An automatic monitoring and shifting method for offshore backfilling operation of a construction ship and a system thereof

Abstract

The application discloses a kind of for construction ship offshore backfill operation automatic monitoring displacement method and system thereof, method includes system assembly networking, according to construction scheme, using satellite positioning instrument and latitude and longitude direction instrument to guide construction ship to move to offshore backfill operation area, the seabed topography of the position where construction ship is located is detected;Programmable controller compiles seabed topography data and the position data where construction ship is located and is packaged and transported to industrial computer, and construction ship displacement data is handled by industrial computer in rear end;Dynamic link library that good transmission is handled and compressed by industrial computer is transferred to cloud platform server and is composed total dynamic link library, and virtual communication port is established on industrial computer and total dynamic link library library is accessed by Ethernet, and construction ship offshore backfill operation is automatically remotely guided.The application can eliminate the influence of tide on construction ship backfill operation monitoring, improve intelligent degree, reduce human resource cost, monitoring data and backfill construction progress real-time sharing, improve offshore backfill construction organization efficiency.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of reclamation construction, and particularly relates to a method and system for automatic monitoring and displacement of offshore backfill operation of a construction ship. BACKGROUND

[0002] In terms of the commonly used reclamation construction method, reclamation is carried out in a siltation type tidal beach section or an estuary area, a certain range is framed by a certain height of cofferdam, and the silt obtained by a pressure pump of a peripheral dredger is filled into an inner framed area, or a tidal zone or even an intertidal zone is framed by a seawall to obtain land from the sea, or a large amount of sea sand and stone is poured into the sea to build land or construct artificial islands around the islands. The way adopted is to realize the unloading and filling of sand and stone by positioning the fixed platform type sand conveying construction ship, that is, the construction ship is driven on the coast, the sand conveying pipeline is installed on the platform of the construction ship, and the reclamation construction is carried out. For many years, this reclamation construction production method has been widely used due to the simple method, easy realization of construction organization and other factors. However, this simple construction method also has some shortcomings, mainly manifested as: the influence of the tidal period is ignored, so that the construction ship cannot accurately measure the completion degree of the offshore backfill operation; the positioning cost of the construction ship is high, manual intervention is required during construction, and the positioning accuracy has human judgment error; due to the fact that the construction ship cannot accurately measure the offshore backfill depth, the conditions of repeated filling or missing filling often occur, which seriously restricts the efficiency of the offshore backfill operation.

[0003] Therefore, the present application designs a method and system for automatic monitoring and displacement of offshore backfill operation of a construction ship to solve the above problems. SUMMARY

[0004] The present application aims to solve the problems in the prior art, such as the influence of the tidal period, the difficulty of the construction ship in accurately measuring the completion degree of the offshore backfill operation, the high positioning cost of the construction ship, the need for manual intervention during construction, the existence of human judgment error in positioning accuracy, the fact that the construction ship cannot accurately measure the offshore backfill depth, and the conditions of repeated filling or missing filling, and proposes a method and system for automatic monitoring and displacement of offshore backfill operation of a construction ship, which aims to eliminate the influence of tides on the monitoring of the backfill operation of the construction ship, solve the defects of repeated filling or missing filling, improve the intelligent degree of backfill, reduce the cost of human resources, share the monitoring data and backfill construction progress in real time to each construction ship, and improve the efficiency of offshore backfill construction organization.

[0005] In order to achieve the above purpose, the present application adopts the following technical scheme:

[0006] An automatic monitoring displacement method for offshore backfilling operation of a construction ship, characterized in that it comprises the following steps:

[0007] S1 step: system assembly networking, the satellite positioning instrument, the latitude and longitude direction finder and the automatic depth finder are installed on the construction ship and are connected with the programmable controller through the Ethernet bus for data transmission, and the programmable controller is connected with the industrial computer of the construction ship through the Ethernet bus networking mode;

[0008] S2 step: seabed topography monitoring, according to the construction scheme, the satellite positioning instrument and the latitude and longitude direction finder are used to guide the construction ship to move to the offshore backfilling operation area, the automatic depth finder is used to detect the seabed topography at the position of the construction ship, the seabed topography data are obtained and transmitted to the programmable controller;

[0009] S3 step: construction data processing, after receiving the seabed topography data, the programmable controller corresponds to the position data of the construction ship measured by the satellite positioning instrument and the latitude and longitude direction finder, compiles and packs them and transmits them to the industrial computer, and according to the seabed topography data and the position data, the industrial computer processes the construction ship displacement data through the host computer software;

[0010] S4 step: the dynamic link library processed and compressed by the industrial computer is transmitted to the cloud platform server to form a total dynamic link library, which is then transmitted back to the industrial computer, a virtual communication port is established on the industrial computer to access the total dynamic link library through the Ethernet, and according to the total dynamic link library information, the construction ship offshore backfilling operation is automatically and remotely guided.

