Self-adaptive dragging control method and device for underwater ditching operation and medium

Abstract

The invention relates to a self-adaptive dragging control method and device for underwater ditching operation and a medium. According to the scheme, firstly, a ditching depth requirement is received, an oil cylinder length instruction is generated, and an oil cylinder is adjusted to the corresponding length; the angle of the formed triangle is calculated according to the length of the oil cylinder, the position of the sliding shoe fulcrum in the coordinate system is calculated, the included angle between the connecting line of the fulcrums and the coordinate axis is determined, and the seabed slope angle is calculated. And deducing an expected dragging angle at the end of the ditching plough by using the slope angle. Calculating the towing angle of the mother ship end by combining the parameters of the towing cable, the ditching depth and the expected angle, and adjusting the position of the mother ship to keep a preset distance. Finally, according to the horizontal distance and the dragging angle, the cable laying length of the dragging winch is calculated and adjusted, it is ensured that the dragging cable and the ditching plough are in the optimal working state, and therefore the winch load is reduced, and safety is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of underwater trenching operations, and in particular to an adaptive dragging control method, equipment and medium for underwater trenching operations. Background Art

[0002] In underwater trenching projects, trenching plows are used as a major trenching equipment, which are towed by a mother ship to dig trenches on the seabed. Due to the complex underwater environment, the trenching plow itself does not have the ability to move on its own. During operation, the mother ship needs to control the towing cable through a towing winch, and use the towing force to make the trenching plow move along a predetermined trajectory. However, since the towing cable has a large weight and needs to maintain a specific catenary shape during operation to ensure the stable towing effect of the trenching plow, high requirements are placed on the control of the towing cable configuration.

[0003] In the prior art, the configuration of the towing cable is affected by many factors, including the strength of the seabed, the pulling force required for the trenching plow, the relative position between the mother ship and the trenching plow, the water depth, the weight of the towing cable itself, etc. In the actual operation process, the operator needs to continuously adjust the position of the mother ship and the length of the towing cable according to the changes in the seabed environment and the trenching requirements to ensure that the trenching plow can remain stable in the target trench. This control method is highly dependent on the experience of the operator, and the operation is difficult and the accuracy is difficult to guarantee. Especially in deep-sea operations with complex terrain, the trenching plow may be affected by uneven tension, resulting in the work effect being difficult to achieve the expected results. At the same time, an inappropriate towing cable laying length may cause entanglement between the towing cable and the trenching plow, damaging the equipment; or the towing cable may be dragged on the seabed, increasing the load on the winch, and may even damage facilities such as submarine optical cables, affecting the safety and reliability of the entire operation system. Summary of the invention

[0004] The present invention provides an adaptive towing control method, device and medium for underwater trenching operations, which aims to solve the problems of insufficient control accuracy of towing cable configuration and towing force, great operating difficulty and low operating efficiency in underwater trenching operations.

[0005] To achieve the above object, the first aspect of the present invention provides an adaptive drag control method for underwater trenching operation, comprising the following steps:

[0006] Receiving trenching depth requirements and generating corresponding cylinder length instructions; adjusting the cylinder to the instruction length according to the length instructions;

[0007] According to the adjusted cylinder length, the triangle angle formed by the cylinder is calculated through geometric relationship;

[0008] Using the triangle angle, the coordinate position of the sliding shoe support point in the trenching plough coordinate system is calculated;

[0009] According to the coordinate position of the sliding shoe support point, the angle between the sliding shoe support point connection line and the coordinate axis is calculated to determine the direction of the connection line in the trenching plow coordinate system;

[0010] Calculate the current seabed slope angle based on the direction of the connecting line in the trenching plough coordinate system;

[0011] Using the calculated seafloor slope angle, derive the desired trenching plow end towing cable towing angle;

[0012] Calculate the towing angle of the towing cable corresponding to the mother ship end by combining the towing cable parameters, the trenching plow depth and the desired towing angle of the towing cable at the trenching plow end;

[0013] According to the towing angle of the towing cable at the mother ship end, the position of the mother ship is adjusted to keep a preset horizontal distance between the mother ship and the trenching plow;

[0014] Based on the required horizontal distance and towing angle, the cable length of the towing winch is calculated and adjusted to complete the configuration of the towing cable.

