipment always maintains the best working state and improves the stability of the laying operation.

[0056] Figure 4 This is the fourth flowchart of a method for controlling the laying speed and the moving speed of a laying vessel provided by an embodiment of the present invention. The specific method can be as Figure 4 shown, and the method may include the following steps:

[0057] Step 401: Determine whether the laying vessel and the laying equipment are in an abnormal environmental state based on environmental data.

[0058] Specifically, the central controller can obtain the environmental data of the environment where the laying equipment is located in real time. When there are abnormalities in the environmental data, it is determined that the laying equipment is in an abnormal environmental state. For example, when there are situations such as excessive wind speed, drastic changes in ocean currents, or abnormal laying progress in the environmental data, it is determined that the laying equipment is in an abnormal environmental state.

[0059] Step 402: When the laying vessel and the laying equipment are in an abnormal environmental state, determine the abnormal adjustment coefficient of the vessel, the influence correction amount, and the external abnormal adjustment coefficient of the influence correction amount based on the environmental data.

[0060] Specifically, the abnormal adjustment coefficient of the vessel, the influence correction amount, and the external abnormal adjustment coefficient of the influence correction amount are parameters used to calculate the abnormal adjustment speed. The influence correction amount is used to represent external sudden factors (such as sudden increase in wind speed and rapid current, etc.). When the laying vessel and the laying equipment are in an abnormal environmental state, the central controller can activate the emergency adjustment mechanism, calculate the abnormal adjustment speed, and adjust the vessel speed and the laying speed according to the abnormal adjustment speed.

[0061] In an alternative embodiment, when the paving ship and the paving equipment are in an abnormal environmental state, the central controller can determine the ship abnormal adjustment coefficient and the external abnormal adjustment coefficient according to the specific environmental data. For example, when the wind speed suddenly increases, it may be necessary to increase the value of the external abnormal adjustment coefficient to more significantly consider the influence of the external environment. When the sea current changes violently, it may be necessary to adjust the value of the ship abnormal adjustment coefficient to better match the speed of the paving ship. The central controller can also pre-determine the corresponding relationship between the influence correction amount and the abnormal adjustment speed based on the domain big data and the data of the paving work in the historical period, and determine the influence correction amount according to the corresponding relationship and the current environmental data.

[0062] Step 403: Substitute the ship speed, ship abnormal adjustment coefficient, influence correction amount, and external abnormal adjustment coefficient at the current moment into the pre-determined abnormal adjustment formula to obtain the abnormal adjustment speed; adjust the ship speed and the paving speed based on the abnormal adjustment speed.

[0063] Specifically, after determining the ship speed, ship abnormal adjustment coefficient, influence correction amount, and external abnormal adjustment coefficient at the current moment, calculate the abnormal adjustment speed as: . Where α is the ship abnormal adjustment coefficient, β is the external abnormal adjustment coefficient, is the influence correction amount. The abnormal adjustment speed is a system-level adjustment parameter. After determining the abnormal adjustment speed, the central controller can adjust the speed of the paving ship and the paving equipment simultaneously according to the abnormal adjustment speed in an emergency situation. Ensure the safety and stability of the paving equipment and the paving ship in case of emergencies, and avoid operation accidents caused by speed mismatch.

[0064] The technical solution of this embodiment determines whether the paving ship and the paving equipment are in an abnormal environmental state based on the environmental data. When the paving ship and the paving equipment are in an abnormal environmental state, the ship abnormal adjustment coefficient, influence correction amount, and external abnormal adjustment coefficient of the influence correction amount of the paving ship are determined based on the environmental data. Substitute the ship speed, ship abnormal adjustment coefficient, influence correction amount, and external abnormal adjustment coefficient at the current moment into the pre-determined abnormal adjustment formula to obtain the abnormal adjustment speed; adjust the ship speed and the paving speed based on the abnormal adjustment speed. The technical solution of this embodiment can quickly calculate the abnormal adjustment speed that can adapt to the current environment when detecting that the environment is abnormal, and adjust the ship speed and the paving speed according to the abnormal adjustment speed, so that the paving ship and the paving speed can also operate stably in the abnormal environment, improving the safety and stability of the paving operation.

