Adaptive tow control method, apparatus, and medium for underwater trenching operations

Abstract

The present application relates to a kind of adaptive tow control method, equipment and medium for underwater ditching operation, the scheme first receives ditching depth requirement, generates cylinder length instruction, and adjusts cylinder to corresponding length.According to the angle of triangle formed by cylinder length calculation, the position of sliding shoe fulcrum in coordinate system is further calculated, and the included angle between fulcrum line and coordinate axis is determined to calculate the slope angle of seabed.Using the slope angle, the expected ditching plow end tow angle is derived.Combining with tow cable parameters, ditching depth and expected angle, the tow angle of mother ship end is calculated, and the position of mother ship is adjusted to maintain the preset distance.Finally, according to horizontal distance and tow angle, the length of tow winch cable is calculated and adjusted to ensure that tow cable and ditching plow are in the best working condition, thereby reducing winch load and improving safety.

Description

Technical Field

[0001] This invention relates to the field of underwater trenching operation technology, specifically to an adaptive towing control method, equipment, and medium for underwater trenching operations. Background Technology

[0002] In underwater trenching projects, the trenching plow, as a primary trenching device, is towed by a mother ship to excavate trenches on the seabed. Due to the complex underwater environment, the trenching plow itself lacks self-movement capability. During operation, the mother ship controls the towing cable via a towing winch, using towing force to propel the trenching plow along a predetermined trajectory. However, because the towing cable has a significant weight and needs to maintain a specific catenary shape during operation to ensure stable towing of the trenching plow, high demands are placed on the control of the towing cable configuration.

[0003] In existing technologies, the configuration of towed cables is affected by various factors, including the strength of the seabed sediment, the pulling force required by the trenching plow, the relative position between the mother ship and the trenching plow, water depth, and the weight of the towed cable itself. During actual operations, operators need to continuously adjust the position of the mother ship and the length of the towed cable according to changes in the seabed environment and trenching requirements to ensure the trenching plow remains stable within the target trench. This control method is highly dependent on the operator's experience, is difficult to operate, and has limited precision. Especially in deep-sea operations with complex terrain, the trenching plow may be affected by uneven tension, leading to unsatisfactory results. Furthermore, inappropriate towed cable lengths can cause entanglement between the towed cable and the trenching plow, damaging the equipment; or the towed cable may drag on the seabed, increasing the load on the winch and potentially damaging submarine fiber optic cables and other facilities, affecting the safety and reliability of the entire operating system. Summary of the Invention

[0004] This invention provides an adaptive towing control method, equipment, and medium for underwater trenching operations, aiming to solve the problems of insufficient accuracy in towing cable configuration and towing force control, high operational difficulty, and low operational efficiency in underwater trenching operations.

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

[0006] Receive the trenching depth requirement and generate a corresponding hydraulic cylinder length instruction; adjust the hydraulic cylinder to the instruction length according to the length instruction.

[0007] Based on the adjusted cylinder length, the angle of the triangle formed by the cylinder is calculated using geometric relationships;

[0008] Using the angle of the triangle, the coordinate position of the slipper fulcrum in the ditching plow coordinate system can be calculated;

[0009] Based on the coordinate position of the slipper fulcrum, calculate the angle between the line connecting the slipper fulcrum and the coordinate axis, and determine the direction of the line in the ditching plow coordinate system.

[0010] The current seabed slope angle is calculated from the direction of the connecting line in the trenching plow coordinate system;

[0011] Using the calculated seabed slope angle, the desired trenching plow-end towing cable towing angle is derived.

[0012] By combining the towing cable parameters, the trenching plow depth, and the desired towing cable towing angle at the trenching plow end, the corresponding towing cable towing angle at the mother ship end is calculated.

[0013] Adjust the position of the mother ship according to the towing angle of the towing cable at the mother ship end, so that the mother ship and the trenching plow maintain a preset horizontal distance;

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

[0015] Furthermore, methods for calculating the angle of the triangle formed by the hydraulic cylinder through geometric relationships include:

[0016] Define a ditching plow coordinate system, which is related to the Earth coordinate system. Obtain the geometric parameters of the ditching plow based on the ditching plow coordinate system, including the position of the slipper fulcrum and the installation position of the hydraulic cylinder.

