Method, system and device for automatic adjustment of marine pipeline profile curve

Abstract

The present application belongs to the field of marine pipeline structure design, and particularly relates to a method, system and device for automatically adjusting a longitudinal section curve of a marine pipeline, aiming to solve the problem of low efficiency and quality of drawing a longitudinal section curve of a marine pipeline in the prior art, and the problem of inability to automatically draw a longitudinal section curve of a marine pipeline, which leads to the problem of inability of a designed marine pipeline route to meet the requirements of minimum burial depth and smoothness. The method comprises the following steps: obtaining a seabed ground line, connecting each straight line segment on the seabed ground line in sequence, and taking the connected line as a reference line; traversing each corner point on the reference line; translating the reference line downward by a set distance; judging whether each corner point meets a set elastic laying condition; judging whether it is the end point of an initial longitudinal section curve of a marine pipeline; and adjusting the position of the corner point according to the corner direction. The present application realizes automatic adjustment of a longitudinal section curve of a marine pipeline, and meets the requirements of minimum burial depth and smoothness of marine pipeline laying.

Description

Technical Field

[0001] This invention relates to the field of marine pipeline structural design, and specifically to a method, system, and equipment for automatically adjusting the longitudinal profile curve of a marine pipeline. Background Technology

[0002] In the design of marine pipeline engineering, the previous automatic generation method for marine pipeline route maps involved the following steps for drawing and adjusting the longitudinal profile curve: first, extracting the centerline containing elevation data; then, through coordinate system transformation, combining dynamic coordinates and interpolation methods to draw the longitudinal profile curve; finally, manually verifying the curve segment by inputting key data requiring adjustment. This method only achieves semi-automatic generation of marine pipeline route maps with manual intervention. Furthermore, it suffers from the following technical drawbacks:

[0003] 1) When the marine pipeline is long or the seabed topography is rugged, the number of marine pipeline longitudinal profile curve segments that need to be adjusted is too large, which will reduce the efficiency of marine pipeline route map drawing, reduce the overall coordination ability, and fail to guarantee the drawing quality. In particular, the quality of the spring-loaded setting in the marine pipeline longitudinal profile curve adjustment is greatly affected by the designers.

[0004] 2) Current adjustment methods for the longitudinal profile curves of marine pipelines are difficult to translate into computer language, making it extremely challenging to achieve automatic curve mapping and smoothing. Automated adjustment technology for the longitudinal profile curves of marine pipelines, with simple logic and algorithms that can be translated into computer language, is a critical technological bottleneck that urgently needs to be overcome in the fully automated mapping of marine pipeline routes.

[0005] Based on this, the present invention proposes a method, system, and equipment for automatic adjustment of the longitudinal profile curve of a marine pipeline. Summary of the Invention

[0006] To address the aforementioned problems in the existing technology, namely, the low efficiency and quality of drawing longitudinal profile curves for marine pipelines and the inability to automatically adjust longitudinal profile curves for marine pipeline routes, which leads to the designed marine pipeline routes failing to meet the requirements for minimum burial depth and smoothness, this invention proposes an automatic adjustment method for longitudinal profile curves of marine pipelines, comprising the following steps:

[0007] Step S100: Obtain the seabed surface line of the area where the marine pipeline is to be laid, and connect the straight segments on the seabed surface line in sequence to serve as a reference line.

[0008] Step S200: Traverse each corner point on the reference line and determine whether the length of either side of the current corner point is shorter than a set length threshold or whether the angle of the current corner point is less than a set angle threshold. If so, delete the current corner point and connect the previous corner point and the next corner point to form a straight line segment. Otherwise, determine whether it is an upper corner or a lower corner. If it is an upper corner, move the position of the previous corner point to the current corner point and delete the current corner point. If it is a lower corner, directly delete the current corner point and connect the previous corner point and the next corner point to form a straight line segment.

[0009] Step S300: After traversal, shift the reference line downward by a set distance to obtain the initial longitudinal profile curve of the marine pipeline.

[0010] Step S400: Traverse the corner points on the initial pipeline longitudinal profile curve and determine whether each corner point meets the set flexible laying conditions. If it does, jump to step S500; otherwise, jump to step S600.

[0011] Step S500: Move to the next turning point and determine whether it is the end point of the initial marine pipeline longitudinal profile curve. If so, the adjustment ends and the adjusted marine pipeline longitudinal profile curve is obtained. Otherwise, jump to step S400.

[0012] Step S600: Adjust the position of the corner point according to the corner direction. After adjustment, determine whether the corner point meets the set flexible laying conditions. If it does, jump to step S500. Otherwise, for the corner point after the position is adjusted, adjust the position of its adjacent corner points according to the corner direction corresponding to its adjacent corner points. After adjustment, jump to step S500.