[0011] Further preferably, in the S1 step, the satellite positioning instrument, the latitude and longitude direction finder and the automatic depth finder are based on the ModbusTCP standard communication protocol, and the output measurement signals of the satellite positioning instrument, the latitude and longitude direction finder and the automatic depth finder are concentrated to the communication port of the programmable controller through the Ethernet bus networking mode, and the programmable controller performs remote control operation on the satellite positioning instrument, the latitude and longitude direction finder and the automatic depth finder through the I / O port for work enablement, state monitoring and device restart.

[0012] Further preferably, in the S2 step, the seabed topography monitoring, according to the construction scheme, the construction sea area is divided into several areas according to the network points, the satellite positioning instrument and the latitude and longitude direction finder are used to guide the construction ship to move to the offshore backfilling operation area divided by the grid points, and the seabed depth is detected according to the construction elements on the grid points to obtain the seabed topography data.

[0013] Further preferably, in the S3 step, the construction data processing, after receiving the seabed topography data, the programmable controller corresponds to the position data of the construction ship measured by the satellite positioning instrument and the latitude and longitude direction finder, compiles and packs them and transmits them to the industrial computer, and the seabed topography data and the position data are compiled and packed, including the following contents:

[0014] Taking each grid point of the construction sea area as the construction number of the construction bid, taking the construction number as the root node, compiling and packing a group of seabed topography data representing the seabed depth and a group of position data representing longitude, latitude and elevation under each root node, and establishing a triple data, which is expressed by the formula: Y={H y , N y , G y}

[0015] Wherein, Y represents the root node of the construction number, H y represents the seabed depth under the root node of the construction number y, N y represents the longitude and latitude coordinates under the root node of the construction number y, and G y represents the construction ship elevation measured by the satellite positioning instrument under the root node of the construction number y.

[0016] Further preferably, in the S3 step, the construction ship displacement data is processed by the industrial computer through the host computer software according to the seabed topography data and the position data, including:

[0017] Taking the 1985 national elevation datum as the standard sea level, determining the offshore backfill construction elevation based on the standard sea level;

[0018] The construction ship elevation G y measured by the satellite positioning instrument is also determined based on the standard sea level, so as to determine the change of the construction ship elevation G y caused by the tidal activity;

[0019] Therefore, the influence of the change of the construction ship elevation caused by the tidal activity is eliminated, and the seabed measurement depth in the triple data is corrected:

[0020] Y={H y , N y , ΔX}

[0021] ΔX=H y -G y

[0022] In the formula, ΔX represents the actual seabed depth measured by the automatic depth sounder, and when the value of ΔX is consistent with the offshore backfill construction elevation, it indicates that the construction sea area corresponding to the construction number has completed the construction requirements;

[0023] The corrected triple data Y={H y , N y , ΔX} corresponding to each grid point of the construction sea area is summarized, a dynamic link library is created, and the data of the dynamic link library is compressed and uploaded by the industrial computer.

[0024] Further preferably, in the S4 step, the construction ship industrial personal computer processes and compresses the dynamic link library and transmits it to the cloud platform server to form a total dynamic link library, and then the total dynamic link library is transmitted back to the industrial personal computer of each construction ship. A virtual communication port is established on the industrial personal computer to access the total dynamic link library through Ethernet, and each construction ship shares the total dynamic link library. According to the total dynamic link library information, the offshore backfilling operation progress of each grid point in the construction sea area is adjusted and shared in real time, and the construction ship is automatically and remotely guided to perform offshore backfilling operation according to each grid point in the construction sea area.

[0025] Further preferably, in the Modbus TCP standard communication protocol, the programmable controller is a master node, and the satellite positioning instrument, the latitude and longitude direction finder and the automatic depth sounder are slave nodes. Each slave node device has a unique address, and any slave node device can send a Modbus command. However, only the master node device can start the Modbus command. The ModBus command contains the Modbus address of the planned slave node device, and all slave node devices will receive the ModBus command. Only the slave node device with the specified Modbus address executes and responds to the ModBus command.

