Automatic heave control method, floating platform control system and computer program product

Abstract

The application discloses an automatic heave control method, a floating platform control system and a computer program product, relates to the technical field of heave control, and the automatic heave control method is applied to a floating platform, and a plurality of ballast tanks are arranged in the floating platform; the method comprises the following steps: when a lifting request is received, the automatic mode is switched to, corresponding lifting instructions are executed, target water pumps and target valves are started to perform water injection and drainage on corresponding ballast tanks, and the floating platform is lifted; in the lifting process, inclination information of the floating platform and a depth thereof are monitored, and corresponding attitude adjustment instructions are executed based on different inclination ranges to which the inclination information belongs; when the depth of the floating platform reaches a preset depth value, lifting end instructions are executed, the target water pumps and the target valves are closed, and the lifting operation is completed. According to the application, corresponding attitude adjustment instructions can be executed according to different inclination ranges to which inclination information of the floating platform belongs in the heaving process, so that flexible adjustment of the inclination of the floating platform is realized.

Description

Technical Field

[0001] This application relates to the field of buoyancy control technology, and in particular to automatic buoyancy control methods, floating platform control systems, and computer program products. Background Technology

[0002] Long-term extensive and high-density aquaculture practices have led to severe seawater pollution, frequent outbreaks of diseases and pests, and a decline in the quality of aquatic products in nearshore shallow-water aquaculture areas. Deep-sea waters, on the other hand, are rich in nutrients, have ample water exchange, and excellent water quality, making them natural marine ranches. Therefore, to mitigate the impact of aquaculture on nearshore areas and achieve healthy and sustainable development of mariculture, developing the deep-sea aquaculture industry is imperative.

[0003] Traditional HDPE frame gravity cage systems, limited by materials and structure, are often unable to withstand direct impact from super typhoons, resulting in insufficient safety assurance. Compared to HDPE frame gravity cages, truss-type cages constructed with metal profiles offer a safer, less deformable, and rigid structure, making them suitable for constructing cages in larger aquaculture areas. With the addition of operational equipment, they can be deployed in deeper and more distant sea areas.

[0004] Researchers have conducted extensive studies on the buoyancy control of traditional HDPE frame gravity-type net cages. Patent CN201611025868.2 discloses a buoyancy control net cage and control method based on isobaric control. Multiple isolated compartments are connected by pipes to form an isobaric buoyancy control body. Water or air is injected into the buoyancy control body using a water pump or air pump to achieve the buoyancy of the net cage. Patent CN202021534787.8 discloses an automatic buoyancy control device for deep-sea aquaculture net cages. Airbags are installed in each section of the float tube of the net cage. The amount of air in the airbags is controlled by an air pump to allow water to flow in or out of the float tubes, thus achieving the buoyancy of the net cage. Patent CN202310123466.X discloses a remotely controlled buoyancy aquaculture net cage for deep-sea applications. Several buoyancy tanks are installed along the upper edge of the net cage. The buoyancy tanks are connected to an air pump through valves. Water is introduced and drained from each float by individually controlling the gas pressure in each float, thereby achieving the buoyancy of the net cage.

[0005] Existing technologies typically involve sinking the net cage by injecting water into the buoy and then floating it by inflating the buoy with air to remove excess water. However, these patented technologies have the following drawbacks: poor stability during the sinking and floating process; the net cage is prone to tilting during air injection and drainage, causing the air vents to sink and form a water seal, preventing the air from escaping from the buoy. Summary of the Invention

[0006] The main purpose of this application is to provide an automatic floating control method, a floating platform control system, and a computer program product, which aims to solve the technical problem of poor stability of the floating platform during the floating process and the tendency to tilt during water injection and drainage.

[0007] To achieve the above objectives, this application proposes an automatic buoyancy control method for use in a floating platform, wherein the floating platform is provided with multiple ballast tanks. The automatic buoyancy control method includes: When a lifting request is received, switch to automatic mode, execute the corresponding lifting command, and open the target water pump and target valve to fill and drain the corresponding ballast tank so as to lift the floating platform. During the raising and lowering of the floating platform, the tilt angle and depth of the floating platform are monitored. Execute corresponding attitude adjustment commands based on the different tilt angle ranges to which the tilt angle information belongs; When the floating platform reaches a preset depth, a lifting and lowering end command is executed, the target water pump and the target valve are shut off, and the lifting and lowering operation of the floating platform is completed.

[0008] In one embodiment, the step of monitoring the tilt angle information of the floating platform during its ascent and descent, and executing different attitude adjustment commands based on the tilt angle range to which the tilt angle information belongs, includes: When the tilt angle value in the tilt angle information is less than the first tilt angle, the lifting command is continued to be executed so that the floating platform continues to perform the current lifting operation; When the tilt angle value reaches the first tilt angle but is less than the second tilt angle, an alarm message is displayed and the lifting command is continued to be executed so that the floating platform can continue to perform the current lifting operation.

[0009] In one embodiment, the step of monitoring the tilt angle information of the floating platform during its ascent and descent, and executing different attitude adjustment commands based on the tilt angle range to which the tilt angle information belongs, further includes: When the tilt angle reaches the second tilt angle but is less than the third tilt angle, an alarm message is displayed, and the levitation command and the attitude adjustment command are executed in parallel; wherein, the attitude adjustment command includes an surfacing attitude adjustment command and a sinking attitude adjustment command; the surfacing attitude adjustment command includes stopping the drainage of the ballast tank with a smaller draft; the sinking attitude adjustment command includes stopping the injection of water into the ballast tank with a larger draft. When the tilt angle value becomes less than the first tilt angle, the execution of the attitude adjustment command is stopped, and the injection and drainage of the ballast tank is resumed.

[0010] In one embodiment, the step of monitoring the tilt angle information of the floating platform during its ascent and descent, and executing different attitude adjustment commands based on the tilt angle range to which the tilt angle information belongs, further includes: When the tilt angle value reaches the third tilt angle, an alarm message and a mode switching reminder message are displayed, the target valve and the target water pump are closed, the manual operation mode is switched and the system is put into standby mode. Upon receiving a manual operation request, the corresponding manual operation instruction will be executed. When the tilt angle becomes less than the first tilt angle, switch to the automatic mode and continue to execute the lifting command, open the target valve and the target water pump, and restore the injection and drainage of the ballast tank.

[0011] In one embodiment, the floating platform includes a port side and a starboard side, which are symmetrically arranged based on the centerline plane of the floating platform; The port side is also equipped with a port pump room, and the starboard side is also equipped with a starboard pump room. The port pump room and the starboard pump room are connected. Both the port pump room and the starboard pump room are equipped with water inlets and water outlets. The target water pump includes a first pump body and a second pump body. The first pump body is located in the port pump room, and the second pump body is located in the starboard pump room. The automatic buoyancy control method also includes: During the injection and drainage process, the actuator simultaneously activates the first pump body and the second pump body; Monitor the operating status of the first pump body and the second pump body; When a fault is detected in either the first pump body or the second pump body, a pump body fault alarm message is displayed, the first pump body, the second pump body, and the target valve are closed, the automatic mode is interrupted, and the manual confirmation information receiving state is entered. Upon receiving the manual confirmation information, the automatic mode is restored and the lifting and circuit adjustment commands are executed.