[0015] Further, the method of calculating the angle of the triangle formed by the oil cylinder through geometric relationship includes:

[0016] A trenching plow coordinate system is defined, wherein the trenching plow coordinate system is related to the earth coordinate system, and geometric parameters of the trenching plow are obtained according to the trenching plow coordinate system, including the position of the sliding shoe fulcrum and the installation position of the oil cylinder;

[0017] Receive the cylinder length instruction provided by the operator and obtain the current length of the cylinder;

[0018] According to the position of the sliding shoe support point, the current length of the oil cylinder and its installation position, the triangle cosine theorem is used to calculate the angle of the triangle formed by the connecting support points of the oil cylinder and the trenching plow body.

[0019] Furthermore, the calculation formula for the triangle angle formed by the oil cylinder is as follows:

[0020]

[0021]

[0022] Among them, β1 and β2 represent the corresponding angles of the two angles formed by the sliding shoe pivot, the cylinder, and the trenching plow, l AB Indicates the length of the two rotatable connection points of the cylinder AB, l OB Represents the coordinate system O b The distance from point to the cylinder fulcrum B, l OA Represents the coordinate system O b The distance from point A to the cylinder fulcrum, O bIndicates the connection point between the front and rear sliding shoes of the trenching plow and the trenching plow body, l CD Represents the length of the two rotatable connecting masses of the cylinder DC, l OC Represents the coordinate system O b The distance from point to the cylinder mass C, l OD Represents the coordinate system O b The distance from point to the cylinder mass D.

[0023] Furthermore, the coordinates of the sliding shoe support point in the trenching plow coordinate system are calculated as follows:

[0024]

[0025]

[0026]

[0027]

[0028] Among them, E and F are the sliding shoe pivots, represents the x coordinate of the sliding shoe support point E in the trenching plow coordinate system, represents the y coordinate of the sliding shoe support point E in the trenching plow coordinate system, represents the x coordinate of the sliding shoe support point F in the trenching plow coordinate system, represents the y coordinate of the sliding shoe support F in the trenching plow coordinate system, α1 and α2 represent the mounting positions of the support points A and D on the trenching plow body with the cylinders AB and DC and O b Connect with x b The angle between the coordinate axes.

[0029] Furthermore, the angle between the line connecting the sliding shoe pivot points and the coordinate axis is calculated by the following formula:

[0030]

[0031] in, is the angle between the line connecting the sliding shoe pivot points and the coordinate axis;

[0032] The current seafloor slope angle is calculated as follows:

[0033]

[0034] in, is the current seafloor slope angle, The pitch angle of the trenching plow;

[0035] The calculation formula for the desired towing cable towing angle corresponding to the trenching plow tip is as follows:

[0036]

[0037] in, The drag angle of the towing cable corresponding to the desired trenching plow end.

[0038] Furthermore, the calculation method of the towing angle of the towing cable corresponding to the mother ship end includes:

[0039] Define the point where the towing cable is connected to the trenching plow as the origin of the earth coordinate system;

[0040] The towing cable is considered to be composed of multiple small cable segments, and each small cable segment is expressed in the earth coordinate system;

[0041] According to the known conditions, the forces on each small cable segment in the normal direction and tangent direction of the towing cable are calculated respectively; the force equation is simplified while ignoring the influence of water on the towing cable;

[0042] Divide the two sides of the simplified force equation and integrate them to obtain the relationship between the tension and angle of the towing cable;

[0043] The desired towing angle of the towing cable corresponding to the trenching plow end and the current tension of the towing cable are substituted into the tension-angle relationship of the towing cable, and the towing angle of the towing cable corresponding to the mother ship end is obtained by integral calculation.

[0044] Furthermore, the calculation formula of the towing angle of the towing cable corresponding to the mother ship end is as follows:

[0045]

[0046] Among them, y n is the current depth of the trenching plow, y0 indicates that the y coordinate is at the origin of the earth coordinate system, is the drag angle, is the current seafloor slope angle, is the towing angle of the towing cable corresponding to the desired trenching plow end, T0 is the corresponding force between the towing rope and the trenching plow, ω is the water weight per unit length of the towing cable unit, The towing cable angle for the tension on the towing cable unit.

[0047] Furthermore, the calculation formula for the cable length of the towing winch is as follows:

[0048]

[0049] Among them, s n It represents the length of the towing cable between the nth point and the zeroth point, and s0 is the length of the towing cable at the zeroth point.