[0026] An automatic monitoring and shifting method for offshore backfilling operation of a construction ship, comprising:

[0027] A satellite positioning instrument for positioning and height calibration of the construction ship;

[0028] A latitude and longitude direction finder for navigation guidance of the construction ship;

[0029] An automatic depth sounder for measuring the depth of the seabed at the position of the construction ship;

[0030] A programmable controller for receiving and processing the data measured by the satellite positioning instrument, the latitude and longitude direction finder and the automatic depth sounder;

[0031] An industrial personal computer for back-end processing of the construction ship shifting data, and scheduling the construction ship shifting according to the offshore backfilling operation progress displayed in the total dynamic link library;

[0032] A cloud platform server as a sharing platform of the total dynamic link library, receiving and storing the dynamic link library, and updating the offshore backfilling operation progress in the total dynamic link library in real time.

[0033] Further preferably, the industrial personal computer is embedded with a data processing module, which is developed based on LabVIEW program and constructs the automatic monitoring and guidance of the construction ship shifting in the form of block diagram.

[0034] Compared with the prior art, the beneficial effects of the present application are: the present application calibrates the elevation of the construction ship in the construction sea area and measures the sea depth by using the satellite positioning instrument and the automatic depth finder, eliminates the influence of tides on the backfill operation monitoring of the construction ship, further divides the offshore backfill operation area by grid points, takes each grid point as the construction number of the construction section, binds the monitoring data and the backfill construction progress with the construction number, and shares the monitoring data and the backfill construction progress with each construction ship in real time, which on the one hand effectively solves the drawbacks of repeated landfill or missing landfill, automatically controls the displacement of the offshore backfill operation of the construction ship, and on the other hand reduces the cost of manual measurement and statistics, improves the intelligent degree of the backfill operation and the efficiency of the offshore backfill construction organization. BRIEF DESCRIPTION OF DRAWINGS

[0035] Figure 1 The present application proposes a flow chart of a method for automatically monitoring and displacing offshore backfill operation of a construction ship;

[0036] Figure 2 The present application proposes a block diagram of a system for automatically monitoring and displacing offshore backfill operation of a construction ship. DETAILED DESCRIPTION

[0037] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all the embodiments.

[0038] The present application proposes a flow chart of a method for automatically monitoring and displacing offshore backfill operation of a construction ship;

[0039] Referring to Figure 1 In the present embodiment, a method for automatically monitoring and displacing offshore backfill operation of a construction ship includes the following steps:

[0040] S1 step: system assembly networking, the satellite positioning instrument, the latitude and longitude direction finder and the automatic depth finder are installed on the construction ship, and are connected with the programmable controller through the Ethernet bus for data transmission, and the programmable controller is connected with the industrial computer of the construction ship through the Ethernet bus networking mode;

[0041] In the S1 step, the satellite positioning instrument, the latitude and longitude orientation instrument and the automatic depth sounder are connected to the communication port of the programmable controller through the Ethernet bus networking mode based on the Modbus TCP standard communication protocol, and the programmable controller performs remote control operation on the satellite positioning instrument, the latitude and longitude orientation instrument and the automatic depth sounder through the I / O port to enable the work, monitor the state and restart the equipment. In the Modbus TCP standard communication protocol, the programmable controller is the master node, and the satellite positioning instrument, the latitude and longitude orientation instrument and the automatic depth sounder are the slave nodes. Each slave node device has a unique address, and any slave node device can send a Modbus command, but only the master node device can start the Modbus command. The Modbus command contains the Modbus address of the slave node device to be executed, and all slave node devices will receive the Modbus command. Only the slave node device with the specified Modbus address executes and responds to the Modbus command. The application of the Modbus communication protocol in the application not only ensures the reliability and stability of data communication transmission, but also makes the system universal and portable.

[0042] In the S2 step, the seabed topography is monitored. According to the construction scheme, the satellite positioning instrument and the latitude and longitude orientation instrument are used to guide the construction ship to move to the sea backfill operation area. The automatic depth sounder is used to detect the seabed topography of the position of the construction ship, obtain the seabed topography data, and transmit the seabed topography data to the programmable controller. In this step, specifically, the seabed topography is monitored. According to the construction scheme, the construction sea area is divided into several areas according to the network points. The satellite positioning instrument and the latitude and longitude orientation instrument are used to guide the construction ship to move to the sea backfill operation area divided by the grid points. The seabed depth is detected according to the construction elements on the grid points, and the seabed topography data is obtained.

