A method, device, equipment and medium for determining the heading of a dynamically positioned ship

Abstract

An embodiment of the present invention discloses a method, device, equipment and medium for determining the heading of a dynamically positioned ship. The method includes: obtaining the dimensionless environmental load coefficient of the ship under various environmental parameters, and the actual environmental parameters of the ship under the actual sea conditions when a given heading is set; obtaining the environmental load of the ship when the given heading is set according to the dimensionless environmental load coefficient and the actual environmental parameters; calculating the control instructions of each thruster on the ship when the environmental load is satisfied, and determining the total thruster power under the given heading according to each control instruction; determining the target heading among multiple given headings according to the total thruster power under multiple given headings. By performing thrust distribution on the ship under different given headings to obtain the most energy-saving target heading, the rate and accuracy of heading determination can be improved, and the energy consumption and labor cost during heading determination can be reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of ship dynamic positioning, and particularly to a method, device, equipment and medium for determining the bow direction of a dynamically positioned ship. Background Art

[0002] In the greenhouse gas emission agreement, more stringent requirements are imposed on the greenhouse gas emissions of ships, which means that it is necessary to further improve the energy efficiency and reduce the energy consumption during the ship life cycle. The energy-saving operation of dynamically positioned ships is a key technology to achieve the improvement of ship energy efficiency and the reduction of energy consumption.

[0003] There are two conventional solutions in dynamically positioned ships. One is to appropriately enlarge the dynamic positioning operation area and adopt the model prediction control method to achieve the stable positioning of the ship in a specific area through the rolling optimization strategy. This means can effectively reduce the operation energy consumption, but since the enlarged operation area increases the dynamic deviation during the ship operation. The other is to rely on the experience of the operator to manually estimate the bow direction based on information such as ocean currents and sea winds before the dynamic positioning operation starts. This means can appropriately improve the energy-saving effect, but its accuracy is not strong due to relying on experience, it cannot achieve the best energy-saving effect, and it does not have generalizability.

[0004] Therefore, there is an urgent need to provide a method for determining the bow direction of a dynamically positioned ship to improve the accuracy of bow direction determination while reducing energy consumption and manual labor. Summary of the Invention

[0005] The present invention provides a method, device, equipment and medium for determining the bow direction of a dynamically positioned ship to improve the rate and accuracy of bow direction determination, and reduce the energy consumption and labor cost during bow direction determination.

[0006] According to one aspect of the present invention, there is provided a method for determining the bow direction of a dynamically positioned ship, the method comprising:

[0007] Obtain the dimensionless environmental load coefficient of the ship under various environmental parameters, and the actual environmental parameters of the ship under the actual sea conditions at a given bow direction;

[0008] According to the dimensionless environmental load coefficient and the actual environmental parameters, obtain the environmental load of the ship at a given bow direction;

[0009] Calculate the control commands of each thruster on the ship when the environmental load is satisfied, and determine the total thruster power at a given bow direction according to each control command;

[0010] According to the total thruster power at multiple given bow directions, determine the target bow direction among multiple given bow directions.

[0011] According to another aspect of the present invention, there is provided a heading determination device for a dynamically positioned ship, the device comprising:

[0012] An environmental parameter acquisition module, configured to acquire the dimensionless environmental load coefficient of the ship under various environmental parameters, and the actual environmental parameters of the ship under the actual sea conditions at a given heading;

[0013] An environmental load determination module, configured to obtain the environmental load of the ship at a given heading according to the dimensionless environmental load coefficient and the actual environmental parameters;

[0014] A thruster power determination module, configured to calculate the control commands of each thruster on the ship when the environmental load is satisfied, and determine the total thruster power at a given heading according to each of the control commands;

[0015] A target heading determination module, configured to determine a target heading from multiple given headings according to the total thruster power at multiple given headings.

[0016] According to another aspect of the present invention, there is provided an electronic device, the electronic device comprising:

[0017] At least one processor; and

[0018] A memory communicatively connected to the at least one processor; wherein,

[0019] The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the heading determination method for a dynamically positioned ship according to any embodiment of the present invention.

[0020] According to another aspect of the present invention, there is provided a computer-readable storage medium storing computer instructions for causing a processor to implement the heading determination method for a dynamically positioned ship according to any embodiment of the present invention when executed.

[0021] According to another aspect of the present invention, there is provided a computer program product comprising a computer program which, when executed by a processor, implements the heading determination method for a dynamically positioned ship according to any embodiment of the present invention.