[0012] In one embodiment, the floating platform further includes connecting channels, at least six left loops, and at least six right loops; The connecting channel includes a first channel, a second channel, and a transverse channel; the first channel passes through each of the left ballast tanks and the left pump compartment to inject or drain water into each of the left ballast tanks; the second channel passes through each of the right ballast tanks and the right pump compartment to inject or drain water into each of the right ballast tanks; the transverse channel passes through the left pump compartment and the right pump compartment to connect the left pump compartment and the right pump compartment. The inlet and outlet of the first pump body are connected to six left circuits; the inlet and outlet of the second pump body are connected to six right circuits. Left loop 1 connects the water inlet of the left pump chamber, the water inlet and outlet of the first pump body, and the water outlet of the left pump chamber in sequence; Left loop 2 connects the water inlet of the left pump chamber, the water inlet and outlet of the first pump body, and the first channel in sequence; Left loop 3 connects the water inlet of the left pump chamber, the water inlet and outlet of the first pump body, and the transverse channel in sequence; Left loop 4 connects the water outlet of the left pump chamber, the water inlet and outlet of the first pump body, and the first channel in sequence; Left loop 5 connects the water outlet of the left pump chamber, the water inlet and outlet of the first pump body, and the transverse channel in sequence; Left loop 6 connects the first channel and the transverse channel in sequence. Right loop number one connects the water inlet of the right pump compartment, the water inlet and outlet of the second pump body, and the water outlet of the right pump compartment in sequence; right loop number two connects the water inlet of the right pump compartment, the water inlet and outlet of the second pump body, and the second channel in sequence; right loop number three connects the water inlet of the right pump compartment, the water inlet and outlet of the second pump body, and the transverse channel in sequence; right loop number four connects the water outlet of the right pump compartment, the water inlet and outlet of the second pump body, and the second channel in sequence; right loop number five connects the water outlet of the right pump compartment, the water inlet and outlet of the second pump body, and the transverse channel in sequence; right loop number six connects the second channel and the transverse channel in sequence. Each of the left and right loops is equipped with a valve.

[0013] In one embodiment, the loop adjustment command includes: Close all left loops and all right loops; During the descent process, when a malfunction of the first pump body is detected, the No. 1 right loop and the second pump body are activated so that the second pump body draws external water into the No. 1 right loop and discharges it. The operating status of the second pump body is monitored. When the second pump body is operating normally, the No. 1 right loop is closed and the No. 2 right loop, the No. 3 right loop, and the No. 6 left loop are activated so that the external water source flows in from the inlet of the right pump chamber. After flowing through the second pump body, part of the external water source flows to the second channel and into the right ballast tank, and the other part of the external water source flows to the transverse channel and the first channel and into the left ballast tank. During the ascent, if a malfunction of the first pump is detected, the No. 1 right loop and the second pump are activated so that the second pump draws external water into the No. 1 right loop and discharges it. The operating status of the second pump is monitored. When the second pump is operating normally, the No. 1 right loop is closed, and the No. 4 right loop, the No. 5 right loop, and the No. 6 left loop are activated so that the water in the right ballast tank flows to the second channel, flows through the second pump, and is discharged to the outside from the drain outlet of the right pump tank. The water in the left ballast tank flows to the first channel, the No. 6 left loop, and the transverse channel, flows through the No. 5 right loop and the second pump, and is discharged to the outside from the drain outlet of the right pump tank.

[0014] In one embodiment, the loop adjustment command further includes: During the descent process, when a malfunction of the second pump body is detected, the first left loop and the first pump body are opened so that the first pump body draws external water into the first left loop and discharges it. The operating status of the first pump body is monitored. When the first pump body is operating normally, the first left loop is closed and the second left loop, the third left loop, and the sixth right loop are opened so that the external water source flows in from the inlet of the left pump chamber. After flowing through the first pump body, part of the external water source flows to the first channel and into the left ballast tank, and the other part of the external water source flows to the transverse channel and the second channel and into the right ballast tank. During the ascent, if a malfunction of the second pump is detected, the first left loop and the first pump are activated so that the first pump draws external water into the first left loop and discharges it. The operating status of the first pump is monitored. When the first pump is operating normally, the first left loop is closed, and the fourth left loop, the fifth left loop, and the sixth right loop are activated so that the water in the left ballast tank flows to the first channel, flows through the first pump, and is discharged to the outside from the drain outlet of the left pump tank. The water in the right ballast tank flows to the second channel, the sixth right loop, and the transverse channel, flows through the fifth left loop and the first pump, and is discharged to the outside from the drain outlet of the left pump tank.

[0015] Furthermore, to achieve the above objectives, this application also proposes an automatic buoyancy control device, which is applied to a floating platform, the floating platform having multiple ballast tanks inside; the automatic buoyancy control device includes: The lifting module is used to switch to automatic mode when a lifting request is received, execute the corresponding lifting command, and open the target water pump and target valve to fill and drain the corresponding ballast tank so as to lift the floating platform. The monitoring module is used to monitor the tilt angle and depth of the floating platform during its lifting and lowering process. The attitude adjustment module is used to execute corresponding attitude adjustment commands based on the different tilt angle ranges to which the tilt angle information belongs; The termination module is used to execute a lifting end command when the depth of the floating platform reaches a preset depth value, thereby shutting down the target water pump and the target valve and completing the lifting operation of the floating platform.

[0016] In addition, to achieve the above objectives, this application also proposes a floating platform control system, which includes: a host computer, a monitoring device, and an execution device, wherein the host computer is communicatively connected to the monitoring device and the execution device; The host computer includes a memory, a processor, and a computer program stored in the memory and executable on the processor, the computer program being configured to implement the steps of the automatic buoyancy control method described above.

[0017] In addition, to achieve the above objectives, this application also proposes a storage medium, which is a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, it implements the steps of the automatic buoyancy control method described above.

[0018] In addition, to achieve the above objectives, this application also provides a computer program product, which includes a computer program that, when executed by a processor, implements the steps of the automatic buoyancy control method described above.

[0019] One or more technical solutions proposed in this application have at least the following technical effects: This application achieves automated lifting and lowering of a floating platform by switching to automatic mode and executing corresponding lifting commands upon receiving a lifting request. During lifting and lowering, the platform's tilt angle is obtained by monitoring its degree of tilt, and corresponding attitude adjustment commands are executed based on the tilt angle range. This solves the problem of the inability to adjust the attitude after tilting during lifting and lowering, and allows for different attitude operations to be performed for different degrees of tilt, thereby improving the applicability of the automatic buoyancy control method to attitude adjustment of floating platforms at different tilt levels. By monitoring the depth of the floating platform, the lifting and lowering end command is automatically executed when the platform rises or falls to a predetermined depth, eliminating the need for manual monitoring and judgment of whether the platform has reached the preset depth value, thus saving manpower. Throughout the lifting and lowering process, the operator only needs to submit a lifting and lowering request; subsequent buoyancy control and tilt angle adjustment operations can be automatically controlled by the floating platform's control system, thereby improving the automation level of the buoyancy control process. Attached Figure Description

[0020] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0021] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0022] Figure 1 This is a flowchart illustrating an embodiment of the automatic buoyancy control method of this application. Figure 2 This is a schematic diagram of the module structure of the automatic sinking and floating control device according to an embodiment of this application; Figure 3 This is a schematic diagram of the structure of the floating platform control system in the embodiments of this application; Figure 4 This is a schematic diagram of the equipment structure of the hardware operating environment involved in the automatic buoyancy control method in the embodiments of this application.

[0023] The purpose, features, and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0024] It should be understood that the specific embodiments described herein are merely illustrative of the technical solutions of this application and are not intended to limit this application.