[0017] Receive cylinder length instructions from the operator and obtain the current length of the cylinder;

[0018] Based on the position of the slipper fulcrum, the current length of the hydraulic cylinder, and its installation position, the angle of the triangle formed by the connection fulcrum of the hydraulic cylinder and the trenching plow body is calculated using the triangle cosine theorem.

[0019] Furthermore, the formula for calculating the angle of the triangle formed by the hydraulic cylinder is as follows:

[0020]

[0021]

[0022] Where β1 and β2 represent the angles corresponding to the two angles formed by the slipper fulcrum, the hydraulic cylinder, and the trenching plow, l AB l represents the length of the two rotatable connecting fulcrums of hydraulic cylinder AB. OB Represents coordinate system O b The distance from the point to the fulcrum B of the hydraulic cylinder, l OA Represents coordinate system O b The distance O from the pivot point to the fulcrum A of the hydraulic cylinder bThis indicates the connection point between the front and rear sliding shoes of the trenching plow and the plow body, l CD l represents the length of the two rotatable connected mass points of the hydraulic cylinder DC. OC Represents coordinate system O b The distance from the point to the mass C in the hydraulic cylinder, l OD Represents coordinate system O b The distance from the point to the mass D of the hydraulic cylinder.

[0023] Furthermore, the coordinates of the slipper fulcrum in the trenching plow coordinate system are calculated as follows:

[0024]

[0025]

[0026]

[0027]

[0028] Where E and F are the fulcrums of the skid, This represents the x-coordinate of the sliding shoe pivot point E in the trenching plow coordinate system. This represents the y-coordinate of the sliding shoe pivot point E in the trenching plow coordinate system. This represents the x-coordinate of the sliding shoe pivot point F in the trenching plow coordinate system. The y-coordinate of the sliding shoe fulcrum F in the trenching plow coordinate system is represented by α1 and α2, which represent the positions of the hydraulic cylinders AB and DC on the trenching plow body, with fulcrums A and D on the same surface as O. b Connect the line and x b The angle between the coordinate axes.

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

[0030]

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

[0032] The formula for calculating the current seabed slope angle is as follows:

[0033]

[0034] in, The current seabed slope angle, The pitch angle of the ditching plow;

[0035] The formula for calculating the drag angle of the drag cable corresponding to the desired trenching plow tip is as follows:

[0036]

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

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

[0039] Define the point where the towing cable connects 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 connected together, and each small cable segment is represented in the Earth coordinate system;

[0041] Based on the known conditions, calculate the forces on each cable segment in the normal and tangential directions of the towing cable; simplify the force equations by neglecting the influence of water on the towing cable.

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

[0043] Substituting the expected towing angle of the towing cable corresponding to the ditching plow end and the current tension of the towing cable into the tension-angle relationship of the towing cable, the towing angle of the towing cable corresponding to the mother ship end is obtained by integral calculation.

[0044] Furthermore, the formula for calculating the towing angle of the towing cable at the mother ship end is as follows:

[0045]

[0046] Among them, y n The current depth of the trench is represented by y0, indicating that the y-coordinate is at the origin of the Earth coordinate system. For the drag angle, The current seabed slope angle, Let T0 be the drag angle of the tow cable corresponding to the desired trenching plow end, T0 be the corresponding force between the tow rope and the trenching plow, and ω be the water weight per unit length of the tow cable unit. The tension of the towing cable unit is the towing cable angle.

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

[0048]

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

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

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

[0052] The beneficial effects of this invention are:

[0053] Compared with existing technologies, this invention provides an adaptive towing control method, equipment, and medium for underwater trenching operations. By establishing a mathematical model of the towing cable and considering factors such as seabed slope, the required towing force of the trenching plow, water depth, and the characteristics of the towing cable, it adaptively calculates the deployment length of the towing cable and the relative position of the mother ship and the trenching plow. This allows for real-time adjustment of the mother ship's position and the cable deployment length of the towing winch during operation. By generating cylinder length commands, the cylinder angle is controlled to accurately calculate the position and attitude of the trenching plow, and the current seabed slope angle and desired towing angle are calculated, ensuring the towing cable is always in the optimal configuration. This method effectively solves the problems of insufficient towing cable configuration and towing force control precision in existing technologies, reduces operational difficulty, minimizes the risk of equipment damage, and thus improves the safety and efficiency of underwater trenching operations. Attached Figure Description

[0054] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below.