[0050] To achieve the above-mentioned purpose, the second aspect of the present invention provides an electronic device, including a memory and a processor, wherein the memory is used to store a program that supports the processor to execute the adaptive towing control method for underwater trenching operations, and the processor is configured to execute the program stored in the memory.

[0051] To achieve the above objectives, the third aspect of the present invention provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the adaptive towing control method for underwater trenching operations are executed.

[0052] Beneficial effects of the present invention:

[0053] Compared with the prior art, the present invention provides an adaptive towing control method, device and medium for underwater trenching operations. By establishing a mathematical model of the towing cable, combined with factors such as the seabed slope, the towing force required for the trenching plow, the water depth, and the characteristics of the towing cable, the laying length of the towing cable and the relative position of the mother ship and the trenching plow are adaptively calculated, so that the position of the mother ship and the laying length of the towing winch are adjusted in real time during the operation. By generating a cylinder length instruction, the cylinder angle is controlled to accurately calculate the position and posture of the trenching plow, and the current seabed slope angle and the expected towing angle are calculated, so that the towing cable is always in the optimal configuration state. This method effectively solves the problem of insufficient accuracy of towing cable configuration and towing force control in the prior art, reduces the difficulty of operation, reduces the risk of equipment damage, and thus improves the safety and efficiency of underwater trenching operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments.

[0055] Figure 1 It is a structural diagram of constructing an earth coordinate system disclosed in an embodiment of the present invention.

[0056] Figure 2 It is a force diagram of each small section of towing cable disclosed in an embodiment of the present invention.

[0057] Figure 3 It is a structural diagram of a trenching plow coordinate system disclosed in an embodiment of the present invention.

[0058] Figure 4 It is a framework diagram of a collaborative control system for underwater trenching operations disclosed in an embodiment of the present invention.

[0059] Figure 5 It is a flow chart of an adaptive drag control method for underwater trenching operations disclosed in an embodiment of the present invention. DETAILED DESCRIPTION

[0060] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application. Instead, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0061] It should be noted that the brief description of terms in this application is only for the convenience of understanding the embodiments described below, and is not intended to limit the embodiments of this application. Unless otherwise specified, these terms should be understood according to their common and usual meanings.

[0062] In actual applications, the length and angle of the towing cable need to be adjusted according to many factors, such as the slope of the seabed, the drag force of the trenching plow, the depth of the water, etc. In most cases, operators can only rely on experience to judge the length and drag angle of the towing cable. But sometimes problems will arise if the judgment is not accurate. For example, the towing cable may get entangled in the trenching plow, or it may be dragged too low and rub against the seabed, or even damage the optical cable (if the optical cable is to be buried), and it will make the towing cable equipment work more strenuous.

[0063] The present invention provides an adaptive drag control method for underwater trenching operation. First, Figure 1 As shown, the earth coordinate system O is defined e -X e Y e Z e , assuming that the origin of the current earth coordinate system is at the place where the towing cable and the trenching plow are connected. When the submarine trenching plow is operated, the mother ship needs to tow the towing winch and the towing cable to perform the towing operation.

[0064] The towing cable is considered to be composed of N small cable segments, where (y0, x0) is the point where the towing cable is connected to the trenching plow; this point is exactly the origin of the earth coordinate system, (y N ,x N ) is the point where the towing cable is connected to the mother ship in the earth coordinate system; (y n ,x n ) is the expression of the nth small cable segment on the towing cable in the earth coordinate system. In order to calculate the configuration of the towing cable, the force and deformation of each small towing cable segment are expressed as follows Figure 2 shown.

[0065] Where D and F represent the fluid forces in the vertical and tangential directions of the towing cable unit, respectively. The tension at the lower end of the towing cable unit is T. The angle between the towing cable unit and the horizontal direction is is the towing cable angle, dT and are the small increments of the tension and angle of the towing cable unit between the nth point and the n+1th point, ds is the length of the towing cable unit, ω is defined as the weight per unit length of the towing cable unit, x and y are the positions of the lower end of the towing cable unit in the earth coordinate system, dx and dy are the small increments of the upper end of the towing cable unit relative to its lower end in the earth coordinate system. The fluid pressure at the upper and lower ends of the towing cable is given by ρgA(hx-dx) and ρgA(hx), where ρ is the fluid density, g is the gravity of the towing cable unit, A is the cross-sectional area of ​​the towing cable unit, and h is the water depth corresponding to the origin of the earth coordinate system defined above.