[0013] In some preferred embodiments, the method for determining whether it is an upper or lower corner is as follows:

[0014] Calculate the vectors of the sides on both sides of each corner point, and perform a cross product to obtain the cross product of the two vectors;

[0015] If the Z-direction of the cross product is greater than 0, it is an upward turning angle; otherwise, it is a downward turning angle.

[0016] In some preferred embodiments, the set distance is the sum of the minimum burial depth, the outer diameter of the marine pipeline, the thickness of the anti-corrosion layer, and the thickness of the concrete counterweight layer; the minimum burial depth is the minimum distance from the top of the marine pipeline to the seabed surface line.

[0017] In some preferred embodiments, the method for determining whether the corner point meets the set flexible laying conditions is as follows:

[0018] Determine whether the turning point is an upturn or a downturn;

[0019] If it is an upper corner, find a center of a circle on the angle bisector on its upper side, and construct a circle with the preset elastic curvature radius as the radius, so that the circle is tangent to the sides or rays of the sides on both sides of the corner point.

[0020] If it is a downward corner, find a center of a circle on the angle bisector on its lower side, and construct a circle with the preset elastic curvature radius as the radius, so that the circle is tangent to the sides or rays of the sides on both sides of the corner point.

[0021] Determine whether both tangent points of the circle are on the sides of the corner point. If they are, the flexible laying condition is met; otherwise, the flexible laying condition is not met.

[0022] In some preferred embodiments, the position of the corner point is adjusted according to the corner direction, and the method is as follows:

[0023] Determine whether the current corner is an upturn or a downturn based on the direction of the turn;

[0024] If the current corner point is a down corner, then delete the current corner point directly and jump to step S500;

[0025] If the current corner point is an upper corner, calculate the tangent point Tp between the circle and the front side of the corner point, and determine whether the tangent point Tp is on the side in front of the current corner point; where the front side of the corner point is the left side and the back side is the right side.

[0026] If it is not on the edge, then calculate the tangent point Tp and the current corner point p. i The distance L will be the turning point p. i Move along vector a of the front edge by L to obtain p. i′ This ensures that the side meets the requirements for flexible laying and minimum burial depth.

[0027] In some preferred embodiments, for a corner point whose position has been adjusted, the position of its adjacent corner points is adjusted according to the corner direction corresponding to the adjacent corner points. The method is as follows:

[0028] Calculate the (p) behind the corner point i′ p i+1 The tangent length Tl that satisfies the conditions for flexible laying;

[0029] Read p i+1 The next turning point, p i+2 ;

[0030] Determine p i′ p i+1 p i+2 The direction of the turning angle formed by the three points;

[0031] If the above p i′ p i+1 p i+2If the resulting turning point is the upper turning point, then the vector b = p along the side behind the turning point. i+1 -p i′ Move Tl to generate a new point p. i+1′ Modify p i+1 The coordinates are p i+1′ Then proceed to step S500;

[0032] If the above p i′ p i+1 p i+2 If the resulting turning point is a downturn, then p i′ Using Tl as the center, generate circle A with radius Tl, and calculate the relationship between A and line segment (p). i+1 p i+2 The intersection point p) i+1′ Modify p i+1 The coordinates are p i+1′ And jump to step S500; if A and line segment (p i+1 p i+2 If there is no intersection, determine p. i+2 Is this the endpoint of the initial marine pipeline longitudinal profile curve? If so, modify p. i+2 The Y value is p i′ The Y value, delete point p i+1 Then the adjustment is complete, resulting in the adjusted longitudinal profile curve of the marine pipeline; otherwise, delete p. i+1 Modify p i+2 The Y value is p i′ The Y value is then determined, and the process jumps to step S500.

[0033] In a second aspect, the present invention provides an automatic adjustment system for the longitudinal profile curve of a marine pipeline, comprising: a reference line generation module, a corner point traversal module, a reference line translation module, a condition judgment module, a corner point movement module, and a position adjustment module;

[0034] The reference line generation module is configured to obtain the seabed surface line of the area where the marine pipeline is to be laid, and connect the straight segments on the seabed surface line in sequence to form a reference line.

[0035] The corner point traversal module is configured to traverse each corner point on the reference line, determine whether the length of either side of the current corner point is shorter than a set length threshold or whether the angle of the current corner point is less than a set angle threshold. If so, delete the current corner point and connect the previous corner point and the next corner point to form a straight line segment. Otherwise, determine whether it is an upper or lower corner. If it is an upper corner, move the position of the previous corner point to the current corner point and delete the current corner point. If it is a lower corner, directly delete the current corner point and connect the previous corner point and the next corner point to form a straight line segment.