[0025] To better understand the technical solution of this application, a detailed description will be provided below in conjunction with the accompanying drawings and specific implementation methods.

[0026] The main solution of this application embodiment is an automatic buoyancy control method applied to a floating platform, wherein the floating platform has multiple ballast tanks inside; the automatic buoyancy control method includes: when a lifting request is received, switching to automatic mode, executing the corresponding lifting command, and opening the target water pump and target valve to fill and drain the corresponding ballast tanks to make the floating platform lift and lower; during the lifting and lowering process of the floating platform, monitoring the tilt angle information and the depth of the floating platform; executing the corresponding attitude adjustment command based on the different tilt angle ranges to which the tilt angle information belongs; when the depth of the floating platform reaches a preset depth value, executing the lifting and lowering end command, closing the target water pump and the target valve, and completing the lifting and lowering operation of the floating platform.

[0027] This application provides a solution for the automated raising and lowering of a floating platform. Upon receiving a raising or lowering request, the system switches to automatic mode and executes the corresponding raising or lowering command. During the raising and lowering process, the system monitors the tilt of the floating platform to obtain its tilt angle information. Based on the tilt angle range, corresponding attitude adjustment commands are executed. This solves the problem of the inability to adjust the attitude after tilting during the raising and lowering process, and allows for different attitude operations to be performed for different tilt degrees, thus improving the applicability of the automatic buoyancy control method to attitude adjustment of the floating platform at different tilt degrees. By monitoring the depth of the floating platform, when the platform rises or falls to a predetermined depth, the system automatically executes the raising / lowering command, eliminating the need for manual monitoring and judgment of whether the platform has reached the preset depth value, saving manpower. Throughout the raising and lowering process, the operator only needs to submit a raising or lowering request; subsequent buoyancy control and tilt angle adjustment operations can be automatically controlled by the floating platform's control system, thereby improving the automation level of the buoyancy control process.

[0028] It should be noted that the executing entity in this embodiment can be a floating platform, or a computing service device with data processing, network communication, and program execution functions, such as a tablet computer, personal computer, or mobile phone, or a control system of a floating platform capable of performing the above functions. The following description uses the control system of a floating platform as an example to illustrate this embodiment and the subsequent embodiments.

[0029] It should be further explained that the control system of the floating platform may include a host computer, a monitoring device, and an execution device; the host computer is communicatively connected to both the monitoring device and the execution device. The monitoring device is responsible for monitoring various information about the floating platform and feeding it back to the host computer. The monitored information may include the floating platform's tilt angle, depth, water injection / discharge volume, water injection / discharge rate, etc. The execution device is responsible for executing various commands issued by the host computer, completing a series of operations such as lifting, attitude adjustment, etc.

[0030] The host computer is responsible for receiving feedback information from monitoring and execution devices, as well as information input by the user through the host computer's operating interface, such as lifting requests and manual operation requests. The host computer's operating interface can synchronously display information including, but not limited to, the following: equipment operation and alarm indicators, valve status, draft at the four corners of the floating platform, ballast tank level, floating platform tilt angle, and real-time pump flow rate. The interface allows for start / stop and on / off control of monitoring and execution devices, setting alarm parameters as needed, and adjusting the sequence and volume of water injection and drainage in the ballast tanks as required.

[0031] The monitoring device can include various types of sensors, such as platform draft measurement sensors installed at the four corners of the floating platform, liquid level sensors installed in each ballast tank, and cage attitude sensors installed in the control room. The platform draft and liquid level measurement sensors can be pneumatic or piezoelectric. The cage platform attitude sensor can be a tilt sensor.

[0032] The actuator may include components such as water pumps and valves to control water injection and drainage. The valve may be configured as a remote-controlled valve.

[0033] Based on this, the embodiments of this application provide an automatic sinking and floating control method, referring to... Figure 1 , Figure 1 This is a flowchart illustrating the first embodiment of the automatic buoyancy control method of this application.

[0034] In this embodiment, the automatic buoyancy control method is applied to a floating platform, which has multiple ballast tanks inside; the automatic buoyancy control method includes steps S10~S40: Step S10: When a lifting request is received, switch to automatic mode, execute the corresponding lifting command, and open the target water pump and target valve to fill and drain the corresponding ballast tank so as to lift the floating platform. It is understandable that when a floating platform encounters severe weather conditions at sea, such as giant waves or typhoons, if the platform remains floating on the sea surface, its structure will be subjected to strong impacts from the waves and currents. Therefore, performing step S10 can prevent the floating platform from suffering excessive damage under severe conditions, thereby improving the service life of the floating platform.

[0035] In step S10, when the control system of the floating platform receives a lifting request from the operator on the host computer's operating interface, the control system switches to automatic mode. The host computer of the control system sends an instruction to the execution device, causing the execution device to execute the corresponding lifting instruction so that the floating platform can be raised or lowered.

[0036] It should be noted that the floating platform is equipped with multiple water pumps and multiple valves, with the valves corresponding to the injection and drainage ports of each ballast tank. The target water pumps refer to the pumps that need to be controlled during this operation; this control can be achieved by turning the pumps on and off, and by adjusting their pumping power. Similarly, the target valves refer to the valves that need to be controlled during this operation; this control can be achieved by adjusting the degree of valve opening and closing.

[0037] Furthermore, it should be noted that a system status check can be performed each time the floating platform's control system is started. This ensures that the operating status of the floating platform's control system is known before any lifting or lowering operation, thereby improving system safety. The specific system status check operation can be referenced as follows: Start the floating platform control system and close all valves; The system detects the operating status of the floating platform control system and feeds back the detection results to the host computer of the floating platform control system. If the running status detection result is abnormal, a system error message will be displayed; If the running status detection result is normal, the standby information will be displayed and the elevation / lowering request will be received.

[0038] In this way, various components of the floating platform control system can be inspected upon startup to ensure that the floating platform executes lifting commands in a normal operating state. This inspection of the floating platform control system's operating status includes monitoring the host computer, monitoring devices, and actuators. Of course, the above system status inspection method is only an example; the actual system status inspection method can be set according to actual needs. This is not to say that system status inspection can only be implemented using this method.

[0039] Step S20: During the lifting and lowering of the floating platform, monitor the tilt angle and depth of the floating platform. It should be noted that the method for obtaining the tilt angle information of the floating platform in this application is diverse. This application uses multiple parameters such as the water pump's injection and discharge volume into the ballast tank, the ballast tank level, the draft at the four corners of the floating platform, and the tilt angle of the floating platform to comprehensively calculate the accurate tilt angle of the floating platform, which facilitates subsequent precise attitude adjustment and effectively overcomes the large measurement error that may be introduced by a single measurement method.

[0040] In step S20, during the raising and lowering of the floating platform, the monitoring device of the floating platform control system monitors the tilt angle and depth of the floating platform in real time. Of course, the monitoring device can also monitor other information of the floating platform in real time, such as the real-time flow rate and velocity of the water pump via a flow meter or pressure sensor. This is not intended to limit the types of information that the monitoring device can monitor.

[0041] Step S30: Execute corresponding attitude adjustment commands based on the different tilt angle ranges to which the tilt angle information belongs; In step S30, after receiving the tilt angle information fed back in real time by the monitoring device, the host computer of the floating platform control system determines in real time which preset tilt angle range the tilt angle value in the tilt angle information corresponds to, thereby determining what preset attitude adjustment command to use.