[0066] Along the normal direction of the towing cable:

[0067]

[0068] In formula (1), T is the tension of the towing cable, The towing cable angles of the upper and lower ends of the towing cable unit ρ is the fluid density, g is the gravity of the towing cable unit, A is the cross-sectional area of ​​the towing cable unit, h is the water depth corresponding to the origin of the earth coordinate system, and x is the distance from the lower end of the towing cable unit to the earth coordinate system. e The component in the axial direction, ω is the weight per unit length of the towing cable unit, and D represents the fluid force in the direction perpendicular to the towing cable unit.

[0069] Along the towing cable tangent direction:

[0070]

[0071] In formula (2), dT is the small increment ds of the tension on the towing cable unit, and F represents the fluid force along the tangent direction of the towing cable unit.

[0072] To simplify the representation of Equation 1 and Equation 2, let T * =T-ρgA(hx), we have:

[0073]

[0074] Among them, T * is the intermediate variable defined, dT * is a tiny component of the defined intermediate variable.

[0075] Since the towing cable is usually a steel cable, the cable is heavy, and the cable-laying ship is usually slow during operation, so the corresponding water force can be approximately ignored. Therefore, the above equation can be simplified to the following form:

[0076]

[0077] Dividing both sides of the above equation and integrating it yields:

[0078]

[0079] In the formula Indicates cable T * At the origin of the earth coordinate system x = 0, T0 is the pulling force of the towing cable on the trenching plow, is the towing angle at the connection between the towing cable and the trenching plough, and are T corresponding to the towing cable at the nth point * value and drag angle.

[0080] therefore:

[0081]

[0082] Substituting equation (7) into equation (4) we can obtain:

[0083]

[0084] After integrating both sides, we get:

[0085]

[0086] Where s n represents the length of the towing cable between the nth point and the zeroth point, s0 is the length of the towing cable at the zeroth point, so s0=0.

[0087] Will Substituting into equation (8), and then integrating, we get:

[0088]

[0089] Where x n and x0 represent the tow cable point n and zero point in the earth coordinate system X e The component of the axis, according to the definition of the earth coordinate system, x0 = 0, formula (10) shows that the horizontal relative position relationship between the mother ship and the trenching plow is n -x0 and the drag force T0 and drag angle acting on the trenching plow and Maintain strict computational relationships.

[0090] Will Substituting into equation (8), and then integrating, we get:

[0091]

[0092] Where y n and y0 represent the Y coordinates of the tow cable point n and the zero point in the earth coordinate system respectively.e The component of the axis, according to the definition of the earth coordinate system, we know that y0=0.

[0093] According to the previous coordinate system definition, we know that y0 = 0, x0 = 0, s0 = 0, so y n It can also be expressed as the current depth of the trenching plow. Therefore, according to this formula, as long as the towing angle of the towing cable at the end of the trenching plow is known, The towing angle of the towing cable at the mother ship end can be calculated by the current towing cable tension T0 on the trenching plow.

[0094] In order to calculate the trenching plow slope angle in real time, it is necessary to define Figure 3 The trenching plough coordinate system O b -X b Y b Z b and the geometric relationship of the trenching plow motion mechanism, assuming that Z b and Z e The direction is the same and perpendicular to the schematic diagram, where O b Indicates the distance between the front and rear sliding shoes of the trenching plow b B and O b F is the connection point between the main body of the trenching plow, A and B are the two rotatable connection points of the oil cylinder AB; D and C are the two rotatable connection points of the oil cylinder DC; β1 and β2 are the two angles ∠AO formed by the sliding shoe bracket, the oil cylinder, and the trenching plow. b B and ∠DO b C; α1 and α2 represent the angles corresponding to the mounting points A and D of the cylinders AB and DC on the trenching plow body and O b The angle between the connecting line and the coordinate axis; Represents X b Coordinate axis and Earth coordinate axis X e The angle between them is the pitch angle of the trenching plow; Indicates the line connecting the sliding shoe E and F and X e The angle between the axes is the slope angle of the seabed where the trenching plow is currently located.