[0036] The reference line translation module is configured to traverse the reference line and then translate it downwards by a set distance to serve as the initial longitudinal profile curve of the marine pipeline.

[0037] The condition judgment module is configured to traverse the corner points on the initial pipeline longitudinal profile curve, determine whether each corner point meets the set flexible laying conditions, and if it does, jump to the corner point moving module; otherwise, jump to the position adjustment module.

[0038] The corner point moving module is configured to move to the next corner point and determine whether it is the endpoint of the initial marine pipeline longitudinal profile curve. If it is, the adjustment ends and the adjusted marine pipeline longitudinal profile curve is obtained; otherwise, it jumps to the condition judgment module.

[0039] The position adjustment module is configured to adjust the position of the corner point according to the corner direction. After adjustment, it determines whether the corner point meets the set flexible laying conditions. If it does, it jumps to the corner point moving module. Otherwise, for the corner point after the position is adjusted, it adjusts the position of its adjacent corner points according to the corner direction corresponding to its adjacent corner points. After adjustment, it jumps to the corner point moving module.

[0040] A third aspect of the present invention provides an electronic device comprising: at least one processor; and a memory communicatively connected to at least one of the processors; wherein the memory stores instructions executable by the processor for implementing the above-described method for automatically adjusting the longitudinal profile curve of a marine pipeline.

[0041] In a fourth aspect, the present invention provides a computer-readable storage medium storing computer instructions for execution by the computer to implement the above-described method for automatic adjustment of the longitudinal profile curve of a marine pipeline.

[0042] The beneficial effects of this invention are:

[0043] This invention enables automatic adjustment of the longitudinal profile curve of marine pipelines to meet the requirements of minimum burial depth and smoothness for marine pipeline laying.

[0044] This invention generates a reference line based on acquired seabed surface data, regularizes the reference line, and translates it downwards according to the minimum burial depth to form an initial longitudinal profile curve for the marine pipeline. Starting from the initial longitudinal profile curve, a "ring" is generated for the elastic curvature radius at each turning point. By adjusting the turning angle and burial depth based on the direction of the turning point and whether the elastic laying conditions are met, the final longitudinal profile curve of the marine pipeline is generated. This invention achieves automatic elastic laying of the longitudinal profile curve of the marine pipeline during automatic mapping, featuring simple logic, conversion into computer language, accurate and fast adjustment speed, and good adjustment effect, thereby meeting the requirements of minimum burial depth and smoothness in marine pipeline laying. Attached Figure Description

[0045] Figure 1 This is a flowchart illustrating an embodiment of the automatic adjustment method for the longitudinal profile curve of a marine pipeline according to the present invention.

[0046] Figure 2 This is a schematic diagram of the framework of an automatic adjustment system for the longitudinal profile curve of a marine pipeline according to an embodiment of the present invention;

[0047] Figure 3 This is a schematic diagram illustrating the relationship between the reference line and the longitudinal profile curve of a marine pipeline, as well as the definition and processing of the turning angle, according to one embodiment of the present invention. Detailed Implementation

[0048] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions in the embodiments of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this invention, not all embodiments. Based on the embodiments of this invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this invention.

[0049] The present application will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are for illustrative purposes only and are not intended to limit the invention. Furthermore, it should be noted that, for ease of description, only the parts relevant to the invention are shown in the accompanying drawings.

[0050] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other.

[0051] The present invention provides an automatic adjustment method for the longitudinal profile curve of a marine pipeline, comprising the following steps:

[0052] Step S100: Obtain the seabed surface line of the area where the marine pipeline is to be laid, and connect the straight segments on the seabed surface line in sequence to serve as a reference line.

[0053] Step S200: Traverse each corner point on the reference line and determine whether the length of either side of the current corner point is shorter than a set length threshold or whether the angle of the current corner point is less than a set angle threshold. If so, delete the current corner point and connect the previous corner point and the next corner point to form a straight line segment. Otherwise, determine whether it is an upper corner or a lower corner. If it is an upper corner, move the position of the previous corner point to the current corner point and delete the current corner point. If it is a lower corner, directly delete the current corner point and connect the previous corner point and the next corner point to form a straight line segment.

[0054] Step S300: After traversal, shift the reference line downward by a set distance to obtain the initial longitudinal profile curve of the marine pipeline.

[0055] Step S400: Traverse the corner points on the initial pipeline longitudinal profile curve and determine whether each corner point meets the set flexible laying conditions. If it does, jump to step S500; otherwise, jump to step S600.

[0056] Step S500: Move to the next turning point and determine whether it is the end point of the initial marine pipeline longitudinal profile curve. If so, the adjustment ends and the adjusted marine pipeline longitudinal profile curve is obtained. Otherwise, jump to step S400.

