Platform plugging order decision method, electronic device, medium and program

Abstract

The embodiment of the present invention discloses a platform pile insertion order decision method, electronic equipment, medium and program, including: obtaining pile insertion order decision-related parameters of the target platform; wherein the pile insertion order decision-related parameters include the configuration parameters of the target platform, the current environmental load parameters and the pile leg lowering operation task parameters of the target platform; determining the dynamic positioning capability evaluation results of the target platform under different operation states according to the pile insertion order decision-related parameters of the target platform and the associated dynamic positioning capability evaluation model; determining the pile leg dynamic positioning data and pile leg operation energy consumption data of the target platform according to the target evaluation function and the dynamic positioning capability evaluation results; determining the pile insertion order of the pile legs in the target platform according to the pile leg dynamic positioning data and pile leg operation energy consumption data of the target platform. The embodiment of the present invention can enhance the safety and stability of the platform dynamic positioning system when carrying out pile insertion operations, and at the same time improve the energy utilization efficiency of the dynamic positioning system.

Description

Technical Field

[0001] The embodiments of the present invention relate to the field of dynamic positioning technology, and in particular to a platform plugging order decision method, electronic equipment, medium and program. Background Art

[0002] When a platform equipped with a dynamic positioning system performs pile driving operations, the operation phase can be divided into two types according to the status of the pile legs: the pile leg lowering state and the pile leg bottoming state. The platform needs to be able to firmly take root in complex environments in both stages and accurately position itself in the target area throughout the entire process.

[0003] At present, when the platform is performing pile driving operations, it can only rely on manual experience to determine the order of pile leg driving. However, pile legs with different serial numbers are installed in different positions on the jack-up platform, and the interference caused by each pile leg on the platform when the pile leg is lowered and when the pile leg touches the bottom is also different. In some complex environments, an inappropriate order of pile leg driving will cause the platform to be unable to accurately maintain its position in the target area, or significantly increase the thruster load of the platform, significantly reduce the economy of the dynamic positioning system and increase the failure rate of the thruster. Summary of the invention

[0004] The embodiments of the present invention provide a platform pile insertion order decision method, electronic equipment, medium and program, which can enhance the safety and stability of the platform dynamic positioning system when carrying out pile insertion operations, and improve the energy utilization efficiency of the dynamic positioning system.

[0005] According to one aspect of the present invention, a platform instrumentation order decision method is provided, comprising:

[0006] Obtaining pile insertion sequence decision-related parameters of the target platform; wherein the pile insertion sequence decision-related parameters include configuration parameters of the target platform, current environmental load parameters, and pile leg lowering task parameters of the target platform;

[0007] Determine the dynamic positioning capability evaluation results of the target platform under different operating states according to the insertion sequence decision-related parameters of the target platform and the associated dynamic positioning capability evaluation model;

[0008] Determine the pile leg dynamic positioning data and pile leg operation energy consumption data of the target platform according to the target evaluation function and the dynamic positioning capability evaluation result;

[0009] The insertion order of the pile legs in the target platform is determined according to the pile leg dynamic positioning data and the pile leg operation energy consumption data of the target platform.

[0010] According to another aspect of the present invention, a platform instrumentation order decision device is provided, comprising:

[0011] An associated parameter acquisition module is used to acquire the associated parameters of the pile insertion order decision of the target platform; wherein the associated parameters of the pile insertion order decision include the configuration parameters of the target platform, the current environmental load parameters and the pile leg lowering operation task parameters of the target platform;

[0012] A dynamic positioning capability evaluation result acquisition module is used to determine the dynamic positioning capability evaluation results of the target platform under different operating states according to the pile insertion sequence decision-related parameters and the associated dynamic positioning capability evaluation model of the target platform;

[0013] An evaluation data acquisition module, used to determine the pile leg dynamic positioning data and pile leg operation energy consumption data of the target platform according to the target evaluation function and the dynamic positioning capability evaluation result;

[0014] The pile insertion sequence determination module is used to determine the pile insertion sequence of the pile legs in the target platform according to the pile leg dynamic positioning data and pile leg operation energy consumption data of the target platform.