[0022] The technical solution of the embodiment of the present invention obtains the dimensionless environmental load coefficient of the ship under various environmental parameters, as well as the actual environmental parameters of the ship under the actual sea conditions when a given heading is set. According to the dimensionless environmental load coefficient and the actual environmental parameters, the environmental load of the ship when a given heading is set is obtained. Calculate the control commands of each thruster on the ship when the environmental load is satisfied, and determine the total thruster power under the given heading according to each control command. According to the total thruster power under multiple given headings, the target heading is determined among multiple given headings, which solves the problem of determining the energy-saving heading of a dynamically positioned ship. By performing thrust distribution under different given headings of the ship to obtain the most energy-saving target heading, the speed and accuracy of heading determination can be improved, and the energy consumption and labor cost during heading determination can be reduced.

[0023] It should be understood that the content described in this part is not intended to identify the key or important features of the embodiments of the present invention, nor is it used to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0025] Figure 1 is a flowchart of a method for determining the heading of a dynamically positioned ship according to Embodiment 1 of the present invention;

[0026] Figure 2 is a flowchart of a method for determining the heading of a dynamically positioned ship according to Embodiment 2 of the present invention;

[0027] Figure 3 is a schematic diagram of the degrees of freedom of a ship according to Embodiment 2 of the present invention;

[0028] Figure 4 is a schematic structural diagram of a device for determining the heading of a dynamically positioned ship according to Embodiment 3 of the present invention;

[0029] Figure 5 is a schematic structural diagram of an electronic device for implementing the method for determining the heading of a dynamically positioned ship according to the embodiment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0030] To enable those skilled in the art to better understand the solution of the present invention, the following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part rather than all of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0031] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned accompanying drawings are used to distinguish similar objects and do not necessarily need to describe a specific order or sequence. It should be understood that such data can be interchanged under appropriate circumstances so that the embodiments of the present invention described herein can be implemented in an order different from those illustrated or described herein. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device comprising a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products, or devices.

[0032] Embodiment 1

[0033] Figure 1 is a flowchart of a method for determining the heading of a dynamically positioned vessel according to Embodiment 1 of the present invention. This embodiment is applicable to the case of determining the energy-saving heading in a dynamically positioned vessel. This method can be executed by a heading determination device of the dynamically positioned vessel. The heading determination device of the dynamically positioned vessel can be implemented in the form of hardware and / or software. The heading determination device of the dynamically positioned vessel can be configured in an electronic device, and the electronic device can be a computer or the like. As Figure 1 shown, the method includes:

[0034] Step 110, obtain the dimensionless environmental load coefficient of the vessel under various environmental parameters, and the actual environmental parameters of the vessel under the given heading in the actual sea conditions.

[0035] Among them, the environmental parameters include but are not limited to wind information and water flow information in the sea where the vessel is located. For example, the environmental parameters can include wind speed, wind direction, flow velocity, and flow direction, etc. The dimensionless environmental load coefficient can refer to converting the actual environmental parameters into a value related to a specific reference area and the actual values of the environmental parameters. For example, the dimensionless environmental load coefficient can include a dimensionless wind load coefficient and a dimensionless flow load coefficient. The dimensionless wind load coefficient can be converting the actual wind force into a value related to a specific reference area, air density, and wind speed. The dimensionless flow load coefficient can be converting the actual hydrodynamic force into a value related to a specific reference area, water density, and flow velocity.

[0036] In an embodiment of the present invention, the dimensionless environmental load coefficient of the ship under various environmental parameters can be simulated and calculated, and the obtained dimensionless environmental load coefficient can be stored. When determining the heading, the dimensionless environmental load coefficient can be directly read, and then the environmental load of the ship at a given heading can be calculated.

[0037] The actual environmental parameters can be used to obtain information on the wind speed, wind direction, flow velocity, and flow direction at sea by using devices such as an anemometer and a current meter. The wind direction and flow direction are the directions of travel.

[0038] Step 120: Obtain the environmental load of the ship at a given heading according to the dimensionless environmental load coefficient and the actual environmental parameters.

[0039] Among them, the given heading can search through the value range of the heading at a preset step size. For example, the preset step size can be 10°, and the given headings can be 0°, 10°, 20°, ……, 360°. In practical applications, the preset step size of the given heading can be dynamically adjusted according to different situations to meet different requirements for calculation speed and prediction accuracy, and improve engineering practicability. Reducing the preset step size can improve the optimization accuracy, but increase the calculation time.