[0057] Step S600: Adjust the position of the corner point according to the corner direction. After adjustment, determine whether the corner point meets the set flexible laying conditions. If it does, jump to step S500. Otherwise, for the corner point after the position is adjusted, adjust the position of its adjacent corner points according to the corner direction corresponding to its adjacent corner points. After adjustment, jump to step S500.

[0058] To more clearly explain the automatic adjustment method for the longitudinal profile curve of marine pipelines of the present invention, the following description is in conjunction with the appendix. Figure 1 The steps of one embodiment of the method of the present invention will be described in detail below.

[0059] To enable automated adjustment and smoothing of longitudinal profile curves for marine pipeline routes during automated mapping, this invention proposes a method for automatically adjusting longitudinal profile curves on marine pipeline routes that is logically simple, can be translated into computer language, and can quickly and accurately. This method, called the "Rolling Circular Circle" method, involves adjusting the curve's angle or depth by satisfying flexible laying conditions and minimum burial depth requirements through the relationship between the longitudinal profile curve and the "circular circle," ultimately generating a marine pipeline longitudinal profile curve that meets both flexible laying and minimum burial depth requirements. This achieves automatic adjustment of the marine pipeline longitudinal profile curve under overall planning. This method is characterized by its logical simplicity, ability to be translated into computer language, and ability to quickly and accurately adjust the longitudinal profile curve of marine pipelines.

[0060] The technical solution adopted in this invention is as follows: The longitudinal profile of a marine pipeline, as one of the key pieces of information in a marine pipeline route map, primarily represents the characteristics of the pipeline's longitudinal profile curve. Specifically, it represents the longitudinal profile curve of the subsea pipeline initially determined based on the seabed elevation curve. The handling of corners is mainly flexible laying. Therefore, in the design of the marine pipeline's longitudinal profile, the curve must meet both the minimum burial depth requirement and the requirement for flexible laying. Considering the ease of computer language translation and maximizing computer operating efficiency, this invention employs a "rolling ring" method to automatically adjust the longitudinal profile curve of the marine pipeline to meet the requirements of minimum burial depth and smoothness. The specific steps of this method are as follows:

[0061] Step S100: Obtain the seabed surface line of the area where the marine pipeline is to be laid, and connect the straight segments on the seabed surface line in sequence to serve as a reference line.

[0062] In this embodiment, the seabed surface line of the area where the marine pipeline is to be laid is first obtained, that is, the seabed surface line data. The surface line data is the ground information described in the longitudinal profile of the marine pipeline, with the X direction representing the mileage and the Y direction representing the elevation.

[0063] Then, the straight segments on the seabed surface line are connected in sequence, and the connection is used as a reference line. That is, the reference line is a polyline composed of straight segments.

[0064] Step S200: Traverse each corner point on the reference line and determine whether the length of either side of the current corner point is shorter than a set length threshold or whether the angle of the current corner point is less than a set angle threshold. If so, delete the current corner point and connect the previous corner point and the next corner point to form a straight line segment. Otherwise, determine whether it is an upper corner or a lower corner. If it is an upper corner, move the position of the previous corner point to the current corner point and delete the current corner point. If it is a lower corner, directly delete the current corner point and connect the previous corner point and the next corner point to form a straight line segment.

[0065] In this embodiment, the corners corresponding to each vertex on the reference line are traversed, and it is determined whether the length of either side of the current corner point is shorter than a set length threshold. If so, the current corner point is deleted, and the previous corner point and the next corner point are connected to form a straight line segment. Otherwise, it is determined whether the angle of the previous corner point is less than a set angle threshold. If so, the current corner point is deleted, and the previous corner point and the next corner point are connected to form a straight line segment. Otherwise, it is determined whether the current corner point is an upper corner or a lower corner. The specific determination method is as follows:

[0066] Step S210: Traverse each corner point p on the reference line. i And calculate the vector a that forms the front side (or left side) of the corner, a = p i -pi-1 That is, the length of the side and the vector b of the next side (or the right side), b=p i+1 -p i ;

[0067] In step S220, a and b are cross-producted, i.e., a × b, to obtain the cross product v of the two vectors;

[0068] Step S230: Determine the direction of the turning point. If v·Z>0, it's an upward turning angle; if v·Z<0, it's a downward turning angle. The upward and downward turning angles are as follows: Figure 3 As shown;

[0069] Step S240: If the current corner point is a down corner, delete the corner point directly and connect the previous corner point and the next corner point to form a straight line segment; if the current corner point is an up corner, move the position of the previous corner point to the current corner point and delete the current corner point.