[0042] It should be noted that the tilting of the floating platform is mainly caused by the shift of the platform's center of gravity during the process of filling and emptying the ballast tanks. In addition, different impacts from external water on different parts of the floating platform can also cause it to tilt.

[0043] Furthermore, it should be noted that the attitude adjustment command can include operations such as alarm prompts, attitude adjustment, and switching to manual operation mode. These operations can be pre-stored in the host computer's memory in the form of program instructions, and these operations have a preset mapping relationship with different tilt angle ranges. When the host computer determines which tilt angle range the current floating platform's tilt angle value is within based on the pre-stored tilt angle range data, the host computer then calls the corresponding attitude adjustment command data and execution program according to the pre-stored mapping relationship table between tilt angle ranges and attitude adjustment commands in the memory, so as to realize the attitude adjustment of the floating platform.

[0044] Step S40: When the depth of the floating platform reaches the preset depth value, execute the lifting end command, shut down the target water pump and the target valve, and complete the lifting operation of the floating platform.

[0045] In step S40, the host computer of the floating platform control system receives the real-time depth value of the floating platform from the monitoring device and determines whether the depth value has reached the preset depth value. If it has, the host computer executes the lifting end command, instructing the execution device to shut down the target water pump and the target valve, completing the lifting operation of the floating platform. If the preset depth value has not been reached, the lifting command continues to be executed. It should be noted that the preset depth value can be pre-set in the program of the host computer, or it can be the depth value that the floating platform needs to reach when the operator sends the lifting request in the host computer's operation interface.

[0046] This embodiment provides an automatic buoyancy control method. Upon receiving a lifting request, it switches to automatic mode and executes the corresponding lifting command to achieve automated lifting of a floating platform. During lifting, the tilt angle of the floating platform is obtained by monitoring its inclination. Based on the inclination angle range, corresponding attitude adjustment commands are executed. This solves the problem of the inability to adjust the attitude after tilting during lifting and can perform different attitude operations for different tilt degrees, thus improving the applicability of the automatic buoyancy control method to attitude adjustment of floating platforms at different tilt degrees. By monitoring the depth of the floating platform, when the platform rises or falls to a predetermined depth, the lifting / lowering command is automatically executed, eliminating the need for manual monitoring and judgment of whether the platform has reached the preset depth value, saving manpower. Throughout the lifting process, the operator only needs to submit a lifting request; subsequent buoyancy control and tilt angle adjustment operations can be automatically controlled by the floating platform's control system, thereby improving the automation level of the buoyancy control process.

[0047] Based on the first embodiment of this application, in the second embodiment of this application, the content that is the same as or similar to that in the first embodiment described above can be referred to the above description and will not be repeated hereafter. Based on this, step S20 includes steps S201 to S202: Step S201: When the tilt angle value in the tilt angle information is less than the first tilt angle, continue to execute the lifting command so that the floating platform continues to perform the current lifting operation; It should be noted that the host computer has multiple preset tilt angle values. Each tilt angle value serves as an interval endpoint to form different tilt angle ranges with other adjacent tilt angle values.

[0048] In step S201, the first tilt angle range is the interval from the zero tilt angle value 0 to the first tilt angle a, that is, [0, a). When the current tilt angle value of the floating platform is less than the first tilt angle, that is, when the current tilt angle value is within the first tilt angle range [0, a), it indicates that the current tilt angle of the floating platform is within the normal tilting and floating range. At this time, there is no need to adjust the attitude of the floating platform. Therefore, the control system of the floating platform will allow the actuator to continue to execute the current lifting command and continue to lift the floating platform.

[0049] Step S202: When the tilt angle value reaches the first tilt angle but is less than the second tilt angle, an alarm message is displayed and the lifting command is continued to be executed so that the floating platform continues to perform the current lifting operation.

[0050] In step S202, the second tilt angle range is the interval between the first tilt angle a and the second tilt angle b, i.e., [a, b). When the monitored current tilt angle value of the floating platform is less than the second tilt angle, i.e., the current tilt angle value is within the second tilt angle range [a, b), the floating platform has tilted to a certain extent during the lifting and lowering process, but it has not exceeded the acceptable tilt range. Attitude adjustment is not required temporarily, but an alarm needs to be issued to the operators on the floating platform so that they are aware of the platform's tilt and can take appropriate measures. Therefore, the floating platform's control system will display an alarm message on the host computer to alert the operators and continue the current lifting and lowering operation.

[0051] In this embodiment, different parts of the floating platform are subjected to varying degrees of impact from ocean currents during the ascent and descent process, inevitably causing the platform to tilt and float to a certain extent. Therefore, if attitude adjustments are made when the tilt of the floating platform is small, the frequency of attitude adjustments will be too frequent, resulting in excessive energy consumption. Therefore, in this embodiment, this application provides two corresponding coping methods when the tilt angle value is small. When the tilt angle value in the tilt angle information is less than the first tilt angle, the tilt of the floating platform is within a reasonable tilt floating range, and no additional attitude adjustments are required; the current ascent and descent command continues to be executed. When the tilt angle value reaches the first tilt angle but is less than the second tilt angle, the tilt of the floating platform still does not exceed the acceptable tilt range, but an alarm needs to be issued to the operator. Therefore, the floating platform control system will display an alarm message on the host computer and continue to allow the actuator to execute the ascent and descent command. In this way, it is possible to avoid excessive energy consumption due to frequent attitude adjustments of the floating platform, and to take corresponding measures according to the different tilt angles of the floating platform, to determine whether an alarm is needed, so as to prevent the operators on the floating platform from being unaware of the platform's tilt.

[0052] Furthermore, in a feasible implementation, step S20 may further include steps S203-S204: Step S203: When the tilt angle value reaches the second tilt angle and is less than the third tilt angle, an alarm message is displayed, and the levitation command and the attitude adjustment command are executed in parallel; wherein, the attitude adjustment command includes an surfacing attitude adjustment command and a sinking attitude adjustment command; the surfacing attitude adjustment command includes stopping the drainage of the ballast tank with a smaller draft; the sinking attitude adjustment command includes stopping the injection of water into the ballast tank with a larger draft; It should be noted that in this application, attitude adjustment is achieved by adjusting the amount of water pumped into and out of the ballast tanks. During the ascent, by pumping water out of the ballast tanks, the overall density of the floating platform is reduced, causing the external water to exert an upward buoyancy on the floating platform, thereby achieving ascent. During this process, if the amount of water pumped out of one ballast tank is greater than that of the others, and that ballast tank is not located at the center of gravity of the floating platform, it will cause the center of gravity of the floating platform to shift and tilt. Therefore, in the ascent attitude adjustment command in step S203, by stopping the pumping out of the ballast tank with the smaller draft (i.e., stopping the pumping out of the ballast tank with the larger draft), and maintaining normal pumping out of the other ballast tanks, the tilt angle of the floating platform can be gradually reduced and approach a horizontal state, thereby achieving attitude adjustment. Similarly, during the descent process, the floating platform is lowered by injecting water into the ballast tanks. If, during this process, the amount of water injected into one of the ballast tanks is greater than that into the others, and that ballast tank is not located at the center of gravity of the floating platform, the center of gravity of the floating platform will shift and tilt. Therefore, in the buoyancy adjustment command in step S203, by stopping the injection of water into the ballast tank with the larger draft while maintaining normal injection into the other ballast tanks, the tilt angle of the floating platform can be gradually reduced and approach a horizontal state, thereby achieving attitude adjustment.