[0043] In the S3 step, the construction data processing is performed. After the programmable controller receives the seabed topography data, the seabed topography data is correspondingly compiled and packaged with the position data measured by the satellite positioning instrument and the latitude and longitude orientation instrument, and is transmitted to the industrial computer. According to the seabed topography data and the position data, the industrial computer processes the seabed topography data and the position data through the upper computer software. Specifically,

[0044] In the S3 step, the construction data processing is performed. After the programmable controller receives the seabed topography data, the seabed topography data is correspondingly compiled and packaged with the position data measured by the satellite positioning instrument and the latitude and longitude orientation instrument, and is transmitted to the industrial computer. After the seabed topography data and the position data are correspondingly compiled and packaged, the following contents are included:

[0045] Take each grid point of the construction sea area as the construction number of the construction bid, take the construction number as the root node, compile and package a set of seabed topography data representing the seabed depth and a set of position data representing longitude, latitude and elevation corresponding to each root node, and establish a triple data, which is expressed by the formula: Y={H y , N y , G y}

[0046] Where Y represents the root node of the construction number, H y represents the seabed depth under the root node of the construction number y, N y represents the longitude and latitude coordinates under the root node of the construction number y, and G y represents the construction ship elevation measured by the satellite positioning instrument under the root node of the construction number y.

[0047] According to the seabed topography data and the position data, the construction ship displacement data is processed by the industrial computer through the host computer software, including:

[0048] The 1985 national elevation datum is used as the standard sea level, and the offshore backfill construction elevation is determined based on the standard sea level;

[0049] The construction ship elevation G y measured by the satellite positioning instrument is also determined based on the standard sea level, so the influence of tidal activity on the change of the construction ship elevation G y is determined;

[0050] Therefore, in order to eliminate the influence of tidal activity on the change of the construction ship elevation, the seabed measurement depth in the triple data is corrected:

[0051] Y={H y , N y , ΔX}

[0052] ΔX=H y -G y

[0053] In the formula, ΔX represents the actual seabed depth measured by the automatic depth sounder. When the value of ΔX is consistent with the offshore backfill construction elevation, it indicates that the construction sea area corresponding to the construction number has completed the construction requirements;

[0054] The corrected triple data Y={H y , N y , ΔX} corresponding to each grid point of the construction sea area is summarized, a dynamic link library is created, and the data of the dynamic link library is compressed and uploaded by the industrial computer.

[0055] S4 step: offshore backfill operation progress data sharing, based on 4G / 5G technology Internet network, the dynamic link library processed and compressed by the industrial computer is transmitted to the cloud platform server to form a total dynamic link library, and the total dynamic link library is accessed through the Ethernet by establishing a virtual communication port on the industrial computer, and the offshore backfill operation mode of the construction ship is automatically and remotely guided according to the total dynamic link library information as follows:

[0056] The dynamic link library processed and compressed by the industrial computer of each construction ship is transmitted to the cloud platform server to form a total dynamic link library, and the total dynamic link library is transmitted back to the industrial computer of each construction ship, a virtual communication port is established on the industrial computer to access the total dynamic link library through Ethernet, each construction ship shares the total dynamic link library, and the offshore backfill operation progress of each grid point in the construction sea area is adjusted and shared in real time according to the total dynamic link library information, and the construction ship is automatically and remotely guided to perform offshore backfill operation according to each grid point in the construction sea area.

[0057] As shown in Figure 2 The embodiment also provides a system applied to the offshore backfill operation automatic monitoring and displacement method of the construction ship, which comprises: a satellite positioning instrument for positioning and height calibration of the construction ship; a latitude and longitude direction finder for navigation guidance of the construction ship; an automatic depth finder for measuring the depth of the seabed at the position of the construction ship; a programmable controller for receiving and processing data measured by the satellite positioning instrument, the latitude and longitude direction finder and the automatic depth finder; an industrial computer for performing back-end processing on the displacement data of the construction ship and scheduling the displacement of the construction ship according to the offshore backfill operation progress displayed in the total dynamic link library; and a cloud platform server as a sharing platform of the total dynamic link library, receiving and storing the dynamic link library and updating the offshore backfill operation progress in the total dynamic link library in real time.

[0058] The satellite positioning instrument, the latitude and longitude direction finder and the automatic depth finder are installed on the construction ship and are connected with the programmable controller through an Ethernet bus for data transmission, the programmable controller is connected with the industrial computer of the construction ship through an Ethernet bus networking mode, and the industrial computer is remotely connected with the cloud platform server through the Internet.