[0040] Substitute the actual environmental parameters into the obtained dimensionless environmental load coefficient, and the environmental load of the ship at a given heading can be obtained. When the environmental parameters are multi-dimensional information, the multi-dimensional information can be combined in the same direction to calculate the resultant force, and the environmental loads in multiple degrees of freedom can be obtained.

[0041] Step 130: Calculate the control instructions of each thruster on the ship when the environmental load is satisfied, and determine the total power of the thrusters at a given heading according to each control instruction.

[0042] The control instructions of each thruster on the ship when the environmental load is satisfied can be obtained by solving through an inference distribution logic. For example, the pseudo-inverse method can be used for calculation. The control instructions include but are not limited to the magnitude of the thrust and the azimuth angle . Among them , is the total number of thrusters.

[0043] In an alternative embodiment of the embodiment of the present invention, calculating the control instructions of each thruster on the ship when the environmental load is satisfied includes: calculating the magnitude of the thrust and the azimuth angle of each thruster on the ship when the environmental load is satisfied by using the pseudo-inverse method.

[0044] Among them, the pseudo-inverse method is also known as the generalized inverse matrix method, which finds an optimal solution by calculating the "generalized inverse" of a matrix, usually the optimal solution in the least squares sense. In the embodiments of the present invention, the distribution information of each thruster and the environmental load can be input through the calculation tool of the pseudo-inverse method to obtain the thrust magnitude and azimuth angle of each thruster on the ship when the environmental load is satisfied. By calculating the control command through the pseudo-inverse method, an optimal solution can be found and the determination rate of the control command can be improved. The thruster power can be calculated according to the control command.

[0045] Step 140: Determine the target heading among multiple given headings according to the total thruster power under multiple given headings.

[0046] Among them, the total thruster power is after the power of each thruster, that is . Determining the target heading according to the total thruster power can be to determine the most energy-saving heading according to the total thruster power. Specifically, in an alternative embodiment of the embodiments of the present invention, determining the target heading among multiple given headings according to the total thruster power under multiple given headings includes: taking the given heading corresponding to the minimum total thruster power among the multiple given headings as the target heading. When using the target heading for the operation of the dynamically positioned ship, the effect of energy saving can be achieved, and the heading determination method provided by the embodiments of the present invention is simple, fast, highly accurate, and does not rely on manual experience.

[0047] On the basis of the above embodiment, in order to further improve the accuracy of target heading determination and avoid large energy consumption, a relatively large preset step size can be set first to determine the control command under multiple given headings, and then according to the change trend of the control command, the range where the most energy-saving heading may exist can be refined, and the given headings can be updated, so as to improve the accuracy of heading determination while reducing energy consumption.

[0048] Optionally, determining the target heading among multiple given headings according to the total thruster power under multiple given headings includes: determining the heading range where the energy-saving heading of the ship is located according to the change trend of the total thruster power under multiple given headings; obtaining multiple updated given headings within the heading range by reducing the heading interval value; returning to the step of obtaining the actual environmental parameters of the ship under the actual sea conditions when obtaining the given headings to obtain the total thruster power under each updated given heading; determining the target heading among the multiple updated given headings according to the total thruster power under each updated given heading.

[0049] For example, under multiple given headings arranged in sequence, if the total thruster power first decreases and then increases, it can be determined that the most energy-saving heading may be within the heading range formed by the multiple given headings arranged in sequence. Exemplarily, when the given headings are x1, x2, x3 in sequence, the corresponding total thruster power is Px1 , P x2 , P x3 , where P x2 is less than P x1 , P x2 is less than P x3 . At this time, the heading range where the energy-saving heading of the ship is located can be determined as the interval (x1, x3). Thus, a smaller heading interval value can be adopted within the heading range (x1, x3) to obtain multiple updated given headings. For example, the reduced heading interval value can be half of the preset step size. According to the updated given headings, the determination step of the environmental load of the ship when the given heading is returned can be performed to obtain the total propeller power under the given heading. The given heading corresponding to the minimum total propeller power is used as the target heading. Of course, if necessary, the heading range where the energy-saving heading of the ship is located can be further updated according to the change trend of the total propeller power to further improve the accuracy of target heading determination.

[0050] To avoid the target heading falling into a local optimal solution, when determining the heading range where the energy-saving heading of the ship is located according to the change trend of the total propeller power, it is necessary to first traverse all the given headings according to the preset step size to obtain the total propeller power under each given heading. When updating the given heading, multiple heading ranges may be obtained. When determining the target heading, the total propeller powers under each heading range can be compared to obtain the most energy-saving heading and avoid local optimality.