[0053] Step S204: When the tilt angle value becomes less than the first tilt angle, the execution of the attitude adjustment command is stopped, and the injection and drainage of the ballast tank is resumed.

[0054] In this embodiment, when the tilt angle reaches the second tilt angle b and is less than the third tilt angle c, i.e., when it reaches the third tilt angle range [b, c), it indicates that the tilt of the floating platform has exceeded the acceptable tilt range, or that if no corresponding attitude adjustment operation is performed on the floating platform, the tilt of the floating platform will soon exceed the acceptable tilt range. Therefore, in this embodiment, the scheme of steps S203~S204 is adopted to adjust the attitude of the floating platform, that is, the host computer of the floating platform control system displays alarm information and the actuator executes the lifting command and attitude adjustment command in parallel. The upward attitude adjustment command is used to stop the drainage of the ballast tank with a smaller draft, and the downward attitude adjustment command is used to stop the injection of water into the ballast tank with a larger draft, thereby realizing the attitude adjustment of the floating platform. When the tilt angle becomes less than the first tilt angle, the tilt of the floating platform returns to a reasonable tilt range. At this time, the execution of the attitude adjustment command is stopped, and the normal injection and drainage of the ballast tanks that were previously stopped are resumed.

[0055] Furthermore, in one feasible implementation, step S20 may further include steps S205-S207: Step S205: When the tilt angle value reaches the third tilt angle, display alarm information and mode switching reminder information, close the target valve and the target water pump, switch to manual operation mode and standby; Step S206: Upon receiving manual operation information, execute the corresponding manual operation instruction; Step S207: When the tilt angle value becomes less than the first tilt angle, switch to the automatic mode and continue to execute the lifting command, open the target valve and the target water pump, and restore the injection and drainage of the ballast tank.

[0056] In this embodiment, when the tilt angle reaches the third tilt angle c, i.e., within the third tilt angle range [c, 90°], it indicates that the previous operation by the floating platform control system to adjust the attitude of the floating platform according to the attitude adjustment command failed to reduce the tilt degree of the floating platform. At this time, the control system displays alarm information and mode switching reminder information on the host computer, and closes the target valve and target water pump, i.e., stops all water injection and drainage, to avoid further impact on the center of gravity of the floating platform. At the same time, it switches to manual operation mode and stands by, allowing the operator to input manual operation information on the host computer. The host computer determines the manual operation command based on the manual operation information and instructs the execution device to execute the corresponding manual operation command. This ensures that even when the attitude adjustment command fails to reduce the tilt angle of the floating platform, the operator can still manually control the floating platform to avoid excessive tilting, thus improving the reliability of the automatic floating and sinking method. When the tilt angle value is detected to be less than the first tilt angle, it indicates that the tilt angle of the floating platform has been restored to a reasonable tilting and floating range. At this time, the control system switches from manual mode to automatic mode and continues to execute lifting commands, opening the target valve and the target water pump to restore normal water injection and drainage.

[0057] In the second embodiment of this application, the tilt angle of the floating platform is monitored and corresponding measures are taken based on the different tilt angle ranges at which different tilt angle values ​​are located. In this embodiment, the tilt angle range is divided into four tilt angle ranges. When the tilt angle value is within the first tilt angle range [0, a), no attitude adjustment is performed, and the ascent and descent continue. When the tilt angle value is within the second tilt angle range [a, b), which already has a certain degree of tilt, no attitude adjustment is performed, an alarm message is displayed, and the ascent and descent continue, thus avoiding excessively frequent attitude adjustment operations that consume a lot of energy. When the tilt angle value is within the third tilt angle range [b, c), attitude adjustment is performed. During the ascent, the drainage of the ballast tank with a smaller draft is stopped, and during the descent, the water injection of the ballast tank with a larger draft is stopped, thus achieving attitude adjustment of the floating platform. When the tilt angle value is within the fourth tilt angle range [c, 90°], all target water pumps and target valves are shut off, the system is switched to manual mode, and the attitude adjustment operation is performed by the operator. This automatic buoyancy control method provides a safety net of manual operation when the attitude adjustment command fails to achieve the attitude adjustment, thus improving the reliability of the automatic buoyancy control method in dealing with special situations.

[0058] Based on the first embodiment of this application, in the third embodiment of this application, the contents that are the same as or similar to those in the first embodiment can be referred to the above description and will not be repeated hereafter. On this basis, the floating platform includes a port side and a starboard side, which are symmetrically arranged based on the centerline of the floating platform; a port pump room is also provided inside the port side, and a starboard pump room is also provided inside the starboard side, with the port pump room and the starboard pump room communicating; both the port pump room and the starboard pump room are provided with inlets and outlets; the target pump includes a first pump body and a second pump body, the first pump body being disposed in the port pump room and the second pump body being disposed in the starboard pump room; Following step S40, the automatic buoyancy control method further includes steps S50 to S80: Step S50: During the injection and drainage process, the actuator simultaneously starts the first pump body and the second pump body; Step S60: Monitor the operating status of the first pump body and the second pump body; Step S70: When a fault is detected in one of the first pump body and the second pump body, a pump body fault alarm message is displayed, the first pump body, the second pump body and the target valve are closed, the automatic mode is interrupted and the manual confirmation information receiving state is entered. Step S80: Upon receiving the manual confirmation information, the automatic mode is restored and the lifting command and circuit adjustment command are executed.

[0059] It should be noted that the pump body fault alarm information can include the code of the faulty pump body, such as whether pump body number one or pump body number two has failed; it can also include a series of information such as the time of the pump body failure and the type of pump body failure. The specific pump body fault alarm information can be preset on the host computer according to actual needs, which will not be elaborated here.

[0060] In this embodiment, to address the issue of inability to properly pump water and raise / lower the floating platform due to a single pump failure, the floating platform is equipped with a first pump body and a second pump body in the left and right pump compartments, respectively. This allows the other pump body to serve as a backup pump for normal water pumping when a single pump fails, thereby improving system redundancy. This automatic buoyancy control method monitors the operating status of the first and second pump bodies. When a single pump failure is detected, a pump failure alarm is displayed on the host computer, informing the operator of the pump's malfunction. Subsequently, the first and second pump bodies and the target valve are shut down, all water pumping is stopped, the automatic mode is interrupted, and a manual confirmation information receiving state is entered. Upon receiving manual confirmation from the operator, the automatic mode is restored, and raising / lowering commands and loop adjustment commands are executed.

[0061] It should be noted that the loop adjustment command can also be pre-stored in the memory of the floating platform control system. The adjustment method corresponding to the loop adjustment command will vary depending on the different injection and drainage loop designs.

[0062] For example, as an optional implementation, the injection / drainage circuit can be connected to the water inlet and outlet of the floating platform, respectively. The injection / drainage circuit is also connected to each ballast tank, and the valves in each ballast tank are connected to the injection / drainage circuit. The injection / drainage circuit is connected to the first pump body located in the left pump compartment and the second pump body located in the right pump compartment. The inlet and outlet of the first pump body are connected in parallel with a short-circuit circuit, and the inlet and outlet of the second pump body are also connected in parallel with a short-circuit circuit. Therefore, when either the first or second pump body fails, the valves at both ends of the failed pump body are closed, and the short-circuit circuit connected in parallel with the failed pump body is connected, allowing the normal pump body to bypass the failed pump body and pump water into each ballast tank. The design of this injection / drainage circuit is relatively simple, and its corresponding circuit adjustment commands are also relatively simple. For this injection / drainage circuit, the circuit adjustment commands include: closing the valves at the inlet and outlet of the failed pump body, opening the valves of the short-circuit circuit connected in parallel with the failed pump body, and opening the normal pump body. In this way, the loop can be adjusted, and then the injection and drainage operations of each ballast tank can be realized by using a single pump through the adjusted injection and drainage loop.