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

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

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

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

[0059] Figure 5 This is a flowchart of an adaptive towing control method for underwater trenching operations disclosed in an embodiment of the present invention. Detailed Implementation

[0060] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0061] It should be noted that the brief descriptions of terms in this application are only for the convenience of understanding the embodiments described below, and are not intended to limit the embodiments of this application. Unless otherwise stated, these terms should be understood in their ordinary and common meaning.

[0062] In practical applications, the length and angle of the towing cable need to be adjusted based on many factors, such as the slope of the seabed, the drag force of the trenching plow, and the water depth. In most cases, operators can only rely on experience to judge the length and drag angle of the towing cable. However, sometimes inaccurate judgment can lead to problems. For example, the towing cable may get tangled in the trenching plow, or be dragged too low and rub against the seabed, or even damage the fiber optic cable (if the fiber optic cable is to be buried), and it will also make the equipment using the towing cable work more labored.

[0063] This invention provides an adaptive towing control method for underwater trenching operations. First, as follows: Figure 1 As shown, the Earth coordinate system O is defined. e -X e Y e Z e Assume the origin of the current Earth coordinate system is located where the towing cable and the trenching plow meet. During seabed trenching operations, the mother vessel needs to tow the plow using a towing winch and towing cable.

[0064] The towing cable is considered as N small cable segments connected together, where (y0, x0) is the point where the towing cable connects to the trenching plow; this point is exactly the origin of the Earth coordinate system, (y0, x0) N ,x N (y) represents the point where the towing cable connects to the mother ship in the Earth coordinate system; n ,x n Let be the representation of the nth segment of the towing cable in the Earth coordinate system. To calculate the configuration of the towing cable, the forces and deformations of each segment are expressed as follows: Figure 2 As shown.

[0065] Where D and F represent the fluid forces along the vertical and tangential directions of the towing cable unit, respectively, the tension at the lower end of the towing cable unit is T, and the angle between the towing cable unit and the horizontal direction is... For the towing cable angle, dT and Let ds be the tension and towing angle of the towing cable unit, respectively, between points n and n+1. Let ds be the length of the towing cable unit, ω be the weight per unit length of the towing cable unit, x and y be the positions of the lower end face of the towing cable unit in the Earth coordinate system, and dx and dy be the small increments of the upper end face of the towing cable unit relative to its lower end face 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 weight 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 as defined above.

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

[0067]

[0068] In equation (1), T is the tension of the towing cable. The towing cable angles of the upper and lower end faces of the towing cable unit The change in ρ is the fluid density, g is the weight of the towing cable element, A is the cross-sectional area of ​​the towing cable element, h is the water depth corresponding to the origin of the Earth coordinate system, and x is the X-axis of the lower end face of the towing cable element in the Earth coordinate system. e The component along the axial direction, ω is the weight per unit length of the towing cable unit, and D represents the fluid force along the direction perpendicular to the towing cable unit.

[0069] Along the tangent of the towing cable:

[0070]

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

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

[0073]

[0074] Among them, T * dT is an intermediate variable defined. * For the minute components of the defined intermediate variables.

[0075] Since towing cables are usually made of steel wire, they are quite heavy, and the speed of the cable-laying vessel is usually relatively slow during operation. Therefore, the corresponding water force can be approximately ignored, and the above equation can be simplified to the following form:

[0076]

[0077] Dividing both sides of the above equation and integrating, we get:

[0078]

[0079] In the formula Indicates cable T * At the origin x = 0 in the Earth coordinate system, T0 represents the tension of the towing cable on the trenching plow. The drag angle at the connection between the towing cable and the trenching plow. and T represents the towing cable at point n. * Value and drag angle.

[0080] therefore:

[0081]

[0082] Substituting equation (7) into equation (4) yields:

[0083]

[0084] Integrating both sides, we get:

[0085]

[0086] In the formula s n Let s represent the length of the towing cable between point n and point zero, and s0 be the length of the towing cable at point zero, so s0 = 0.