[0065] Figure 5 FIG. is a schematic structural diagram of a control device for the paving speed and the moving speed of the paving ship provided by an embodiment of the present invention. This device is applicable to execute the control method for the paving speed and the moving speed of the paving ship provided by the embodiment of the present invention. AsFigure 5 As shown, the device may specifically include:

[0066] A data acquisition module 501, configured to acquire the ship speed and environmental data of the laying vessel in real time;

[0067] A speed matching module 502, configured to determine the laying speed based on the ship speed, the environmental data, and a preset speed matching calculation formula;

[0068] A speed control module 503, configured to generate a control signal for the driving device of the laying equipment based on the laying speed, and control the equipment speed of the laying equipment according to the control signal.

[0069] Optionally, the speed matching module 502 is specifically configured to: determine a speed correction factor of the laying vessel based on the environmental data; the environmental data includes sea current information, wind speed information, wave information, and hull motion information;

[0070] Correct the ship speed according to the speed correction factor to obtain the actual speed of the laying vessel;

[0071] Determine the laying speed based on the actual speed of the laying vessel, the environmental data, and the speed matching calculation formula.

[0072] Optionally, the speed matching module 502 is further configured to: determine a sea condition correction amount based on the sea current information, wind speed information, and wave information, and determine an equipment performance correction amount based on the previously acquired equipment information of the laying equipment;

[0073] Substitute the sea condition correction amount, the equipment performance correction amount, the actual speed of the laying vessel, a previously determined sea condition coefficient, and an equipment coefficient into the speed matching calculation formula to obtain the laying speed.

[0074] Optionally, the speed control module 503 is specifically configured to: determine a gain coefficient of the driving device of the laying equipment according to the environmental data;

[0075] Multiply the gain coefficient by the laying speed to obtain the control signal of the driving device.

[0076] Optionally, the speed control module 503 is further configured to: acquire the laying speed at the current moment;

[0077] Acquire feedback parameters of the laying equipment through each sensor of the laying equipment; the feedback parameters include the actual equipment speed of the laying equipment at the current moment;

[0078] Adjust the speed of the laying equipment based on the actual equipment speed and the laying speed at the current moment.

[0079] Optionally, the speed control module 503 is further configured to: calculate the absolute value of the difference between the actual device speed and the laying speed at the current moment to obtain a deviation value;

[0080] When the deviation value is greater than a preset deviation threshold, adjust the gain coefficient of the driving device and the speed correction factor of the laying vessel based on the deviation value, and perform speed adjustment on the laying device according to the adjusted gain coefficient and the adjusted speed correction factor.

[0081] Optionally, the speed control module 503 is further configured to: determine whether the laying vessel and the laying device are in an abnormal environment state based on the environmental data;

[0082] When the laying vessel and the laying device are in the abnormal environment state, determine the vessel abnormal adjustment coefficient, the influence correction amount, and the external abnormal adjustment coefficient of the influence correction amount of the laying vessel based on the environmental data;

[0083] Substitute the vessel speed, the vessel abnormal adjustment coefficient, the influence correction amount, and the external abnormal adjustment coefficient at the current moment into a pre-determined abnormal adjustment formula to obtain an abnormal adjustment speed;

[0084] Adjust the vessel speed and the laying speed based on the abnormal adjustment speed.

[0085] The laying speed and laying vessel movement speed control device provided by the embodiments of the present invention can execute the laying speed and laying vessel movement speed control method provided by any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method. The content not described in detail in this embodiment can be referred to the description in any method embodiment of the present invention.

[0086] The embodiments of the present invention also provide a computer program product.

[0087] The various embodiments of the systems and techniques described above in this document can be implemented in digital electronic circuitry, integrated circuit systems, field programmable gate arrays (FPGA), application specific integrated circuits (ASIC), application specific standard products (ASSP), systems on a chip (SOC), complex programmable logic devices (CPLD), computer hardware, firmware, software, and / or combinations thereof. These various embodiments can include: being implemented in one or more computer program products, which can include 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 dedicated or general-purpose programmable processor, and can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit the data and instructions to the storage system, the at least one input device, and the at least one output device.

[0088] Figure 6 Schematic diagram of a structure of an electronic device provided for an embodiment of the present invention, refer to Figure 6 , Figure 6 The electronic device 12 shown is merely an example and should not impose any limitations on the functions and scope of use of the embodiments of this application. As Figure 6 shown, the electronic device 12 is presented in the form of a general-purpose computing device. The components of the electronic device 12 can include but are not limited to: one or more processors or processing units 16, a system memory 28, and a bus 18 connecting different system components (including the system memory 28 and the processing unit 16).