[0059] The main role of the programmable controller in the present application is that due to its long-term very stable industrial characteristics, it is more suitable for facing the change of tides, long-time uninterrupted monitoring, accurate completion of measurement data complexity processing, ensuring the long-term stable operation of the system, and making up for the possible crash of the industrial computer.

[0060] It is worth mentioning that the industrial computer in the embodiment is embedded with a data processing module, the data processing module is developed based on LabVIEW program, and the automatic monitoring and guidance of the system to the displacement of the construction ship is constructed in a block diagram form. LabVIEW is a program development environment, similar to C and BASIC development environment, but common industrial computer languages are all text-based languages to generate codes, while LabVIEW in the application uses a graphical editing language G to write programs, and the generated program is in the form of a block diagram. LabVIEW software is the core of the NI design platform, and is also an ideal choice for developing satellite positioning instruments, latitude and longitude direction instruments, automatic depth measuring instruments, and control systems of industrial computers. Therefore, the contribution of LabVIEW to the system is that the language written in the form of a block diagram ensures the stability of the local and remote programs of the host computer, and the modular data processing module improves the accuracy of data compression processing and the safety of remote data transmission.

[0061] The satellite positioning instrument (satellite positioning system) in the application provides geographic position information of the construction ship, ensures that the construction ship is in the construction area, and implements feedback of the position information of the ship; the latitude and longitude direction instrument provides the actual construction heading of the construction ship, so that the industrial computer can convert the latitude and longitude into plane navigation coordinates after obtaining the latitude and longitude, and provide intuitive direction coordinates for the positioning of the moving construction ship; the automatic depth measuring instrument provides the seabed topography depth of the filled and to-be-filled sea area, and the programmable controller and the industrial computer automatically calculate the seabed topography elevation difference that needs to be filled, that is, determine where the seabed riverbed at the position of the construction ship needs to be filled, where does not need to be filled, and where has completed the filling work; the monitoring and control system of the industrial computer shares the offshore backfilling operation progress in the total dynamic link library in real time, monitors the geographic position information, ship heading information and seabed topography information of the construction ship as a whole, processes the information in real time, and then controls the automatic displacement of the construction ship, so that the position of the construction ship is automatically adjusted according to the data information demand along with the change of the seabed topography, and the automatic reclamation construction is realized.

[0062] The application uses the satellite positioning instrument and the automatic depth measuring instrument to calibrate the elevation and measure the sea depth of the construction sea area where the construction ship is located, eliminates the influence of tides on the monitoring of the backfilling operation of the construction ship, further divides the offshore backfilling operation area by grid points, takes each grid point as the construction number of the construction section, binds the monitoring data and the backfilling construction progress with the construction number, and shares the monitoring data and the backfilling construction progress in real time to each construction ship, which on the one hand effectively solves the drawbacks of repeated filling or missing filling, and on the other hand reduces the cost of manual measurement and statistics, improves the intelligent degree of the backfilling operation and the efficiency of the offshore backfilling construction organization.

[0063] The above merely describes preferred specific embodiments of the present application, but the protection scope of the present application is not limited thereto, and any person skilled in the art, according to the technical solution and inventive concept of the present application, makes equivalent replacement or change within the technical range disclosed by the present application, which should be covered within the protection scope of the present application.