[0095] According to the triangular cosine formula, β1 and β2 are calculated as follows:

[0096]

[0097] Among them, β1 and β2 represent the corresponding angles of the two angles formed by the sliding shoe pivot, the cylinder, and the trenching plow, l AB Indicates the length of the two rotatable connection points of the cylinder AB, l OB Represents the coordinate system O b The distance from point to the cylinder fulcrum B, l OA Represents the coordinate system O bThe distance from point A to the cylinder fulcrum, O b Indicates the connection point between the front and rear sliding shoes of the trenching plow and the trenching plow body, l CD Represents the length of the two rotatable connecting masses of the cylinder DC, l OC Represents the coordinate system O b The distance from point to the cylinder mass C, l OD Represents the coordinate system O b The distance from point to the cylinder mass D.

[0098] According to the definitions of α1 and α2, the size of the angle is only affected by the installation positions of the cylinder and the sliding shoe on the trenching plow body, so the size can be known in advance through design or measurement.

[0099] The coordinates of the sliding shoe support points E and F in the trenching plow coordinate system are calculated as follows:

[0100]

[0101] Among them, E and F are the sliding shoe pivots, represents the x coordinate of the sliding shoe support point E in the trenching plow coordinate system, represents the y coordinate of the sliding shoe support point E in the trenching plow coordinate system, represents the x coordinate of the sliding shoe support point F in the trenching plow coordinate system, represents the y coordinate of the sliding shoe support F in the trenching plow coordinate system, α1 and α2 represent the mounting positions of the support points A and D on the trenching plow body with the cylinders AB and DC and O b Connect with x b The angle between the coordinate axes.

[0102] Therefore, the line connecting the sliding shoe pivot points E and F and X can be calculated. b Angle

[0103]

[0104] Therefore, calculate the line connecting the sliding shoe pivot points E and F and X b The current seafloor slope angle is calculated as follows:

[0105]

[0106] in, is the current seafloor slope angle, Pitch angle of trenching plow.

[0107] During the towing trenching operation, it is usually hoped that the towing cable only applies a pulling force to the trencher parallel to the trencher body, that is, the traction force of the towing cable is always in the same direction as the seabed in the direction of the trenching plow:

[0108]

[0109] in, The drag angle of the towing cable corresponding to the desired trenching plow end.

[0110] like Figure 4 and Figure 5 ,The specific steps of the adaptive drag control method are as follows:

[0111] Step S100, receiving a trenching depth requirement, generating a corresponding cylinder length instruction, and adjusting the cylinder to the instruction length according to the length instruction;

[0112] Step S200, calculating the triangle angle formed by the oil cylinder according to the adjusted oil cylinder length through a geometric relationship (i.e., formula 12);

[0113] Step S300, using the triangle angle, calculate the coordinate position of the sliding shoe support in the trenching plow coordinate system according to formula (13);

[0114] Step S400, according to the coordinate position of the sliding shoe support point, the angle between the sliding shoe support point line and the coordinate axis is calculated by formula (14), and the direction of the line in the trenching plow coordinate system is determined;

[0115] Step S500, calculating the current seabed slope angle according to the direction of the connecting line in the trenching plough coordinate system according to formula (15);

[0116] Step S600, using the calculated seabed slope angle, derive the desired towing angle of the towing cable at the trenching plow end according to formula (16);

[0117] Step S700, combining the towing cable parameters, the trenching plow depth and the desired trenching plow end towing cable towing angle, and calculating the towing cable towing angle corresponding to the mother ship end according to formula (11);

[0118] Step S800: According to the towing angle of the towing cable at the mother ship end, the position of the mother ship is adjusted according to formula (10) so that a preset horizontal distance is maintained between the mother ship and the trenching plow;

[0119] Step S900: Based on the required horizontal distance and towing angle, the cable length of the towing winch is calculated and adjusted according to formula (9) to complete the configuration of the towing cable.

[0120] This technical solution proposes an adaptive control method for the underwater trenching plow towing cable based on a mathematical model, aiming to optimize the towing cable deployment length and the relative position of the mother ship during the towing operation to improve the operation efficiency and safety. By considering factors such as the seabed slope, the required towing force, the operating water depth, and the characteristics of the towing cable, the optimal towing cable deployment length and the desired horizontal relative position between the mother ship and the trenching plow are calculated. In the solution, the towing cable is regarded as multiple small sections for force analysis, and the towing angle and tension are solved using simplified equations. Combined with the motion modeling of the trenching plow, the position of the cylinder and the mother ship is dynamically adjusted through an adaptive algorithm to achieve coordinated control of the towing cable and the trenching plow.