[0070] Step S300: After traversal, shift the reference line downward by a set distance to obtain the initial longitudinal profile curve of the marine pipeline.

[0071] In this embodiment, the reference line after traversal is moved downward by a set distance (preferably set to the sum of the minimum burial depth, the outer diameter of the marine pipeline, the thickness of the anti-corrosion layer, and the thickness of the concrete counterweight layer; the minimum burial depth is the minimum distance from the top of the marine pipeline to the seabed surface line) as the initial marine pipeline longitudinal profile curve C.

[0072] Step S400: Traverse the corner points on the initial pipeline longitudinal profile curve and determine whether each corner point meets the set flexible laying conditions. If it does, jump to step S500; otherwise, jump to step S600.

[0073] In this embodiment, the corner points on the initial pipeline longitudinal profile curve are traversed to determine whether each corner point meets the set flexible laying conditions. The method for determining whether a corner point meets the set flexible laying conditions is as follows:

[0074] Determine whether the turning point is an upturn or a downturn;

[0075] If it is an upper corner, find a center of a circle on the angle bisector on its upper side, and construct a circle with the preset elastic curvature radius as the radius, so that the circle is tangent to the sides or rays of the sides on both sides of the corner point.

[0076] If it is a downward corner, find a center of a circle on the angle bisector on its lower side, and construct a circle with the preset elastic curvature radius as the radius, so that the circle is tangent to the sides or rays of the sides on both sides of the corner point.

[0077] Determine whether both tangent points of the circle are on the sides of the corner point. If they are, the flexible laying condition is met; otherwise, the flexible laying condition is not met.

[0078] Step S500: Move to the next turning point and determine whether it is the end point of the initial marine pipeline longitudinal profile curve. If so, the adjustment ends and the adjusted marine pipeline longitudinal profile curve is obtained. Otherwise, jump to step S400.

[0079] In this embodiment, the system moves to the next turning point and determines whether it is the endpoint of the initial marine pipeline longitudinal profile curve. If so, the adjustment ends and the adjusted marine pipeline longitudinal profile curve is obtained. Otherwise, the system jumps to step S400 and continues to determine whether the turning point meets the set flexible laying conditions.

[0080] Step S600: Adjust the position of the corner point according to the corner direction. After adjustment, determine whether the corner point meets the set flexible laying conditions. If it does, jump to step S500. Otherwise, for the corner point after the position is adjusted, adjust the position of its adjacent corner points according to the corner direction corresponding to its adjacent corner points. After adjustment, jump to step S500.

[0081] In this embodiment, the longitudinal profile curve C of the marine pipeline is adjusted according to the turning direction to meet the conditions for flexible laying, as detailed below:

[0082] Step S610: Based on the direction of the turn, determine whether the current turn point is an upper or lower turn. If it is a lower turn, delete the current turn point and jump to step S500. If the current turn is an upper turn, calculate the tangent point Tp between the "ring" (i.e. the constructed circle) and the front side, and determine whether the tangent point Tp is on the edge.

[0083] Step S620: If the tangent point Tp on the front side of the corner is not on the edge, then calculate the tangent point and the current corner point p. i The distance L will be the turning point p. i Move along vector a of the front edge by L to obtain p. i′ This ensures that the edge meets the requirements for flexible laying and minimum burial depth;

[0084] Step S630, p i Move to new location p i′ When calculating the edge (p) behind the corner point. i′ p i+1 ) Does it meet the flexible laying conditions? If it does, proceed to S500.

[0085] Step S640, calculate the (p) behind the corner point. i′ p i+1 The tangent length Tl that satisfies the conditions for flexible laying;

[0086] Step S650, read p i+1 The next turning point, p i+2 ;

[0087] Step S660, determine p i′ p i+1 p i+2 The direction of the turning angle formed by the three points;

[0088] Step S670: If the aforementioned corner point is an upper corner, then the vector b = p along the side behind the corner point. i+1 -p i′ Move Tl to generate a new point p. i+1′ Modify p i+1 The coordinates are p i+1′ Then proceed to step S500;

[0089] Step S680: If the aforementioned corner point is a downturn, then p i′ Using Tl as the center, generate circle A with radius Tl, and calculate the relationship between A and line segment (p). i+1 p i+2 The intersection point p) i+1′ Modify p i+1 The coordinates are p i+1′ And jump to step S500; if A and line segment (p i+1 p i+2 If there is no intersection, determine p. i+2 Is this the endpoint of the initial marine pipeline longitudinal profile curve? If so, modify p. i+2 The Y value is p i′ The Y value, delete point p i+1 Then the adjustment is complete, resulting in the adjusted longitudinal profile curve of the marine pipeline; otherwise, delete p. i+1 Modify p i+2 The Y value is p i′ The Y value is then determined, and the process jumps to step S500.