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

[0088]

[0089] In the formula x n x and x0 represent the x-coordinates of the towing cable's n-point and zero-point in the Earth coordinate system, respectively. e According to the definition of the Earth coordinate system, the components of the axis are x0 = 0. Formula (10) shows the horizontal relative position relationship between the mother ship and the trenching plow. n -x0 and the drag force T0 and drag angle acting on the trenching plow and Maintain strict calculation relationships.

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

[0091]

[0092] In the formula y n y0 and y0 represent the positions of the towing cable's n point and zero point in the Earth coordinate system, respectively.e According to the definition of the Earth coordinate system, the component of the axis is y0 = 0.

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

[0094] To calculate the slope angle of trenching in real time, it is necessary to define, as follows: Figure 3 The coordinate system O of the trenching plow shown b -X b Y b Z b Its geometric relationship with the ditching plow's motion mechanism, assuming Z b and Z e The directions are the same, and they are perpendicular to the diagram and point outwards, where O b O indicates the distance between the front and rear skids of the trenching plow. b B and O b F is the connection fulcrum between itself and the trenching plow body; A and B represent the two rotatable connection fulcrums of hydraulic cylinder AB; D and C represent the two rotatable connection mass points of hydraulic cylinder DC; β1 and β2 represent the two angles ∠AO formed by the slipper bracket, hydraulic cylinder, and trenching plow. b B and ∠DO b The angle corresponding to C; α1 and α2 represent the positions of the hydraulic cylinders AB and DC on the trenching plow body, with the fulcrums A and D on the troughing plow body and the angle corresponding to O. b The angle between the connecting line and the coordinate axis; X represents b coordinate axes and Earth coordinate axis X e The included angle between them, that is, the pitch angle of the ditching plow; The line connecting points E and F of the skate shoe intersects with point X. e The included angle of the axis is the slope angle corresponding to the current location of the trenching plow on the seabed.

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

[0096]

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

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

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

[0100]

[0101] Where E and F are the fulcrums of the skid, This represents the x-coordinate of the sliding shoe pivot point E in the trenching plow coordinate system. This represents the y-coordinate of the sliding shoe pivot point E in the trenching plow coordinate system. This represents the x-coordinate of the sliding shoe pivot point F in the trenching plow coordinate system. The y-coordinate of the sliding shoe fulcrum F in the trenching plow coordinate system is represented by α1 and α2, which represent the positions of the hydraulic cylinders AB and DC on the trenching plow body, with fulcrums A and D on the same surface as O. b Connect the line and x b The angle between the coordinate axes.

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

[0103]

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

[0105]

[0106] in, The current seabed slope angle, The elevation angle of the ditch-digging plow.

[0107] During towed trenching operations, it is generally desirable that the tow cable applies a tension parallel to the trencher body only, meaning that the traction force of the tow cable is always in the same direction as the trencher's movement along the seabed.

[0108]

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

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

[0111] Step S100: Receive the trenching depth requirement, generate the corresponding hydraulic cylinder length instruction, and adjust the hydraulic cylinder to the instruction length according to the length instruction;

[0112] Step S200: Based on the adjusted cylinder length, calculate the angle of the triangle formed by the cylinder using geometric relationships (i.e., Formula 12);

[0113] Step S300: Using the triangle angle, calculate the coordinate position of the slipper fulcrum in the trenching plow coordinate system according to formula (13);

[0114] Step S400: Based on the coordinate position of the slipper fulcrum, calculate the angle between the line connecting the slipper fulcrum and the coordinate axis using formula (14), and determine the direction of the line in the ditching plow coordinate system.

[0115] Step S500: Calculate the current seabed slope angle according to formula (15) based on the direction of the connecting line in the trenching plow coordinate system;

[0116] Step S600: Using the calculated seabed slope angle, derive the desired trenching plow end towing cable towing angle according to formula (16).

[0117] Step S700: Combine the towing cable parameters, the trenching depth and the desired trenching end towing cable towing angle, calculate the towing cable towing angle corresponding to the mother ship end according to formula (11).