[0051] The technical solution of this embodiment obtains the non-dimensional environmental load coefficient of the ship under various environmental parameters and the actual environmental parameters of the ship under the actual sea conditions when the given heading is provided; according to the non-dimensional environmental load coefficient and the actual environmental parameters, the environmental load of the ship when the given heading is provided is obtained; the control commands of each propeller on the ship when the environmental load is satisfied are calculated, and the total propeller power under the given heading is determined according to each control command; according to the total propeller powers under multiple given headings, the target heading is determined among multiple given headings, solving the problem of determining the energy-saving heading of a dynamically positioned ship. By performing thrust distribution under different given headings of the ship to obtain the most energy-saving target heading, the speed and accuracy of heading determination can be improved, and the energy consumption and labor cost during heading determination can be reduced.

[0052] Embodiment 2

[0053] Figure 2 is a flowchart of a method for determining the heading of a dynamically positioned ship according to Embodiment 2 of the present invention. This embodiment further refines the above technical solution, and the technical solution in this embodiment can be combined with each optional solution in one or more of the above embodiments.

[0054] Optionally, obtain the dimensionless environmental load coefficients of the ship under various environmental parameters, including: constructing a geometric model of the ship; performing numerical simulation on the geometric model under various environmental parameters through computational fluid dynamics to obtain the dimensionless environmental load coefficients of the ship under various environmental parameters.

[0055] As Figure 2 shown, the method includes:

[0056] Step 210, construct a geometric model of the ship.

[0057] Among them, the geometric model of the ship can be constructed by performing 1:1 equal-proportion solid geometric modeling with the dynamically positioned ship under study as the object. By constructing the geometric model of the ship, the dimensionless environmental load coefficients can be determined based on the actual model of the ship, improving the accuracy of determining the dimensionless environmental load coefficients and avoiding the problem of insufficient accuracy of the dimensionless environmental load coefficients caused by special ship types when using empirical formulas for calculation.

[0058] Step 220, perform numerical simulation on the geometric model under various environmental parameters through computational fluid dynamics to obtain the dimensionless environmental load coefficients of the ship under various environmental parameters.

[0059] Computational fluid dynamics can be used to simulate and analyze the flow behavior of fluids (liquids and gases). For example, numerical simulation can be performed on the geometric model under various environmental parameters through software related to computational fluid dynamics to obtain the environmental loads of the ship in multiple degrees of freedom, and then combined with the reference information corresponding to the dimensionless environmental load coefficients to convert and obtain the dimensionless environmental load coefficients.

[0060] When performing numerical simulation through computational fluid dynamics, operations such as selection and generation of grid types, setting of boundary conditions, setting of solvers, and post-processing of results can be included. Specifically, in the embodiments of the present invention, when performing numerical simulation of computational fluid dynamics, the grid model is selected as cut cell grid, prism layer grid, and surface reconstruction grid; the hull surface is set as a wall boundary condition with fixed no-slip, the fluid physical model is selected as air and set as constant density; the working pressure is set to one atmosphere, and the reference height is set on the water surface; the turbulence model selection should take into account both near the hull and in the far field, and the convection term adopts a second-order discretization format.

[0061] In an alternative embodiment of the present invention, numerical simulation of the geometric model is carried out under various environmental parameters through computational fluid dynamics to obtain the dimensionless environmental load coefficients of the ship, including: numerical simulation of the geometric model is carried out through computational fluid dynamics under different wind directions and different wind speeds to obtain the dimensionless wind load coefficient of the ship; numerical simulation of the geometric model is carried out through computational fluid dynamics under different flow directions and different flow velocities to obtain the dimensionless flow load coefficient of the ship.

[0062] Specifically, when carrying out numerical simulation of the geometric model through computational fluid dynamics under various environmental parameters, the direction interval of the wind or flow calculation simulation can be selected as a preset angle. For example, the preset angle is 10°, which are 0°, 10°, ……, 350°, 360° in sequence. By carrying out numerical simulation of computational fluid dynamics at each angle, wind loads and flow loads under multiple degrees of freedom can be obtained. For example, in the embodiment of the present invention, wind loads and flow loads under three degrees of freedom can be selected, that is, wind loads in the longitudinal, transverse, and bow directions (respectively , , ), and flow loads in the longitudinal, transverse, and bow directions (respectively , , ).