[0090] A second embodiment of the present invention provides an automatic adjustment system for the longitudinal profile curve of a marine pipeline, such as... Figure 2 As shown, it includes: a reference line generation module 100, a corner point traversal module 200, a reference line translation module 300, a condition judgment module 400, a corner point movement module 500, and a position adjustment module 600.

[0091] The reference line generation module 100 is configured to obtain the seabed surface line of the area where the marine pipeline is to be laid, and connect the straight segments on the seabed surface line in sequence to serve as a reference line.

[0092] The corner point traversal module 200 is configured to traverse each corner point on the reference line, determine whether the length of either side of the current corner point is shorter than a set length threshold or whether the angle of the current corner point is less than a set angle threshold. If so, delete the current corner point and connect the previous corner point and the next corner point to form a straight line segment. Otherwise, determine whether it is an upper or lower corner. If it is an upper corner, move the position of the previous corner point to the current corner point and delete the current corner point. If it is a lower corner, directly delete the current corner point and connect the previous corner point and the next corner point to form a straight line segment.

[0093] The reference line translation module 300 is configured to traverse the reference line and then translate it downwards by a set distance to serve as the initial longitudinal profile curve of the marine pipeline.

[0094] The condition judgment module 400 is configured to traverse the corner points on the initial pipeline longitudinal profile curve, determine whether each corner point meets the set flexible laying conditions, and if it does, jump to the corner point moving module 500; otherwise, jump to the position adjustment module 600.

[0095] The corner point moving module 500 is configured to move to the next corner point and determine whether it is the endpoint of the initial marine pipeline longitudinal profile curve. If it is, the adjustment ends and the adjusted marine pipeline longitudinal profile curve is obtained; otherwise, it jumps to the condition judgment module 400.

[0096] The position adjustment module 600 is configured to adjust the position of the corner point according to the corner direction. After adjustment, it determines whether the corner point meets the set flexible laying conditions. If it does, it jumps to the corner point moving module 500. Otherwise, for the corner point after the position is adjusted, it adjusts the position of its adjacent corner points according to the corner direction corresponding to its adjacent corner points. After adjustment, it jumps to the corner point moving module 500.

[0097] Those skilled in the art will understand that, for the sake of convenience and brevity, the specific working process and related descriptions of the system described above can be found in the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0098] It should be noted that the automatic adjustment system for the longitudinal profile curve of marine pipelines provided in the above embodiments is only an example of the division of the above functional modules. In practical applications, the above functions can be assigned to different functional modules as needed, that is, the modules or steps in the embodiments of the present invention can be further decomposed or combined. For example, the modules in the above embodiments can be merged into one module, or further divided into multiple sub-modules to complete all or part of the functions described above. The names of the modules and steps involved in the embodiments of the present invention are only for distinguishing the various modules or steps and are not considered as an improper limitation of the present invention.

[0099] A third embodiment of the present invention provides an automatic adjustment device for the longitudinal profile curve of a marine pipeline, the device comprising: a data acquisition device and a central processing device;

[0100] The data acquisition equipment includes cameras, underwater robots, and is used to acquire the seabed surface line of the area where the marine pipeline is to be laid.

[0101] The central processing unit, including a GPU, is configured to sequentially connect all straight segments on the seabed surface line to form a reference line; traverse each corner point on the reference line, and determine whether the length of either side of the current corner point is shorter than a set length threshold or whether the angle of the current corner point is less than a set angle threshold. If so, delete the current corner point and connect the previous corner point with the next corner point to form a straight line segment; otherwise, determine whether it is an upward or downward corner. If it is an upward corner, move the position of the previous corner point to the current corner point and delete the current corner point; if it is a downward corner, directly delete the current corner point and connect the previous corner point with the next corner point to form a straight line segment.

[0102] After traversal, the reference line is shifted downwards by a set distance to serve as the initial longitudinal profile curve of the marine pipeline.

[0103] Traverse the turning points on the initial pipeline longitudinal profile curve, determine whether each turning point meets the set flexible laying conditions. If it does, move to the next turning point and determine whether it is the end point of the initial marine pipeline longitudinal profile curve. If it is, the adjustment ends and the adjusted marine pipeline longitudinal profile curve is obtained. Otherwise, continue to traverse the turning points on the initial pipeline longitudinal profile curve.