[0121] It is understandable that through precise calculation and real-time adjustment, it is possible to ensure that the towing cable and trenching plow work in the best condition, reduce human operation errors, and improve work efficiency. By maintaining a suitable cable configuration, the load on the towing cable winch is reduced, and the risk of damage to the towing cable and trenching plow is reduced. Avoiding the towing cable from being entangled, dragged, or applying excessive stress, protects the safety of submarine optical cables and related equipment, and prolongs their service life. It can be adaptively adjusted according to different operating conditions and is suitable for changing submarine environments and construction needs.

[0122] It is understood that the embodiments described herein may be implemented in hardware, software, firmware, middleware, microcode, or a combination thereof. For hardware implementation, the processing unit may be implemented in one or more application specific integrated circuits (ASIC), digital signal processors (DSP), digital signal processing devices (DSPD), programmable logic devices (PLD), field programmable gate arrays (FPGA), general purpose processors, controllers, microcontrollers, microprocessors, other electronic units for performing the functions described in the present application, or a combination thereof.

[0123] For software implementation, the technology described herein can be implemented by a unit that performs the functions described herein. The software code can be stored in a memory and executed by a processor. The electronic device includes a memory and a processor; wherein the memory is used to store a readable program, and the readable program is loaded and executed by the processor to implement the method as described above.

[0124] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0125] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the above-described devices and units can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0126] In the embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the modules is only a logical function division. There may be other division methods in actual implementation, such as multiple modules or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or units, which can be electrical, mechanical or other forms.

[0127] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0128] If the function is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on such an understanding, the technical solution of the embodiment of the present application is essentially or the part that contributes to the prior art or the part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium, including several instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a ROM, a RAM, a magnetic disk or an optical disk. It should be noted that, in this article, the term "includes", "includes" or any other variant thereof is intended to cover non-exclusive inclusion, so that the process, method, article or device including a series of elements includes not only those elements, but also includes other elements that are not explicitly listed, or also includes elements inherent to such a process, method, article or device. In the absence of more restrictions, the elements defined by the sentence "includes one..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0129] One or more embodiments of the present application are intended to cover all such substitutions, modifications and variations that fall within the broad scope of the present application. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of one or more embodiments of the present application should be included in the protection scope of the present application.

Claims

1. An adaptive drag control method for underwater trenching operations, characterized in that: The steps include: Receiving trenching depth requirements, generating corresponding cylinder length instructions, and adjusting the cylinder to the instruction length according to the length instructions; According to the adjusted cylinder length, the triangle angle formed by the cylinder is calculated through geometric relationship; Using the triangle angle, the coordinate position of the sliding shoe support point in the trenching plough coordinate system is calculated; According to the coordinate position of the sliding shoe support point, the angle between the sliding shoe support point connection line and the coordinate axis is calculated to determine the direction of the connection line in the trenching plow coordinate system; Calculate the current seabed slope angle based on the direction of the connecting line in the trenching plough coordinate system; Using the calculated seafloor slope angle, derive the desired trenching plow end towing cable towing angle; Calculate the towing angle of the towing cable corresponding to the mother ship end by combining the towing cable parameters, the trenching plow depth and the desired towing angle of the towing cable at the trenching plow end; According to the towing angle of the towing cable at the mother ship end, the position of the mother ship is adjusted to keep a preset horizontal distance between the mother ship and the trenching plow; Based on the required horizontal distance and towing angle, the cable length of the towing winch is calculated and adjusted to complete the configuration of the towing cable.

2. The adaptive drag control method for underwater trenching operation according to claim 1, characterized in that: Methods for calculating the angle of the triangle formed by the cylinder through geometric relationships include: A trenching plow coordinate system is defined, wherein the trenching plow coordinate system is related to the earth coordinate system, and geometric parameters of the trenching plow are obtained according to the trenching plow coordinate system, including the position of the sliding shoe fulcrum and the installation position of the oil cylinder; Receive the cylinder length instruction provided by the operator and obtain the current length of the cylinder; According to the position of the sliding shoe support point, the current length of the oil cylinder and its installation position, the triangle cosine theorem is used to calculate the angle of the triangle formed by the connecting support points of the oil cylinder and the trenching plow body.