[0063] Furthermore, according to the formula, the dimensionless wind load coefficient can be obtained as: ; where , , are the dimensionless wind load coefficients in the longitudinal, transverse, and bow directions respectively, is the relative wind direction, is the forward wind projection area, is the lateral wind projection area, is the ship length, is the air density, is the relative wind speed. The forward wind projection area refers to the two-dimensional projection area of the ship perpendicular to the wind direction in the windward direction. The lateral wind projection area refers to the two-dimensional projection area of the ship perpendicular to the wind direction in the direction perpendicular to the longitudinal axis of the hull, that is, when viewed from the side.

[0064] The dimensionless flow load coefficient is: ; where , , are the dimensionless flow load coefficients in the longitudinal, transverse, and bow directions respectively, is the relative flow direction, is the molded breadth, is the draft, is the perpendicular distance between perpendiculars, is the seawater density, is the relative flow velocity.

[0065] Among them, Figure 3 is a schematic diagram of the degrees of freedom of a ship provided in Embodiment 2 of the present invention. As Figure 3 shown, the x-direction is the longitudinal direction of the ship, the y-direction is the transverse direction of the ship, and the direction from the x-direction to the y-direction is the heading.

[0066] In the embodiment of the present invention, the dimensionless environmental load coefficient is obtained by means of computational fluid dynamics analysis, and the dimensionless environmental load coefficient is maintained. When determining the heading subsequently, the saved dimensionless environmental load coefficient can be read to calculate the environmental load of the ship when the heading is given, which can improve the accuracy of determining the dimensionless environmental load coefficient, reduce the complexity of determining the dimensionless environmental load coefficient, and facilitate the calculation of the environmental load.

[0067] Step 230: Obtain the actual environmental parameters of the ship under the actual sea conditions when the heading is given.

[0068] Step 240: Obtain the environmental load of the ship when the heading is given according to the dimensionless environmental load coefficient and the actual environmental parameters.

[0069] In an optional implementation manner of the embodiment of the present invention, obtaining the environmental load of the ship when the heading is given according to the dimensionless environmental load coefficient and the actual environmental parameters includes: obtaining the wind load according to the dimensionless wind load coefficient and the actual wind speed and direction in the actual environmental parameters; obtaining the flow load according to the dimensionless flow load coefficient and the actual flow velocity and direction in the actual environmental parameters; and summing up the wind load and the flow load to obtain the environmental load of the ship when the heading is given.

[0070] Specifically, substituting the actual wind speed and direction in the actual environmental parameters into the formula of the dimensionless environmental load coefficient, the wind load can be obtained, such as obtaining the wind loads in the longitudinal, transverse, and heading directions (respectively , , ). Substituting the actual flow velocity and direction in the actual environmental parameters into the formula of the dimensionless flow load coefficient, the flow load can be obtained, such as obtaining the flow loads in the longitudinal, transverse, and heading directions (respectively , , ).

[0071] The wind load and the flow load can be added and summed up. When summing up, the resultant force can be applied in the same direction. For example, the wind loads and flow loads in the longitudinal, transverse, and heading directions can be summed up respectively to obtain the environmental load of the ship when the heading is given, such as the resultant forces of the environmental loads in the longitudinal, transverse, and heading directions are respectively , , Among them, , , .

[0072] By determining the environmental loads under wind loads and current loads, various factors affecting the ship at sea and the effects of multiple degrees of freedom can be considered, thereby improving the reliability of the energy-saving heading determination.

[0073] Step 250: Calculate the thrust magnitude and azimuth angle of each thruster on the ship when satisfying the environmental loads by the pseudo-inverse method.

[0074] Step 260: Determine the total thruster power under a given heading according to the thrust magnitude of each thruster.

[0075] Step 270: Take the given heading corresponding to the minimum total thruster power among multiple given headings as the target heading.

[0076] Among them, in the embodiments of the present invention, when taking the given heading corresponding to the minimum total thruster power among multiple given headings as the target heading, the heading range where the energy-saving heading of the ship is located can be determined according to the change trend of the total thruster power under multiple given headings; by reducing the heading interval value, multiple updated given headings are obtained within the heading range; return to the step of obtaining the actual environmental parameters of the ship under the actual sea conditions when obtaining the given heading, and obtain the total thruster power under each updated given heading; determine the given heading corresponding to the minimum total thruster power among each updated given headings as the target heading.