[0104] If the set flexible laying conditions are not met, the position of the corner point is adjusted according to the corner direction. After adjustment, it is determined whether the corner point meets the set flexible laying conditions. If it does, the next corner point is moved and it is determined whether it is the end point of the initial marine pipeline longitudinal profile curve. Otherwise, for the corner point after adjustment, the position of its adjacent corner points is adjusted according to the corner direction corresponding to its adjacent corner points. After adjustment, it is moved to the next corner point and it is determined whether it is the end point of the initial marine pipeline longitudinal profile curve.

[0105] An electronic device according to a fourth embodiment of the present invention includes: at least one processor; and a memory communicatively connected to at least one of the processors; wherein the memory stores instructions executable by the processor, the instructions being executed by the processor to implement the above-described method for automatic adjustment of the longitudinal profile curve of a marine pipeline.

[0106] A computer-readable storage medium according to a fifth embodiment of the present invention stores computer instructions, which are executed by the computer to implement the above-described method for automatic adjustment of the longitudinal profile curve of a marine pipeline.

[0107] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working process and related descriptions of the above-described automatic adjustment device for the longitudinal profile curve of the ocean pipeline, electronic equipment, and computer-readable storage medium can be referred to the corresponding process in the aforementioned method examples, and will not be repeated here.

[0108] Those skilled in the art will recognize that the modules and method steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of both. The programs corresponding to the software modules and method steps can be placed in random access memory (RAM), main memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disks, removable disks, CD-ROMs, or any other form of storage medium known in the art. To clearly illustrate the interchangeability of electronic hardware and software, the components and steps of the various examples have been generally described in terms of functionality in the foregoing description. Whether these functions are implemented in electronic hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the invention.

[0109] The terms “first,” “second,” “third,” etc., are used to distinguish similar objects, not to describe or indicate a specific order or sequence.

[0110] The technical solution of the present invention has been described above with reference to the preferred embodiments shown in the accompanying drawings. However, it will be readily understood by those skilled in the art that the scope of protection of the present invention is obviously not limited to these specific embodiments. Without departing from the principles of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will all fall within the scope of protection of the present invention.

Claims

1. A method for automatically adjusting the profile curve of a marine pipeline, characterized in that, The method includes: Step S100: Obtain the seabed surface line of the area where the marine pipeline is to be laid, and connect the straight segments on the seabed surface line in sequence to serve as a reference line. Step S200: Traverse each corner point on the reference line and determine whether the length of either side of the current corner point is shorter than a set length threshold or whether the angle of the current corner point is less than a set angle threshold. If so, delete the current corner point and connect the previous corner point and the next corner point to form a straight line segment. Otherwise, determine whether it is an upper corner or a lower corner. If it is an upper corner, move the position of the previous corner point to the current corner point and delete the current corner point. If it is a lower corner, directly delete the current corner point and connect the previous corner point and the next corner point to form a straight line segment. Step S300: After traversal, shift the reference line downward by a set distance to obtain the initial longitudinal profile curve of the marine pipeline. Step S400: Traverse the corner points on the initial pipeline longitudinal profile curve and determine whether each corner point meets the set flexible laying conditions. If it does, jump to step S500; otherwise, jump to step S600. Step S500: Move to the next turning point and determine whether it is the end point of the initial marine pipeline longitudinal profile curve. If so, the adjustment ends and the adjusted marine pipeline longitudinal profile curve is obtained. Otherwise, jump to step S400. Step S600: Adjust the position of the corner point according to the corner direction. After adjustment, determine whether the corner point meets the set flexible laying conditions. If it does, jump to step S500. Otherwise, for the corner point after adjustment, adjust the position of its adjacent corner points according to the corner direction corresponding to its adjacent corner points. After adjustment, jump to step S500.

2. The method of claim 1, wherein, The method to determine whether it is an upward or downward corner is as follows: Calculate the vectors of the sides on both sides of each corner point, and perform a cross product to obtain the cross product of the two vectors; If the Z-direction of the cross product is greater than 0, it is an upward turning angle; otherwise, it is a downward turning angle.

3. The method of claim 1, wherein, The set distance is the sum of the minimum burial depth, the outer diameter of the marine pipeline, the thickness of the anti-corrosion layer, and the thickness of the concrete counterweight layer; the minimum burial depth is the minimum distance from the top of the marine pipeline to the seabed surface line.

4. The method of claim 2, wherein, The method for determining whether a corner point meets the set flexible laying conditions is as follows: Determine whether the turning point is an upturn or a downturn; If it is an upper corner, find a center of a circle on the angle bisector on its upper side, and construct a circle with the preset elastic curvature radius as the radius, so that the circle is tangent to the sides or rays of the sides on both sides of the corner point. If it is a downward corner, find a center of a circle on the angle bisector on its lower side, and construct a circle with the preset elastic curvature radius as the radius, so that the circle is tangent to the sides or rays of the sides on both sides of the corner point. Determine whether both tangent points of the circle are on the sides of the corner point. If they are, the flexible laying condition is met; otherwise, the flexible laying condition is not met.