[0089] The bus 18 represents one or more of several types of bus architectures, including a memory bus or memory controller, a peripheral bus, a graphics acceleration port, a processor, or a local bus using any of the various bus architectures. By way of example, these architectures include but are not limited to Industry Standard Architecture (ISA) bus, Micro Channel Architecture (MAC) bus, Enhanced ISA bus, Video Electronics Standards Association (VESA) local bus, and Peripheral Component Interconnect (PCI) bus.

[0090] The electronic device 12 typically includes a variety of computer system readable media. These media can be any available media that can be accessed by the electronic device 12, including volatile and non-volatile media, removable and non-removable media.

[0091] System memory 28 may include computer system readable media in the form of volatile memory, such as random access memory (RAM) 30 and / or cache memory 32. The electronic device 12 may further include other removable / non-removable, volatile / non-volatile computer system storage media. By way of example only, storage system 34 can be used for reading and writing on non-removable, non-volatile magnetic media ( Figure 6 not shown, typically referred to as a "hard disk drive"). Although Figure 6 not shown in the figure, a disk drive for reading and writing on removable non-volatile disks (such as "floppy disks"), and an optical disk drive for reading and writing on removable non-volatile optical disks (such as CD-ROM, DVD-ROM or other optical media) can be provided. In these cases, each drive can be connected to the bus 18 through one or more data media interfaces. The memory 28 may include at least one program product having a set (e.g., at least one) of program modules that are configured to perform the functions of the embodiments of the present application.

[0092] A program / utility 40 having a set (at least one) of program modules 46 can be stored, for example, in the memory 28. Such program modules 46 include, but are not limited to, an operating system, one or more application programs, other program modules, and program data. Each or some combination of these examples may include the implementation of a network environment. The program modules 46 generally execute the functions and / or methods in the embodiments described in the present application.

[0093] The electronic device 12 can also communicate with one or more external devices 14 (such as a keyboard, a pointing device, a display 24, etc.), and can also communicate with one or more devices that enable a user to interact with the electronic device 12, and / or communicate with any device that enables the electronic device 12 to communicate with one or more other computing devices (such as a network card, a modem, etc.). Such communication can be carried out through the input / output (I / O) interface 22. Moreover, the electronic device 12 can also communicate with one or more networks (such as a local area network (LAN), a wide area network (WAN), and / or a public network, such as the Internet) through the network adapter 20. As shown in the figure, the network adapter 20 communicates with other modules of the electronic device 12 through the bus 18. It should be understood that although Figure 6 not shown in the figure, other hardware and / or software modules can be used in combination with the electronic device 12, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems, etc.

[0094] The processing unit 16 executes various functional applications and data processing by running the programs stored in the system memory 28, for example, implementing a method for controlling the laying speed and the moving speed of a laying vessel provided by an embodiment of the present invention: obtaining the vessel speed and environmental data of the laying vessel in real time; determining the laying speed based on the vessel speed, the environmental data, and a preset speed matching calculation formula; generating a control signal for the driving device of the laying equipment based on the laying speed, and controlling the equipment speed of the laying equipment according to the control signal.

[0095] An embodiment of the present invention provides a computer-readable storage medium, on which a computer program is stored, and when the program is executed by a processor, it implements a method for controlling the laying speed and the moving speed of a laying vessel provided by all embodiments of the present invention: obtaining the vessel speed and environmental data of the laying vessel in real time; determining the laying speed based on the vessel speed, the environmental data, and a preset speed matching calculation formula; generating a control signal for the driving device of the laying equipment based on the laying speed, and controlling the equipment speed of the laying equipment according to the control signal. The computer-readable medium can be a computer-readable signal medium or a computer-readable storage medium. The computer-readable storage medium can be, for example, but not limited to, an electronic device, device, or component of electricity, magnetism, light, electromagnetic, infrared, or semiconductor, or any combination of the above. More specific examples (non-exhaustive list) of the computer-readable storage medium include: an electrical connection having one or more wires, 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 above. In this document, the computer-readable storage medium can be any tangible medium that contains or stores a program, and this program can be used by or combined with an instruction-executing electronic device, device, or component.

[0096] The computer-readable signal medium can include a data signal propagated in a baseband or as part of a carrier wave, in which the computer-readable program code is carried. Such a propagated data signal can take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. The computer-readable signal medium can also be any computer-readable medium other than the computer-readable storage medium, and this computer-readable medium can send, propagate, or transmit a program for use by or in combination with an instruction-executing electronic device, device, or component.