[0063] In another feasible implementation, the injection and drainage circuit adopts the following design scheme: The floating platform further includes connecting channels, at least six left loops, and at least six right loops; the connecting channels include a first channel, a second channel, and a transverse channel; the first channel passes through each of the left ballast tanks and the left pump compartment to pump water into and out of each of the left ballast tanks; the second channel passes through each of the right ballast tanks and the right pump compartment to pump water into and out of each of the right ballast tanks; the transverse channel passes through the left pump compartment and the right pump compartment to connect the left pump compartment and the right pump compartment; the inlet and outlet of the first pump body are connected to the six left loops; the inlet and outlet of the second pump body are connected to the six right loops; Left loop 1 connects the water inlet of the left pump chamber, the water inlet and outlet of the first pump body, and the water outlet of the left pump chamber in sequence; Left loop 2 connects the water inlet of the left pump chamber, the water inlet and outlet of the first pump body, and the first channel in sequence; Left loop 3 connects the water inlet of the left pump chamber, the water inlet and outlet of the first pump body, and the transverse channel in sequence; Left loop 4 connects the water outlet of the left pump chamber, the water inlet and outlet of the first pump body, and the first channel in sequence; Left loop 5 connects the water outlet of the left pump chamber, the water inlet and outlet of the first pump body, and the transverse channel in sequence; Left loop 6 connects the first channel and the transverse channel in sequence. Right loop number one connects the water inlet of the right pump compartment, the water inlet and outlet of the second pump body, and the water outlet of the right pump compartment in sequence; right loop number two connects the water inlet of the right pump compartment, the water inlet and outlet of the second pump body, and the second channel in sequence; right loop number three connects the water inlet of the right pump compartment, the water inlet and outlet of the second pump body, and the transverse channel in sequence; right loop number four connects the water outlet of the right pump compartment, the water inlet and outlet of the second pump body, and the second channel in sequence; right loop number five connects the water outlet of the right pump compartment, the water inlet and outlet of the second pump body, and the transverse channel in sequence; right loop number six connects the second channel and the transverse channel in sequence. Each of the left and right loops is equipped with a valve.

[0064] In this embodiment, the different loops play different roles: For each left loop, the first left loop is used to enable the first pump body to pump external water into the pump body and then discharge it to the outside until the predetermined operating power is reached. The function of the first left loop is to connect with other left loops after the first pump body reaches the predetermined operating power, thereby ensuring the control accuracy of the injection and discharge volume; the second left loop is used to transport external water to each left ballast tank; the third left loop is used to transport external water to the transverse passage to pump water to the starboard ballast tank; the fourth left loop is used to discharge water inside the left ballast tank to the outside; the fifth left loop is used to discharge water inside the starboard ballast tank to the outside of the floating platform through the transverse passage; the sixth left loop is used to receive external water from the starboard side through the transverse passage when the first pump body located on the port side fails, and can also be used to use the second pump body located on the starboard side to transport water from the left ballast tank to the starboard side for drainage. Similarly, for each right loop, since the left and right loops are actually symmetrically arranged, the functions of left and right loops with the same serial number are similar, and will not be elaborated further here. In this embodiment, because multiple left loops and multiple right loops are provided, and each left loop and each right loop has different functions and roles, a more precise control effect can be achieved.

[0065] Corresponding to the above-described injection / drainage circuit implementation method, when the first pump body malfunctions, in step S80, the circuit adjustment command includes: Close all left loops and all right loops; During the descent process, when a malfunction of the first pump body is detected, the No. 1 right loop and the second pump body are activated so that the second pump body draws external water into the No. 1 right loop and discharges it. The operating status of the second pump body is monitored. When the second pump body is operating normally, the No. 1 right loop is closed and the No. 2 right loop, the No. 3 right loop, and the No. 6 left loop are activated so that the external water source flows in from the inlet of the right pump chamber. After flowing through the second pump body, part of the external water source flows to the second channel and into the right ballast tank, and the other part of the external water source flows to the transverse channel and the first channel and into the left ballast tank. During the ascent, if a malfunction of the first pump is detected, the No. 1 right loop and the second pump are activated so that the second pump draws external water into the No. 1 right loop and discharges it. The operating status of the second pump is monitored. When the second pump is operating normally, the No. 1 right loop is closed, and the No. 4 right loop, the No. 5 right loop, and the No. 6 left loop are activated so that the water in the right ballast tank flows to the second channel, flows through the second pump, and is discharged to the outside from the drain outlet of the right pump tank. The water in the left ballast tank flows to the first channel, the No. 6 left loop, and the transverse channel, flows through the No. 5 right loop and the second pump, and is discharged to the outside from the drain outlet of the right pump tank.

[0066] Thus, when the monitoring device of the floating platform control system detects a failure in the first pump, it can make different loop adjustments for the two processes of rising and sinking, so that when the first pump fails, the second pump can perform injection and drainage of the left and right ballast tanks.

[0067] Corresponding to the above-described injection / drainage circuit implementation method, when the second pump body malfunctions, in step S80, the circuit adjustment command further includes: During the descent process, when a malfunction of the second pump body is detected, the first left loop and the first pump body are opened so that the first pump body draws external water into the first left loop and discharges it. The operating status of the first pump body is monitored. When the first pump body is operating normally, the first left loop is closed and the second left loop, the third left loop, and the sixth right loop are opened so that the external water source flows in from the inlet of the left pump chamber. After flowing through the first pump body, part of the external water source flows to the first channel and into the left ballast tank, and the other part of the external water source flows to the transverse channel and the second channel and into the right ballast tank. During the ascent, if a malfunction of the second pump is detected, the first left loop and the first pump are activated so that the first pump draws external water into the first left loop and discharges it. The operating status of the first pump is monitored. When the first pump is operating normally, the first left loop is closed, and the fourth left loop, the fifth left loop, and the sixth right loop are activated so that the water in the left ballast tank flows to the first channel, flows through the first pump, and is discharged to the outside from the drain outlet of the left pump tank. The water in the right ballast tank flows to the second channel, the sixth right loop, and the transverse channel, flows through the fifth left loop and the first pump, and is discharged to the outside from the drain outlet of the left pump tank.

[0068] Thus, when the monitoring device of the floating platform control system detects a failure in the second pump, it can make different loop adjustments for the two processes of rising and sinking, so that when the second pump fails, the first pump can still pump water into and out of the left and right ballast tanks.

[0069] In the third embodiment of this application, a specific solution for handling a single pump failure during the lifting process is designed. This embodiment features a first pump in the left pump compartment and a second pump in the right pump compartment. When a single pump fails, the other pump can serve as a backup, ensuring normal injection and drainage of the left and right ballast tanks, thus improving system redundancy. Furthermore, the injection and drainage circuits are designed with six left circuits, six right circuits, and connecting channels to achieve injection and drainage under normal conditions, as well as circuit adjustment and injection / drainage in case of a single pump failure, thereby ensuring the reliability of the floating platform's lifting function under different circumstances.