5. The method of claim 4, wherein, The method for adjusting the position of the corner point according to the direction of the turn is as follows: Determine whether the current corner is an upturn or a downturn based on the direction of the turn; If the current corner point is a down corner, then delete the current corner point directly and jump to step S500; If the current corner point is an upper corner, calculate the tangent point Tp between the circle and the front side of the corner point, and determine whether the tangent point Tp is on the side in front of the current corner point; where the front side of the corner point is the left side and the back side is the right side. If it is not on the edge, then calculate the tangent point Tp and the current corner point p. i The distance L will be the turning point p. i Move along vector a of the front edge by L to obtain p. i’ This ensures that the side meets the requirements for flexible laying and minimum burial depth.

6. The method of claim 5, wherein, For the adjusted corner point, adjust the position of its adjacent corner points according to the corner direction corresponding to the adjacent corner points. The method is as follows: calculating a tangent length Tl of a tangent line of the rear side of the corner point (p i’ , p i+1 ) satisfying the elastic laying condition; read p i+1 the next corner point, p i+2 ; Determine p i’ p i+1 p i+2 The direction of the turning angle formed by the three points; If the above p i’ p i+1 p i+2 If the resulting turning point is the upper turning point, then the vector b = p along the side behind the turning point. i+1 -p i’ Move Tl to generate a new point p. i+1’ Modify p i+1 The coordinates are p i+1’ Then proceed to step S500; If the above p i’ p i+1 p i+2 If the resulting turning point is a downturn, then p i’ Using Tl as the center, generate circle A with radius Tl, and calculate the relationship between A and line segment (p). i+1 p i+2 The intersection point p) i+1’ Modify p i+1 The coordinates are p i+1’ And jump to step S500; if A and line segment (p i+1 p i+2 If there is no intersection, determine p. i+2 Is this the endpoint of the initial marine pipeline longitudinal profile curve? If so, modify p. i+2 The Y value is p i’ The Y value, delete point p i+1 Then the adjustment is complete, resulting in the adjusted longitudinal profile curve of the marine pipeline; otherwise, delete p. i+1 Modify p i+2 The Y value is p i’ The Y value is then determined, and the process jumps to step S500.

7. An automatic adjustment system for the longitudinal profile curve of a marine pipeline, characterized in that, The system includes: a reference line generation module, a corner point traversal module, a reference line translation module, a condition judgment module, a corner point movement module, and a position adjustment module; The reference line generation module is configured to obtain the seabed surface line of the area where the marine pipeline is to be laid, and connect the straight segments on the seabed surface line in sequence to form a reference line. The corner point traversal module is configured to traverse each corner point on the reference line, determine whether the length of either side of the current corner point is shorter than a set length threshold or whether the angle of the current corner point is less than a set angle threshold. If so, delete the current corner point and connect the previous corner point and the next corner point to form a straight line segment. Otherwise, determine whether it is an upper or lower corner. If it is an upper corner, move the position of the previous corner point to the current corner point and delete the current corner point. If it is a lower corner, directly delete the current corner point and connect the previous corner point and the next corner point to form a straight line segment. The reference line translation module is configured to traverse the reference line and then translate it downwards by a set distance to serve as the initial longitudinal profile curve of the marine pipeline. The condition judgment module is configured to traverse the corner points on the initial pipeline longitudinal profile curve, determine whether each corner point meets the set flexible laying conditions, and if it does, jump to the corner point moving module; otherwise, jump to the position adjustment module. The corner point moving module is configured to move to the next corner point and determine whether it is the endpoint of the initial marine pipeline longitudinal profile curve. If it is, the adjustment ends and the adjusted marine pipeline longitudinal profile curve is obtained; otherwise, it jumps to the condition judgment module. The position adjustment module is configured to adjust the position of the corner point according to the corner direction. After adjustment, it determines whether the corner point meets the set flexible laying conditions. If it does, it jumps to the corner point moving module. Otherwise, for the corner point after the position is adjusted, it adjusts the position of its adjacent corner points according to the corner direction corresponding to its adjacent corner points. After adjustment, it jumps to the corner point moving module.

8. An electronic device, comprising: At least one processor; And a memory communicatively connected to at least one of the processors; wherein the memory stores instructions executable by the processor to implement the automatic adjustment method for the longitudinal profile curve of a marine pipeline as described in any one of claims 1-6.

9. A computer-readable storage medium storing computer instructions for execution by the computer to implement the automatic adjustment method for the longitudinal profile curve of a marine pipeline according to any one of claims 1-6.

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