[0077] The technical solution of the embodiments of the present invention solves the problem of determining the energy-saving heading of a dynamically positioned ship by constructing a geometric model of the ship; performing numerical simulation and simulation on the geometric model under each environmental parameter through computational fluid dynamics to obtain the dimensionless environmental load coefficient of the ship under each environmental parameter; obtaining the actual environmental parameters of the ship under the actual sea conditions when obtaining a given heading; obtaining the environmental load of the ship at the given heading according to the dimensionless environmental load coefficient and the actual environmental parameters; calculating the thrust magnitude and azimuth angle of each thruster on the ship when satisfying the environmental loads by the pseudo-inverse method; determining the total thruster power under a given heading according to the thrust magnitude of each thruster; taking the given heading corresponding to the minimum total thruster power among multiple given headings as the target heading. By obtaining the most energy-saving target heading through thrust distribution under different given headings of the ship, the speed and accuracy of heading determination can be improved, and the energy consumption and labor cost during heading determination can be reduced; by combining computational fluid dynamics analysis with thruster power selection to select the energy-saving heading, the disadvantages of selecting the energy-saving heading based on manual experience can be overcome, and the energy-saving heading can be quickly and accurately provided before the ship conducts dynamic positioning operations, achieving the lowest energy consumption during the ship's dynamic positioning operations.

[0078] Exemplarily, an application example of the heading determination method for a dynamically positioned ship provided by an embodiment of the present invention is as follows: Obtain the dimensionless environmental load coefficient, and combine the actual environmental parameters of the ship under actual sea conditions to obtain the three-degree-of-freedom environmental load of the ship at a given heading; calculate the thrust magnitude and azimuth angle of each thruster that satisfies the environmental load; calculate the total power of all thrusters, increase the given heading by a preset step length, and determine whether the given heading is less than 360°. If so, return to the step of combining the actual environmental parameters of the ship under actual sea conditions to obtain the three-degree-of-freedom environmental load of the ship at the given heading, and then obtain the total power of all thrusters at the given heading. If not, use the given heading corresponding to the minimum total power of the thrusters as the most energy-efficient target heading.

[0079] Embodiment III

[0080] Figure 4 is a schematic structural diagram of a heading determination device for a dynamically positioned ship provided by Embodiment III of the present invention. As Figure 4 shown, the device includes: an environmental parameter acquisition module 410, an environmental load determination module 420, a thruster power determination module 430, and a target heading determination module 440. Among them:

[0081] The environmental parameter acquisition module 410 is configured to acquire the dimensionless environmental load coefficient of the ship under various environmental parameters, as well as the actual environmental parameters of the ship under actual sea conditions at a given heading;

[0082] The environmental load determination module 420 is configured to obtain the environmental load of the ship at a given heading according to the dimensionless environmental load coefficient and the actual environmental parameters;

[0083] The thruster power determination module 430 is configured to calculate the control commands of each thruster on the ship when the environmental load is satisfied, and determine the total power of the thrusters at a given heading according to each control command;

[0084] The target heading determination module 440 is configured to determine the target heading among multiple given headings according to the total power of the thrusters at multiple given headings.

[0085] Optionally, the target heading determination module 440 includes:

[0086] The first target heading determination unit is configured to use the given heading corresponding to the minimum total power of the thrusters among multiple given headings as the target heading.

[0087] Optionally, the target heading determination module 440 includes:

[0088] The heading range determination unit is configured to determine the heading range where the energy-saving heading of the ship is located according to the change trend of the total power of the thrusters at multiple given headings;

[0089] A given heading update unit is used to obtain multiple updated given headings within the heading range by reducing the heading interval value;

[0090] A thruster power determination unit is used to return the steps of obtaining the actual environmental parameters of the ship under the actual sea conditions when obtaining the given heading, and obtain the total thruster power under each updated given heading;

[0091] A target heading second determination unit is used to determine the target heading among the multiple updated given headings according to the total thruster power under each updated given heading.

[0092] Optionally, the environmental parameter acquisition module 410 includes:

[0093] A geometric model construction unit is used to construct a geometric model of the ship;

[0094] A dimensionless environmental load coefficient determination unit is used to perform numerical simulation and simulation on the geometric model under each environmental parameter through computational fluid dynamics to obtain the dimensionless environmental load coefficient of the ship under each environmental parameter.

[0095] Optionally, the dimensionless environmental load coefficient determination unit includes:

[0096] A dimensionless wind load coefficient determination subunit is used to perform numerical simulation and simulation on the geometric model under different wind directions and different wind speeds through computational fluid dynamics to obtain the dimensionless wind load coefficient of the ship;

[0097] A dimensionless flow load coefficient determination subunit is used to perform numerical simulation and simulation on the geometric model under different flow directions and different flow velocities through computational fluid dynamics to obtain the dimensionless flow load coefficient of the ship.