[0070] This application also provides an automatic buoyancy control device; please refer to [reference needed]. Figure 2 The automatic buoyancy control device includes: The lifting module 10 is used to switch to automatic mode when a lifting request is received, execute the corresponding lifting command, and open the target water pump and target valve to inject and drain the corresponding ballast tank so as to lift the floating platform. The monitoring module 20 is used to monitor the tilt angle and depth of the floating platform during its lifting and lowering process. The attitude adjustment module 30 is used to execute corresponding attitude adjustment commands based on the different tilt angle ranges to which the tilt angle information belongs; The termination module 40 is used to execute a lifting end command when the depth of the floating platform reaches a preset depth value, thereby shutting down the target water pump and the target valve and completing the lifting operation of the floating platform.

[0071] The automatic sinking and floating control device provided in this application, employing the automatic sinking and floating control method in the above embodiments, can solve the technical problem of poor stability during the sinking and floating process of floating platforms, and the tendency to tilt during water injection and drainage. Compared with the prior art, the beneficial effects of the automatic sinking and floating control device provided in this application are the same as those of the automatic sinking and floating control method provided in the above embodiments, and other technical features in the automatic sinking and floating control device are the same as those disclosed in the methods of the above embodiments, and will not be repeated here.

[0072] This application provides a floating platform control system, which includes: a host computer, a monitoring device, and an execution device. The host computer is communicatively connected to the monitoring device and the execution device. The host computer includes at least one processor and a memory communicatively connected to the at least one processor. The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to execute the automatic buoyancy control method in Embodiment 1 above.

[0073] The following is for reference. Figure 3 The diagram illustrates a structural schematic suitable for implementing a floating platform control system according to embodiments of this application. The floating platform control system in these embodiments may include, but is not limited to, devices such as floating aquaculture cages, floating aquaculture platforms, etc., equipped with a host computer 100, a monitoring device 200, and an execution device 300. Figure 3 The floating platform control system shown is merely an example and should not impose any limitations on the functionality and scope of use of the embodiments of this application.

[0074] like Figure 4 As shown, the host computer 100 of the floating platform control system may include a processing unit 1001 (e.g., a central processing unit, a graphics processing unit, etc.), which can perform various appropriate actions and processes according to the program stored in the read-only memory (ROM) 1002 or the program loaded from the storage device 1003 into the random access memory (RAM) 1004. The RAM 1004 also stores various programs and data required for the operation of the floating platform control system. The processing unit 1001, ROM 1002, and RAM 1004 are interconnected via a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Typically, the following systems can be connected to I / O interface 1006: input devices 1007 including, for example, touchscreens, touchpads, keyboards, mice, image sensors, microphones, accelerometers, gyroscopes, etc.; output devices 1008 including, for example, liquid crystal displays (LCDs), speakers, vibrators, etc.; storage devices 1003 including, for example, magnetic tapes, hard disks, etc.; and communication devices 1009. Communication device 1009 allows the floating platform control system to communicate wirelessly or wiredly with other devices to exchange data. Although a floating platform control system with various systems is shown in the figure, it should be understood that it is not required to implement or possess all the systems shown. More or fewer systems may be implemented alternatively.

[0075] Specifically, according to the embodiments disclosed in this application, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments disclosed in this application include a computer program product comprising a computer program carried on a computer-readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via a communication device, or installed from storage device 1003, or installed from ROM 1002. When the computer program is executed by processing device 1001, it performs the functions defined in the methods of the embodiments disclosed in this application.

[0076] The floating platform control system provided in this application employs the automatic sinking and floating control method described in the above embodiments, which can solve the technical problem of poor stability during the sinking and floating process of the floating platform and the tendency to tilt during water injection and drainage. Compared with the prior art, the beneficial effects of the floating platform control system provided in this application are the same as those of the automatic sinking and floating control method provided in the above embodiments, and other technical features in this floating platform control system are the same as those disclosed in the previous embodiment method, and will not be repeated here.

[0077] It should be understood that the various parts disclosed in this application can be implemented using hardware, software, firmware, or a combination thereof. In the description of the above embodiments, specific features, structures, materials, or characteristics can be combined in any suitable manner in one or more embodiments or examples.

[0078] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

[0079] This application provides a computer-readable storage medium having computer-readable program instructions (i.e., a computer program) stored thereon, the computer-readable program instructions being used to execute the automatic buoyancy control method in the above embodiments.

[0080] The computer-readable storage medium provided in this application may be, for example, a USB flash drive, but is not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices, or any combination thereof. More specific examples of computer-readable storage media may include, but are not limited to: electrical connections having one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof. In this embodiment, the computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, system, or device. The program code contained on the computer-readable storage medium may be transmitted using any suitable medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination thereof.

[0081] The aforementioned computer-readable storage medium may be included in the floating platform control system; or it may exist independently and not be assembled into the floating platform control system.

[0082] The aforementioned computer-readable storage medium carries one or more programs. When these programs are executed by the floating platform control system, the floating platform control system: upon receiving a lifting request, switches to automatic mode, executes the corresponding lifting command, and activates the target water pump and target valve to pump water into and out of the corresponding ballast tanks, thereby lifting or lowering the floating platform; during the lifting or lowering process, monitors the tilt angle information and depth of the floating platform; executes corresponding attitude adjustment commands based on different tilt angle ranges to which the tilt angle information belongs; and when the depth of the floating platform reaches a preset depth value, executes a lifting / lowering end command, closes the target water pump and the target valve, and completes the lifting or lowering operation of the floating platform.

[0083] Computer program code for performing the operations of this application can be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, and C++, and conventional procedural programming languages ​​such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network—including a Local Area Network (LAN) or a Wide Area Network (WAN)—or can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0084] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0085] The modules described in the embodiments of this application can be implemented in software or hardware. The names of the modules do not necessarily limit the functionality of the unit itself.

[0086] The readable storage medium provided in this application is a computer-readable storage medium that stores computer-readable program instructions (i.e., a computer program) for executing the above-described automatic buoyancy control method. This solves the technical problem of poor stability during the buoyancy process of floating platforms and their tendency to tilt during water injection and drainage. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided in this application are the same as those of the automatic buoyancy control method provided in the above embodiments, and will not be repeated here.

[0087] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the steps of the automatic buoyancy control method described above.

[0088] The computer program product provided in this application can solve the technical problem of poor stability during the floating and sinking process of floating platforms, and the tendency to tilt during water injection and drainage. Compared with the prior art, the beneficial effects of the computer program product provided in this application are the same as those of the automatic floating and sinking control method provided in the above embodiments, and will not be repeated here.

[0089] The above description is only a part of the embodiments of this application and does not limit the patent scope of this application. All equivalent structural transformations made under the technical concept of this application and using the contents of the specification and drawings of this application, or direct / indirect applications in other related technical fields, are included in the patent protection scope of this application.