3. The adaptive drag control method for underwater trenching operation according to claim 2, characterized in that: The calculation formula for the angle of the triangle formed by the cylinder is as follows: Among them, β1 and β2 represent the corresponding angles of the two angles formed by the sliding shoe pivot, the cylinder, and the trenching plow, l AB Indicates the length of the two rotatable connection points of the cylinder AB, l OB Represents the coordinate system O b The distance from point to the cylinder fulcrum B, l OA Represents the coordinate system O b The distance from point A to the cylinder fulcrum, O b Indicates the connection point between the front and rear sliding shoes of the trenching plow and the trenching plow body, l CD Represents the length of the two rotatable connecting masses of the cylinder DC, l OC Represents the coordinate system O b The distance from point to the cylinder mass C, l OD Represents the coordinate system O b The distance from point to the cylinder mass D.

4. The adaptive drag control method for underwater trenching operation according to claim 3, characterized in that: The coordinates of the sliding shoe support point in the trenching plow coordinate system are calculated as follows: Among them, E and F are the sliding shoe pivots, represents the x coordinate of the sliding shoe support point E in the trenching plow coordinate system, represents the y coordinate of the sliding shoe support point E in the trenching plow coordinate system, represents the x coordinate of the sliding shoe support point F in the trenching plow coordinate system, represents the y coordinate of the sliding shoe support F in the trenching plow coordinate system, α1 and α2 represent the mounting positions of the support points A and D on the trenching plow body with the cylinders AB and DC and O b Connect with x b The angle between the coordinate axes.

5. The adaptive drag control method for underwater trenching operation according to claim 4, characterized in that: The angle between the line connecting the sliding shoe pivot points and the coordinate axis is calculated using the following formula: in, is the angle between the line connecting the sliding shoe pivot points and the coordinate axis; The current seafloor slope angle is calculated as follows: in, is the current seafloor slope angle, The pitch angle of the trenching plow; The calculation formula for the desired towing cable towing angle corresponding to the trenching plow end is as follows: in, The drag angle of the towing cable corresponding to the desired trenching plow end.

6. The adaptive drag control method for underwater trenching operation according to claim 1, characterized in that: The calculation method of the towing angle of the towing cable corresponding to the mother ship end includes: Define the point where the towing cable is connected to the trenching plow as the origin of the earth coordinate system; The towing cable is considered to be composed of multiple small cable segments, and each small cable segment is expressed in the earth coordinate system; According to the known conditions, the forces on each small cable segment in the normal direction and tangent direction of the towing cable are calculated respectively; the force equation is simplified while ignoring the influence of water on the towing cable; Divide the two sides of the simplified force equation and integrate them to obtain the relationship between the tension and angle of the towing cable; The desired towing angle of the towing cable corresponding to the trenching plow end and the current tension of the towing cable are substituted into the tension-angle relationship of the towing cable, and the towing angle of the towing cable corresponding to the mother ship end is obtained by integral calculation.

7. The adaptive drag control method for underwater trenching operation according to claim 6, characterized in that: The calculation formula of the towing angle of the towing cable corresponding to the mother ship end is as follows: Among them, y n is the current depth of the trenching plow, y0 indicates that the y coordinate is at the origin of the earth coordinate system, is the drag angle, is the current seafloor slope angle, is the towing angle of the towing cable corresponding to the desired trenching plow end, T0 is the corresponding force between the towing rope and the trenching plow, ω is the water weight per unit length of the towing cable unit, The towing cable angle for the tension on the towing cable unit.

8. The adaptive drag control method for underwater trenching operation according to claim 1, characterized in that: The calculation formula for the cable length of the towing winch is as follows: Among them, s n It represents the length of the towing cable between the nth point and the zeroth point, and s0 is the length of the towing cable at the zeroth point.

9. An electronic device, comprising a memory and a processor, characterized in that: The memory is used to store a program that supports the processor to execute the adaptive towing control method for underwater trenching operations as described in any one of claims 1-8, and the processor is configured to execute the program stored in the memory.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the adaptive towing control method for underwater trenching operations described in any one of claims 1-8 are executed.

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