Claims

1. An automatic monitoring method for shifting of a construction vessel during offshore backfilling operations, characterized in that, Comprise the following steps: S1 step: system assembly networking, satellite positioning instrument, latitude and longitude direction finder and automatic depth finder are installed on the construction ship, and data transmission connection is established with the programmable controller through the Ethernet bus, and the programmable controller is connected with the industrial computer of the construction ship through the Ethernet bus networking mode; S2 step: seabed topography monitoring, according to the construction scheme, the satellite positioning instrument and the latitude and longitude direction finder are used to guide the construction ship to move to the offshore backfill operation area, the automatic depth finder is used to detect the seabed topography of the position where the construction ship is located, the seabed topography data is obtained, and the programmable controller is transmitted to the programmable controller; S3 step: construction data processing, after the programmable controller receives the seabed topography data, the corresponding position data measured by the satellite positioning instrument and the latitude and longitude direction finder are assembled and packaged and transmitted to the industrial computer, according to the seabed topography data and the position data, the industrial computer processes the seabed topography data and the position data through the host computer software, and the seabed topography data and the position data are processed and compressed by the industrial computer. Each grid point of the construction sea area is taken as the construction number of the construction section, the construction number is taken as the root node, a group of seabed topography data representing the seabed depth and a group of position data representing the latitude, longitude and elevation corresponding to each root node are assembled and packaged, a triple data is established, and the formula is represented as: ， wherein, a root node representing a construction number, a root node representing a construction number y, a root node representing a construction number y, a root node representing a construction number y, The influence of the change of the construction ship elevation caused by the tidal activity is eliminated, and the seabed measurement depth in the triple data is corrected: ， In the formula, represents the actual depth of the seabed measured by the automatic depth finder, and When the value of the construction elevation is consistent with the offshore backfill construction elevation, it indicates that the construction area corresponding to the construction number has completed the construction requirements. The modified triplet data corresponding to each grid point of the construction sea area The data of the dynamic link library is compressed and uploaded by the industrial computer. S4 step: the dynamic link library processed and compressed by the industrial computer is transmitted to the cloud platform server to form a total dynamic link library, and then transmitted back to the industrial computer, and a virtual communication port is established on the industrial computer to access the total dynamic link library through Ethernet, and according to the total dynamic link library information, the construction ship is automatically and remotely guided for offshore backfill operation.

2. An automatic monitoring and shifting method for offshore backfilling operation of a construction vessel according to claim 1, characterized in that, In S1 step, the satellite positioning instrument, the latitude and longitude direction finder and the automatic depth finder are based on Modbus TCP standard communication protocol, and the output measurement signals of the satellite positioning instrument, the latitude and longitude direction finder and the automatic depth finder are concentrated to the communication port of the programmable controller through the Ethernet bus networking mode, and the programmable controller controls the work enablement, state monitoring and device restart of the satellite positioning instrument, the latitude and longitude direction finder and the automatic depth finder through the I / O port.

3. An automatic monitoring method for shifting of a construction vessel during offshore backfilling operations according to claim 2, characterized in that, In S2 step, the seabed topography monitoring, according to the construction scheme, the construction sea area is divided into several areas according to the network points, the satellite positioning instrument and the latitude and longitude direction finder are used to guide the construction ship to move to the offshore backfill operation area divided by the grid points, and the seabed depth is detected according to the construction elements on the grid points to obtain the seabed topography data.

4. An automatic monitoring method for shifting of a backfilling operation at sea of a construction vessel according to claim 3, characterized in that, In S4 step, the dynamic link library processed and compressed by each construction ship industrial computer is transmitted to the cloud platform server to form a total dynamic link library, and then the total dynamic link library is transmitted back to the industrial computer of each construction ship, a virtual communication port is established on the industrial computer to access the total dynamic link library through Ethernet, each construction ship shares the total dynamic link library, and according to the total dynamic link library information, the offshore backfill operation progress of each grid point of the construction sea area is adjusted and shared in real time, and the construction ship is automatically and remotely guided to perform offshore backfill operation according to each grid point of the construction sea area.

5. An automatic monitoring method for shifting of a backfilling operation at sea of a construction vessel according to claim 4, characterized in that, In the Modbus TCP standard communication protocol, the programmable controller is the master node, the satellite positioning instrument, the latitude and longitude orientation instrument and the automatic depth measuring instrument are the slave nodes, each slave node device has a unique address, any slave node device can send a Modbus command, but only the master node device starts the Modbus command, the ModBus command contains the Modbus address of the planned slave node device, all slave node devices will receive the ModBus command, only the slave node device meeting the specified Modbus address executes and responds to the ModBus command.

6. A system for use in the automatic monitoring of the displacement of a construction vessel during offshore backfilling operations, according to the method of claim 5, characterized in that the system It comprises: a satellite positioning instrument for positioning and height calibration of the construction ship; a latitude and longitude orientation instrument for navigation guidance of the construction ship; an automatic depth measuring instrument for measuring the depth of the seabed at the position of the construction ship; a programmable controller for receiving and processing the data measured by the satellite positioning instrument, the latitude and longitude orientation instrument and the automatic depth measuring instrument; an industrial computer for performing back-end processing on the displacement data of the construction ship and dispatching the construction ship displacement according to the offshore backfill operation progress displayed in the general dynamic link library. The industrial computer is embedded with a data processing module, the data processing module is developed based on a LabVIEW program and constructs the automatic monitoring and guidance of the construction ship displacement in the form of a block diagram.

7. The system of claim 6, wherein, ​

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