[0015] According to another aspect of the present invention, an electronic device is provided, the electronic device comprising:

[0016] at least one processor; and

[0017] a memory communicatively connected to the at least one processor; wherein,

[0018] 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 platform instrumentation order decision method described in any embodiment of the present invention.

[0019] According to another aspect of the present invention, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the platform instrumentation order decision method described in any embodiment of the present invention when executed.

[0020] According to another aspect of the present invention, a computer program product is provided, including a computer program, wherein when the computer program is executed by a processor, the platform instrumentation order decision method according to any embodiment of the present invention is implemented.

[0021] The embodiment of the present invention obtains pile insertion order decision-related parameters including configuration parameters of the target platform, current environmental load parameters and pile leg lowering operation task parameters of the target platform, so as to determine the dynamic positioning capability evaluation results of the target platform under different operating conditions according to the pile insertion order decision-related parameters of the target platform and the associated dynamic positioning capability evaluation model. Furthermore, the pile leg dynamic positioning data and pile leg operation energy consumption data of the target platform can be determined according to the target evaluation function and the dynamic positioning capability evaluation results, so that the pile insertion order of the pile legs in the target platform can be determined according to the pile leg dynamic positioning data and pile leg operation energy consumption data of the target platform. The above technical scheme can solve the problem that the existing platform pile insertion order cannot be accurately determined through artificial experience, and can enhance the safety and stability of the platform dynamic positioning system when carrying out pile insertion operations, while improving the energy utilization efficiency of the dynamic positioning system.

[0022] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended 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

[0023] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0024] Figure 1 is a flow chart of a platform plugging order decision method provided in Embodiment 1 of the present invention;

[0025] Figure 2 is a flow chart of a platform plugging order decision method provided by Embodiment 2 of the present invention;

[0026] Figure 3 It is a flow chart of a platform plugging order decision method provided by Embodiment 3 of the present invention;

[0027] Figure 4 It is a schematic diagram of a disturbance load generated during the lowering process of the No. 1 pile leg alone provided in the third embodiment of the present invention;

[0028] Figure 5 This is a schematic diagram of the environmental load direction of a target platform provided by Embodiment 3 of the present invention;

[0029] Figure 6 It is a schematic diagram of the supporting load of the No. 1 pile leg on the target platform in a bottoming state provided by the third embodiment of the present invention;

[0030] Figure 7 It is a schematic diagram of a platform plugging order decision device provided by a fourth embodiment of the present invention;

[0031] Figure 8 This is a schematic diagram of the structure of an electronic device provided in Embodiment 5 of the present invention. DETAILED DESCRIPTION

[0032] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0033] It should be noted that the terms "first", "second" and "target" in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0034] Embodiment 1

[0035] Figure 1 This is a flow chart of a platform plugging order decision method provided in the first embodiment of the present invention. This embodiment is applicable to the case of automatically deciding the order of lowering the platform pile legs. The method can be executed by a platform plugging order decision device, which can be implemented by software and / or hardware, and can generally be integrated in an electronic device. The electronic device can be a terminal device or a server device. As long as it can execute the platform plugging order decision method, the embodiment of the present invention does not limit the specific device type of the electronic device. Accordingly, Figure 1 As shown, the method includes the following operations:

[0036] S110, obtaining pile insertion sequence decision-related parameters of the target platform; wherein the pile insertion sequence decision-related parameters include configuration parameters of the target platform, current environmental load parameters and pile leg lowering operation task parameters of the target platform.