[0098] Optionally, the environmental load determination module 420 includes:

[0099] A wind load determination unit is used to obtain the wind load according to the dimensionless wind load coefficient and the actual wind speed and wind direction in the actual environmental parameters;

[0100] A flow load determination unit is used to obtain the flow load according to the dimensionless flow load coefficient and the actual flow velocity and flow direction in the actual environmental parameters;

[0101] An environmental load determination unit is used to summarize the wind load and the flow load to obtain the environmental load of the ship at the given heading.

[0102] Optionally, the thruster power determination module 430 includes:

[0103] A control instruction determination unit is used to calculate the thrust magnitude and azimuth angle of each thruster on the ship when satisfying the environmental load through the pseudo-inverse method.

[0104] The heading determination device of the dynamically positioned ship provided by the embodiment of the present invention can execute the heading determination method of the dynamically positioned ship provided by any embodiment of the present invention, and has the corresponding functional modules and beneficial effects for executing the method.

[0105] Embodiment 4

[0106] Figure 5 FIG. shows a schematic structural diagram of an electronic device 10 that can be used to implement the embodiments of the present invention. The electronic device is intended to represent various forms of digital computers, such as, laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as, personal digital processors, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are only examples and are not intended to limit the implementation of the present invention described and / or claimed herein.

[0107] As Figure 5 shown, the electronic device 10 includes at least one processor 11, and a memory communicatively connected to the at least one processor 11, such as a read-only memory (ROM), a random access memory (RAM), etc. Among them, the memory stores a computer program executable by the at least one processor. The processor 11 can execute various appropriate actions and processes according to the computer program stored in the ROM 12 or the computer program loaded from the storage unit 18 into the RAM 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other through a bus 14. An input / output (I / O) interface is also connected to the bus 14.

[0108] A plurality of components in the electronic device 10 are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a magnetic disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0109] The processor 11 may be various general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as the heading determination method for a dynamically positioned vessel.

[0110] In some embodiments, the heading determination method for a dynamically positioned vessel may be implemented as a computer program tangibly embodied in a computer-readable storage medium, such as the storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or installed onto the electronic device 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the heading determination method for a dynamically positioned vessel described above may be executed. Alternatively, in other embodiments, the processor 11 may be configured to execute the heading determination method for a dynamically positioned vessel by any other suitable means (e.g., by means of firmware).

[0111] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuitry, integrated circuit systems, field-programmable gate arrays (FPGA), application-specific integrated circuits (ASIC), application-specific standard products (ASSP), systems-on-chip (SOC), complex programmable logic devices (CPLD), computer hardware, firmware, software, and / or combinations thereof. These various embodiments can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special-purpose or general-purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit the data and instructions to the storage system, the at least one input device, and the at least one output device.

[0112] The computer program for implementing the method of the present invention can be written in any combination of one or more programming languages. These computer programs can be provided to the processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when the computer program is executed by the processor, the functions / operations specified in the flowchart and / or block diagram are implemented. The computer program can be executed entirely on the machine, partially on the machine, as a stand-alone software package partially on the machine and partially on a remote machine, or entirely on a remote machine or server.

[0113] In the context of the present invention, a computer-readable storage medium can be a tangible medium that can contain or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. The computer-readable storage medium can include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. Alternatively, the computer-readable storage medium can be a machine-readable signal medium. More specific examples of the machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0114] To provide for interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or a trackball) by which the user can provide input to the electronic device. Other kinds of devices can also be used to provide for interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, speech input, or tactile input).

[0115] The systems and techniques described herein can be implemented in a computing system that includes backend components (such as, for example, a data server), or a computing system that includes middleware components (such as, for example, an application server), or a computing system that includes frontend components (such as, for example, a user computer having a graphical user interface or a web browser through which the user can interact with an implementation of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system can be interconnected by any form or medium of digital data communication (such as, for example, a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0116] A computing system may include a client and a server. The client and the server are generally far from each other and usually interact via a communication network. The relationship between the client and the server is created by computer programs running on respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or a cloud host, which is a host product in the cloud computing service system, solving the defects of difficult management and weak business scalability existing in traditional physical hosts and VPS services.

[0117] It should be understood that various forms of processes shown above can be used, steps can be reordered, added or deleted. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and no limitation is made herein.