[0097] The program code contained on the computer-readable medium can be transmitted by any suitable medium, including but not limited to wireless, wire, optical cable, RF, etc., or any suitable combination of the above.

[0098] Computer program code for performing the operations of the present invention may be written in one or more programming languages or combinations thereof. The programming languages include object-oriented programming languages such as Java, Smalltalk, C++, and also include conventional procedural programming languages such as the "C" language or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, executed as a stand-alone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any kind of network - including a local area network (LAN) or a wide area network (WAN) - or, alternatively, may be connected to an external computer (e.g., connected through the Internet using an Internet service provider).

[0099] Note that the above is only a preferred embodiment of the present invention and the technical principles applied. Those skilled in the art will understand that the present invention is not limited to the specific embodiments here, and various obvious changes, re-adjustments and substitutions can be made by those skilled in the art without departing from the protection scope of the present invention. Therefore, although the present invention has been described in more detail through the above embodiments, the present invention is not limited to the above embodiments. Without departing from the concept of the present invention, more other equivalent embodiments may be included, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. A method for controlling the laying speed and the moving speed of a laying ship, characterized in that: The method comprises: Obtain the ship speed and environmental data of the laying ship in real time; Determining a laying speed based on the ship speed, the environmental data and a preset speed matching calculation formula; A control signal of a driving device of a laying device is generated based on the laying speed, and a device speed of the laying device is controlled according to the control signal.

2. The method according to claim 1, characterized in that: Determining the laying speed based on the ship speed, the environmental data and a preset speed matching calculation formula includes: Determining a speed correction factor of the laying vessel based on the environmental data; the environmental data includes ocean current information, wind speed information, wave information and hull motion information; Correcting the ship speed according to the speed correction factor to obtain the actual speed of the laying ship; The laying speed is determined based on the actual speed of the laying vessel, the environmental data and the speed matching calculation formula.

3. The method according to claim 2, characterized in that Determining the laying speed based on the actual speed of the laying ship, the environmental data and the speed matching calculation formula includes: Determine a sea condition correction amount based on the ocean current information, wind speed information and wave information, and determine an equipment performance correction amount based on the equipment information of the laying equipment acquired in advance; The sea condition correction amount, the equipment performance correction amount, the actual speed of the laying vessel, the predetermined sea condition coefficient and the equipment coefficient are substituted into the speed matching calculation formula to obtain the laying speed.

4. The method according to claim 1, characterized in that: Generating a control signal of a driving device of a laying device based on the laying speed includes: Determining a gain coefficient of a driving device of the laying equipment according to the environmental data; The gain coefficient is multiplied by the laying speed to obtain a control signal of the driving device.

5. The method according to claim 1, characterized in that The method further comprises: Obtaining the laying speed at the current moment; Acquiring feedback parameters of the paving equipment through various sensors of the paving equipment; the feedback parameters include the actual equipment speed of the paving equipment at the current moment; The speed of the laying device is adjusted based on the actual device speed and the laying speed at the current moment.

6. The method according to claim 5, characterized in that The speed of the paving device is adjusted based on the actual device speed and the paving speed at the current moment, comprising: Calculating the absolute value of the difference between the actual equipment speed and the laying speed at the current moment to obtain a deviation value; When the deviation value is greater than a preset deviation threshold, the gain coefficient of the driving device and the speed correction factor of the laying vessel are adjusted based on the deviation value, and the speed of the laying equipment is adjusted according to the adjusted gain coefficient and the adjusted speed correction factor.

7. The method according to claim 1, characterized in that The method further comprises: Determining whether the laying vessel and the laying equipment are in an abnormal environmental state based on the environmental data; When the laying ship and the laying equipment are in the abnormal environment state, determining the ship abnormality adjustment coefficient, the impact correction amount and the external abnormality adjustment coefficient of the impact correction amount of the laying ship based on the environmental data; Substituting the ship speed at the current moment, the ship abnormality adjustment coefficient, the influence correction amount and the external abnormality adjustment coefficient into a predetermined abnormality adjustment formula to obtain an abnormality adjustment speed; The ship speed and the laying speed are adjusted based on the abnormal adjustment speed.

8. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the computer program implements a method for controlling a laying speed and a moving speed of a laying ship according to any one of claims 1 to 7.

9. An electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the program, the method for controlling the laying speed and the moving speed of the laying ship as described in any one of claims 1 to 7 is implemented.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the method for controlling the laying speed and the moving speed of a laying ship as described in any one of claims 1 to 7 is implemented.

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