[0037] Among them, the target platform can be a platform with multiple pile legs. Exemplarily, the target platform can include but is not limited to a self-elevating platform, etc., and the embodiment of the present invention does not limit the specific types of target platforms. The pile insertion order decision-related parameters can be associated parameters used to determine the pile insertion order of the target platform. Exemplarily, the pile insertion order decision-related parameters can include but are not limited to the configuration parameters of the target platform, the current environmental load parameters and the pile leg lowering operation task parameters of the target platform, etc., and the embodiment of the present invention does not limit the specific parameters included in the pile insertion order decision-related parameters. The configuration parameters of the target platform can be a series of parameters used to describe the characteristics and performance of various parts of the target platform. Exemplarily, the configuration parameters of the target platform can include but are not limited to the center of gravity position of the target platform, the pile leg installation position and the number of pile legs, etc., and the embodiment of the present invention does not limit the specific parameters included in the configuration parameters of the target platform. The current environmental load parameter can be a physical quantity corresponding to various natural environmental factors acting on the target platform at a specific moment. Exemplarily, the current environmental load parameter can be the relative wind speed v in the operating environment where the target platform is located. w , relative wind direction α, relative flow velocity v c , relative flow direction β and the environmental load of the target platform. The target platform pile leg lowering operation task parameters may be a series of key indicators and parameters used to define, describe and control each link of the operation during the target platform pile leg lowering operation. Exemplarily, the target platform pile leg lowering operation task parameters may include but are not limited to the pile leg lowering depth, etc. The embodiment of the present invention does not limit the specific parameters included in the target platform pile leg lowering operation task parameters.

[0038] In the embodiment of the present invention, in order to accurately determine the order of pile insertion of each pile leg of the target platform, the parameter types that can be used for reference when determining the order of pile insertion can be obtained from multiple dimensions. For example, multiple dimensions of pile insertion order decision-related parameters including the configuration parameters of the target platform, the current environmental load parameters, and the pile leg lowering task parameters of the target platform can be obtained.

[0039] S120, determining the dynamic positioning capability evaluation results of the target platform under different operating states according to the insertion order decision-related parameters of the target platform and the associated dynamic positioning capability evaluation model.

[0040] Among them, the associated dynamic positioning capability assessment model can be a model tool for evaluating and analyzing the dynamic positioning capability of the target platform. Exemplarily, the associated dynamic positioning capability assessment model can include but is not limited to a first dynamic positioning capability assessment model and a second dynamic positioning capability assessment model. The first dynamic positioning capability assessment model can be used to evaluate and analyze the dynamic positioning capability of the target platform when each pile leg is in a lowered state. The second dynamic positioning capability assessment model can be used to evaluate and analyze the dynamic positioning capability of the target platform when each pile leg is in a bottoming state. The dynamic positioning capability assessment result can be obtained based on the target platform's pile insertion sequence decision-related parameters and each associated dynamic positioning capability assessment model, and the dynamic positioning capability assessment data of the target platform in the pile leg lowered state and the pile leg bottoming state.

[0041] Correspondingly, after obtaining the target platform's insertion order decision-related parameters, the target platform's dynamic positioning capability under different operating states can be evaluated based on the target platform's insertion order decision-related parameters and the associated dynamic positioning capability evaluation model, thereby obtaining the target platform's dynamic positioning capability evaluation results under different operating states as a basis for determining the target platform's insertion order.

[0042] S130, determining the pile leg dynamic positioning data and pile leg operation energy consumption data of the target platform according to the target evaluation function and the dynamic positioning capability evaluation result.

[0043] The target evaluation function may be a function for evaluating the performance of each pile leg of the target platform. The pile leg dynamic positioning data may be the dynamic positioning capability data of each pile leg of the target platform during the pile insertion operation. The pile leg operation energy consumption data may be the energy consumption data of each pile leg of the target platform during the operation.

[0044] Specifically, after determining the dynamic positioning capability evaluation results of the target platform under different operating states according to the target platform's pile insertion order decision-related parameters and the associated dynamic positioning capability evaluation model, the target platform's pile leg dynamic positioning data and pile leg operation energy consumption data can be determined according to the target evaluation function and the dynamic positioning capability evaluation results, and then the pile insertion order of the pile legs in the target platform can be determined according to the target platform's pile leg dynamic positioning data and pile leg operation energy consumption data.