Claims

1. An automatic buoyancy control method, characterized in that, This invention is applied to floating platforms, which are equipped with multiple ballast tanks. The floating platform includes a port side and a starboard side, which are symmetrically arranged based on the centerline of the floating platform. A port pump room is also provided inside the port side, and a starboard pump room is also provided inside the starboard side. The port pump room and the starboard pump room are connected by a transverse passage. Both the port pump room and the starboard pump room are provided with inlets and outlets. The automatic buoyancy control method includes: When a lifting request is received, the system switches to automatic mode, executes the corresponding lifting command, and activates the target water pump and target valve to fill and drain the corresponding ballast tanks, thereby enabling the floating platform to lift and lower. The target water pump includes a first pump body located in the left pump compartment and a second pump body located in the right pump compartment. During the raising and lowering of the floating platform, the tilt angle and depth of the floating platform are monitored. When the tilt angle value in the tilt angle information is less than the first tilt angle, the lifting command is continued to be executed so that the floating platform continues to perform the current lifting operation; When the tilt angle value reaches the first tilt angle and is less than the second tilt angle, an alarm message is displayed and the lifting command is continued to be executed so that the floating platform continues to perform the current lifting operation. When the tilt angle reaches the second tilt angle but is less than the third tilt angle, an alarm message is displayed, and the levitation command and attitude adjustment command are executed in parallel; wherein, the attitude adjustment command includes an surfacing attitude adjustment command and a sinking attitude adjustment command; the surfacing attitude adjustment command includes stopping the drainage of the ballast tank with a smaller draft; the sinking attitude adjustment command includes stopping the injection of water into the ballast tank with a larger draft; When the tilt angle value becomes less than the first tilt angle, the execution of the attitude adjustment command is stopped, and the injection and drainage of the ballast tank is resumed. When the tilt angle value reaches the third tilt angle, an alarm message and a mode switching reminder message are displayed, the target valve and the target water pump are closed, the manual operation mode is switched and the system is put into standby mode. Upon receiving a manual operation request, the corresponding manual operation instruction will be executed. When the tilt angle becomes less than the first tilt angle, switch to the automatic mode and continue to execute the lifting command, open the target valve and the target water pump, and restore the injection and drainage of the ballast tank; When the floating platform reaches a preset depth, a lifting end command is executed to shut down the target water pump and the target valve, thus completing the lifting operation of the floating platform. The automatic buoyancy control method also includes: During the injection and drainage process, the actuator simultaneously starts the first pump body and the second pump body; Monitor the operating status of the first pump body and the second pump body; When a fault is detected in either the first pump body or the second pump body, a pump body fault alarm message is displayed, the first pump body, the second pump body, and the target valve are closed, the automatic mode is interrupted, and the manual confirmation information receiving state is entered. Upon receiving the manual confirmation information, the automatic mode is restored, and the corresponding circuit adjustment command is executed according to the faulty pump and the current lifting direction, so as to use the non-faulty pump to simultaneously fill and drain the ballast tanks on the left and right sides.

2. The method as described in claim 1, characterized in that, The floating platform also includes connecting channels, at least six left loops and at least six right loops; The connecting channel includes a first channel, a second channel, and a transverse channel; the first channel passes through each left ballast tank and the left pump compartment to inject or drain water into each left ballast tank; the second channel passes through each right ballast tank and the right pump compartment to inject or drain water into each right ballast tank; the transverse channel passes through the left pump compartment and the right pump compartment to connect the left pump compartment and the right pump compartment. The inlet and outlet of the first pump body are connected to six left circuits; the inlet and outlet of the second pump body are connected to six right circuits. Left loop 1 connects the water inlet of the left pump chamber, the water inlet and outlet of the first pump body, and the water outlet of the left pump chamber in sequence; Left loop 2 connects the water inlet of the left pump chamber, the water inlet and outlet of the first pump body, and the first channel in sequence; Left loop 3 connects the water inlet of the left pump chamber, the water inlet and outlet of the first pump body, and the transverse channel in sequence; Left loop 4 connects the water outlet of the left pump chamber, the water inlet and outlet of the first pump body, and the first channel in sequence; Left loop 5 connects the water outlet of the left pump chamber, the water inlet and outlet of the first pump body, and the transverse channel in sequence; Left loop 6 connects the first channel and the transverse channel in sequence. Right loop number one connects the water inlet of the right pump compartment, the water inlet and outlet of the second pump body, and the water outlet of the right pump compartment in sequence; right loop number two connects the water inlet of the right pump compartment, the water inlet and outlet of the second pump body, and the second channel in sequence; right loop number three connects the water inlet of the right pump compartment, the water inlet and outlet of the second pump body, and the transverse channel in sequence; right loop number four connects the water outlet of the right pump compartment, the water inlet and outlet of the second pump body, and the second channel in sequence; right loop number five connects the water outlet of the right pump compartment, the water inlet and outlet of the second pump body, and the transverse channel in sequence; right loop number six connects the second channel and the transverse channel in sequence. Each of the left and right loops is equipped with a valve.

3. The method as described in claim 2, characterized in that, The loop adjustment command includes: Close all left loops and all right loops; During the descent process, when a malfunction of the first pump body is detected, the No. 1 right loop and the second pump body are activated so that the second pump body draws external water into the No. 1 right loop and discharges it. The operating status of the second pump body is monitored. When the second pump body is operating normally, the No. 1 right loop is closed and the No. 2 right loop, the No. 3 right loop, and the No. 6 left loop are activated so that the external water source flows in from the inlet of the right pump chamber. After flowing through the second pump body, part of the external water source flows to the second channel and into the right ballast tank, and the other part of the external water source flows to the transverse channel and the first channel and into the left ballast tank. During the ascent, if a malfunction of the first pump is detected, the No. 1 right loop and the second pump are activated so that the second pump draws external water into the No. 1 right loop and discharges it. The operating status of the second pump is monitored. When the second pump is operating normally, the No. 1 right loop is closed, and the No. 4 right loop, the No. 5 right loop, and the No. 6 left loop are activated so that the water in the right ballast tank flows to the second channel, flows through the second pump, and is discharged to the outside from the drain outlet of the right pump tank. The water in the left ballast tank flows to the first channel, the No. 6 left loop, and the transverse channel, flows through the No. 5 right loop and the second pump, and is discharged to the outside from the drain outlet of the right pump tank.

4. The method as described in claim 3, characterized in that, The circuit adjustment command also includes: During the descent process, when a malfunction of the second pump body is detected, the first left loop and the first pump body are opened so that the first pump body draws external water into the first left loop and discharges it. The operating status of the first pump body is monitored. When the first pump body is operating normally, the first left loop is closed and the second left loop, the third left loop, and the sixth right loop are opened so that the external water source flows in from the inlet of the left pump chamber. After flowing through the first pump body, part of the external water source flows to the first channel and into the left ballast tank, and the other part of the external water source flows to the transverse channel and the second channel and into the right ballast tank. During the ascent, if a malfunction of the second pump is detected, the first left loop and the first pump are activated so that the first pump draws external water into the first left loop and discharges it. The operating status of the first pump is monitored. When the first pump is operating normally, the first left loop is closed, and the fourth left loop, the fifth left loop, and the sixth right loop are activated so that the water in the left ballast tank flows to the first channel, flows through the first pump, and is discharged to the outside from the drain outlet of the left pump tank. The water in the right ballast tank flows to the second channel, the sixth right loop, and the transverse channel, flows through the fifth left loop and the first pump, and is discharged to the outside from the drain outlet of the left pump tank.

5. A floating platform control system, characterized in that, The floating platform control system includes: a host computer, a monitoring device, and an execution device, wherein the host computer is communicatively connected to the monitoring device and the execution device; The host computer includes a memory, a processor, and a computer program stored in the memory and executable on the processor, the computer program being configured to implement the steps of the automatic buoyancy control method as described in any one of claims 1 to 4.

6. A computer program product, characterized in that, The computer program product includes a computer program that, when executed by a processor, implements the steps of the automatic buoyancy control method as described in any one of claims 1 to 4.

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