[0118] Step S800: Based on the towing angle of the towing cable at the mother ship end, adjust the position of the mother ship according to formula (10) so that the mother ship and the trenching plow maintain a preset horizontal distance.

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

[0120] This technical solution proposes an adaptive control method for the towing cable of an underwater trenching plow based on a mathematical model. The aim is to optimize the towing cable deployment length and the relative position of the mother ship during towing operations to improve operational efficiency and safety. By considering factors such as seabed slope, required towing force, operating water depth, and towing cable characteristics, the optimal towing cable deployment length and the desired horizontal relative position between the mother ship and the trenching plow are calculated. In this solution, the towing cable is treated as multiple segments for force analysis. Simplified equations are used to solve for the towing angle and tension. Combined with motion modeling of the trenching plow, an adaptive algorithm dynamically adjusts the positions of the hydraulic cylinder and the mother ship to achieve coordinated control of the towing cable and the trenching plow.

[0121] Understandably, precise calculations and real-time adjustments ensure that the towing cable and trenching plow operate at their optimal condition, reducing human error and improving operational efficiency. Maintaining a suitable cable configuration reduces the load on the towing cable winch, lowering the risk of damage to the towing cable and trenching plow. It also prevents the towing cable from becoming tangled, dragged, or subjected to excessive stress, protecting submarine fiber optic cables and related equipment and extending their service life. Furthermore, it can adaptively adjust to different operating conditions, making it suitable for varied seabed environments and construction needs.

[0122] It is understood that the embodiments described herein can be implemented in hardware, software, firmware, middleware, microcode, or a combination thereof. For hardware implementation, the processing unit can be implemented in one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field-programmable gate arrays (FPGAs), general-purpose processors, controllers, microcontrollers, microprocessors, other electronic units for performing the functions described herein, or combinations thereof.

[0123] For software implementation, the techniques described herein can be implemented by units that perform the functions described herein. Software code can be stored in memory and executed by a processor. Electronic devices include memory and a processor; wherein the memory stores readable programs, which are loaded and executed by the processor to implement the methods described above.

[0124] Those skilled in the art will recognize that the units and algorithm steps of the various examples 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 implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0125] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working process of the above-described apparatus and unit can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0126] In the embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative. For instance, the division of modules is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple modules or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection through some interfaces, devices, or units, and may be electrical, mechanical, or other forms.

[0127] In addition, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0128] If a function is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the embodiments of this application, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, ROM, RAM, magnetic disks, or optical disks. It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

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

Claims

1. An adaptive towing control method for underwater trenching operations, characterized in that, Includes the following steps: Receive the trenching depth requirement, generate the corresponding hydraulic cylinder length instruction, and adjust the hydraulic cylinder to the instruction length according to the length instruction; Based on the adjusted cylinder length, the angle of the triangle formed by the cylinder is calculated using geometric relationships; Using the angle of the triangle, the coordinate position of the slipper fulcrum in the ditching plow coordinate system can be calculated; Based on the coordinate position of the slipper fulcrum, calculate the angle between the line connecting the slipper fulcrum and the coordinate axis, and determine the direction of the line in the ditching plow coordinate system. The current seabed slope angle is calculated from the direction of the connecting line in the trenching plow coordinate system; Using the calculated seabed slope angle, the desired trenching plow-end towing cable towing angle is derived. By combining the towing cable parameters, the trenching plow depth, and the desired towing cable towing angle at the trenching plow end, the corresponding towing cable towing angle at the mother ship end is calculated. Adjust the position of the mother ship according to the towing angle of the towing cable at the mother ship end, so that the mother ship and the trenching plow maintain a preset horizontal distance; Based on the required horizontal distance and towing angle, calculate and adjust the cable length of the towing winch to complete the towing cable configuration.

2. The adaptive towing control method for underwater trenching operations as described in claim 1, characterized in that, Methods for calculating the angle of the triangle formed by the hydraulic cylinder using geometric relationships include: Define a ditching plow coordinate system, which is related to the Earth coordinate system. Obtain the geometric parameters of the ditching plow based on the ditching plow coordinate system, including the position of the slipper fulcrum and the installation position of the hydraulic cylinder. Receive cylinder length instructions from the operator and obtain the current length of the cylinder; Based on the position of the slipper fulcrum, the current length of the hydraulic cylinder, and its installation position, the angle of the triangle formed by the connection fulcrum of the hydraulic cylinder and the trenching plow body is calculated using the triangle cosine theorem.