[0118] The above specific embodiments do not constitute a limitation to the protection scope of the present invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A method for determining the heading of a dynamically positioned vessel, characterized in that: include: Obtain the dimensionless environmental load coefficient of the ship under various environmental parameters, as well as the actual environmental parameters of the ship under actual sea conditions when the heading is given; Obtaining the environmental load of the ship at a given heading according to the dimensionless environmental load coefficient and the actual environmental parameter; Calculating control instructions for each thruster on the ship when the environmental load is met, and determining a total thruster power for a given bow-down direction according to each control instruction; determining a target heading among a plurality of given headings according to a plurality of given total thruster powers at headings downward; Determine the target heading among multiple given headings based on multiple given total thruster powers at heading down, including: The given heading corresponding to the minimum total thruster power among the multiple given headings is used as the target heading; Determine the target heading among multiple given headings based on multiple given total thruster powers at heading down, including: According to the total propeller power variation trends of multiple given bow-down directions, the heading range of the ship's energy-saving heading is determined; By reducing the heading interval value, a plurality of updated given headings are obtained within the heading range; Return to the step of obtaining the actual environmental parameters of the ship under the actual sea conditions when the heading is given, and obtain the total propeller power at each updated given heading downward; A target heading is determined from a plurality of updated given headings according to each updated given heading-down total propeller power.

2. The method for determining the heading of a dynamically positioned vessel according to claim 1, characterized in that: Obtain the dimensionless environmental load coefficient of the ship under various environmental parameters, including: Construct the geometric model of the ship; The geometric model is numerically simulated under various environmental parameters by computational fluid dynamics to obtain the dimensionless environmental load coefficient of the ship under various environmental parameters.

3. The method for determining the heading of a dynamically positioned vessel according to claim 2, characterized in that: The geometric model is numerically simulated under various environmental parameters by computational fluid dynamics to obtain dimensionless environmental load coefficients of the ship under various environmental parameters, including: By using computational fluid dynamics, numerical simulation is performed on the geometric model under different wind directions and wind speeds to obtain a dimensionless wind load coefficient of the ship; The geometric model is numerically simulated under different flow directions and different flow velocities by computational fluid dynamics to obtain the dimensionless flow load coefficient of the ship.

4. The method for determining the heading of a dynamically positioned vessel according to claim 3, characterized in that: According to the dimensionless environmental load coefficient and the actual environmental parameter, the environmental load of the ship at a given heading is obtained, including: Obtaining wind load according to the dimensionless wind load coefficient and the actual wind speed and direction in the actual environmental parameters; Obtaining flow load according to the dimensionless flow load coefficient and the actual flow velocity and direction in the actual environmental parameters; The wind load and the flow load are summed up to obtain the environmental load of the ship at a given heading.

5. The method for determining the heading of a dynamically positioned vessel according to claim 1, characterized in that: Calculate the control instructions of each propeller on the ship when the environmental load is met, including: The thrust magnitude and azimuth angle of each propeller on the ship when the environmental load is met are calculated by a pseudo-inverse method.

6. A heading determination device for a dynamically positioned vessel, characterized in that: include: The environmental parameter acquisition module is used to obtain the dimensionless environmental load coefficient of the ship under various environmental parameters, as well as the actual environmental parameters of the ship under actual sea conditions when the heading is given; An environmental load determination module, used to obtain the environmental load of the ship at a given heading according to the dimensionless environmental load coefficient and the actual environmental parameter; A propeller power determination module, used to calculate the control instructions of each propeller on the ship when the environmental load is met, and determine the total power of the propeller with a given bow downward according to each control instruction; A target heading determination module is used to determine a target heading among a plurality of given headings according to a plurality of given total thruster powers with the headings facing downward; The target heading determination module includes: a first target heading determination unit, which is used to take a given heading corresponding to a minimum total propeller power among a plurality of given headings as the target heading; The target heading determination module includes: a heading range determination unit, which is used to determine the heading range of the ship energy-saving heading according to the change trend of the total propeller power of multiple given headings downward; a given heading update unit, which is used to obtain multiple updated given headings within the heading range by reducing the heading interval value; a propeller power determination unit, which is used to return to the step of obtaining the actual environmental parameters of the ship under the actual sea conditions when the given heading is obtained, and obtain the total propeller power at each updated given heading downward; a target heading second determination unit, which is used to determine the target heading among the multiple updated given headings according to each updated given heading downward total propeller power.

7. An electronic device, characterized in that: The electronic device comprises: at least one processor; and a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the heading determination method for a dynamically positioned vessel according to any one of claims 1-5.

8. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the method for determining the heading of a dynamically positioned vessel according to any one of claims 1 to 5 when executed.

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