3. The adaptive towing control method for underwater trenching operations as described in claim 2, characterized in that, The formula for calculating the angle of the triangle formed by the hydraulic cylinder is as follows: in, and This represents the angles corresponding to the two angles formed by the sliding shoe fulcrum, the hydraulic cylinder, and the trenching plow. This represents the length of the two rotatable connecting fulcrums of hydraulic cylinder AB. Representing the coordinate system The distance from the pivot point to the hydraulic cylinder fulcrum B, Representing the coordinate system The distance from the pivot point to the hydraulic cylinder fulcrum A, This indicates the connection point between the front and rear sliding shoes of the trenching plow and the plow body. This represents the length of the two rotatable connected mass points of the hydraulic cylinder DC. Representing the coordinate system The distance from the point to the mass C in the hydraulic cylinder. Representing the coordinate system The distance from the point to the mass D of the hydraulic cylinder.

4. The adaptive towing control method for underwater trenching operations as described in claim 3, characterized in that, The coordinates of the sliding shoe pivot in the trenching plow coordinate system are calculated as follows: in, and These are the fulcrums of the ski boot, This represents the x-coordinate of the sliding shoe pivot point E in the trenching plow coordinate system. This represents the y-coordinate of the sliding shoe pivot point E in the trenching plow coordinate system. This represents the x-coordinate of the sliding shoe pivot point F in the trenching plow coordinate system. This represents the y-coordinate of the sliding shoe pivot point F in the trenching plow coordinate system. and This indicates that the hydraulic cylinders AB and DC are mounted at fulcrums A and D on the trenching plow body. Connecting and The angle between the coordinate axes.

5. The adaptive towing control method for underwater trenching operations as described in claim 4, characterized in that, The angle between the line connecting the shoe pivot and the coordinate axis is calculated using the following formula: in, The angle between the line connecting the shoe pivot and the coordinate axis; The formula for calculating the current seabed slope angle is as follows: in, The current seabed slope angle, The pitch angle of the ditching plow; The formula for calculating the drag angle of the drag cable corresponding to the desired trenching plow tip is as follows: in, The drag angle of the drag cable corresponding to the desired trenching plow tip.

6. The adaptive towing control method for underwater trenching operations as described in claim 1, characterized in that, The calculation method for the towing angle of the towing cable at the mother ship end includes: Define the point where the towing cable connects 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 connected together, and each small cable segment is represented in the Earth coordinate system; Based on the known conditions, calculate the forces on each cable segment in the normal and tangential directions of the towing cable; simplify the force equations by neglecting the influence of water on the towing cable. Divide both sides of the simplified force equation and integrate to obtain the relationship between the tension and angle of the towing cable; Substituting the expected towing angle of the towing cable corresponding to the ditching plow end and the current tension of the towing cable into the tension-angle relationship of the towing cable, the towing angle of the towing cable corresponding to the mother ship end is obtained by integral calculation.

7. The adaptive towing control method for underwater trenching operations as described in claim 6, characterized in that, The formula for calculating the towing angle of the towing cable at the mother ship end is as follows: in, This is the current depth of the trenching plow. This indicates that the y-coordinate is at the origin of the Earth coordinate system. For the drag angle, The current seabed slope angle, The desired drag angle of the drag cable corresponding to the end of the trenching plow. The corresponding force between the towing rope and the trenching plow. The weight of water per unit length of the towing cable unit. The towing cable angles corresponding to the upper and lower end faces of the towing cable unit. A tiny increment.

8. The adaptive towing control method for underwater trenching operations as described in claim 7, characterized in that, The formula for calculating the cable length of a towing winch is as follows: in, This represents the length of the towing cable between point n and point zero. The length of the towing cable at the zero point is denoted as .

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

10. A computer-readable storage medium storing a computer program thereon, characterized in that, The computer program, when run by a processor, executes the steps of the adaptive towing control method for underwater trenching operations as described in any one of claims 1-8.

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