[0045] S140, determining the pile insertion order of the pile legs in the target platform according to the pile leg dynamic positioning data and the pile leg operation energy consumption data of the target platform.

[0046] The order of inserting the pile legs in the target platform may be the order of lowering the pile legs of the target platform.

[0047] Accordingly, after determining the pile leg dynamic positioning data and pile leg operation energy consumption data of the target platform according to the target evaluation function and the dynamic positioning capability assessment results, the pile leg insertion order of the target platform can be determined according to the pile leg dynamic positioning data and pile leg operation energy consumption data of the target platform, thereby ensuring the dynamic positioning capability of the target platform under different operating conditions while improving the energy utilization rate of the dynamic positioning system.

[0048] For example, the insertion order of the first pile leg in the target platform can be determined based on the dynamic positioning data of the pile legs and the energy consumption data of the pile leg operation. A reasonable first pile insertion order helps to balance the load, reduce wear on the equipment, and improve the dynamic positioning accuracy of the target platform. Accordingly, after the insertion order of the first pile leg in the target platform is determined, the insertion order and operation plan of other pile legs can be planned according to the insertion position and status of the first pile leg to ensure the stability and operation efficiency of the entire target platform.

[0049] The embodiment of the present invention obtains pile insertion order decision-related parameters including configuration parameters of the target platform, current environmental load parameters and pile leg lowering operation task parameters of the target platform, so as to determine the dynamic positioning capability evaluation results of the target platform under different operating conditions according to the pile insertion order decision-related parameters of the target platform and the associated dynamic positioning capability evaluation model. Furthermore, the pile leg dynamic positioning data and pile leg operation energy consumption data of the target platform can be determined according to the target evaluation function and the dynamic positioning capability evaluation results, so that the pile insertion order of the pile legs in the target platform can be determined according to the pile leg dynamic positioning data and pile leg operation energy consumption data of the target platform. The above technical scheme can solve the problem that the existing platform pile insertion order cannot be accurately determined through artificial experience, and can enhance the safety and stability of the platform dynamic positioning system when carrying out pile insertion operations, while improving the energy utilization efficiency of the dynamic positioning system.

[0050] Embodiment 2

[0051] Figure 2 is a flow chart of a platform plugging order decision method provided by the second embodiment of the present invention. This embodiment is specific based on the above embodiment. In this embodiment, multiple specific optional implementation methods are provided for determining the dynamic positioning capability evaluation results of the target platform under different operating states according to the plugging order decision-related parameters of the target platform and the associated dynamic positioning capability evaluation model. Figure 2 As shown, the method of this embodiment may include:

[0052] S210: Obtain the instrumentation order decision-related parameters of the target platform.

[0053] S220, determining a first dynamic positioning capability evaluation result of the target platform when each of the pile legs is in a lowered state according to the pile insertion sequence decision-related parameters of the target platform and the first dynamic positioning capability evaluation model.

[0054] The first dynamic positioning capability evaluation result may be a dynamic positioning capability result of the target platform when each leg is in a lowered state.

[0055] In an embodiment of the present invention, after obtaining the pile insertion order decision-related parameters of the target platform, the first dynamic positioning capability evaluation result when each pile leg of the target platform is in the lowered state can be determined according to the pile insertion order decision-related parameters of the target platform and the first dynamic positioning capability evaluation model, so that the dynamic positioning capability of the target platform during the lowering process of each pile leg can be determined according to the first dynamic positioning capability evaluation result.

[0056] S230, determining a second dynamic positioning capability evaluation result of the target platform when each of the pile legs is in a bottoming state according to the pile insertion sequence decision-related parameters of the target platform and the second dynamic positioning capability evaluation model.

[0057] The second dynamic positioning capability evaluation result may be a dynamic capability evaluation result when each leg of the target platform touches the bottom.

[0058] Specifically, after obtaining the target platform's pile insertion order decision-related parameters, the second dynamic positioning capability evaluation results when each pile leg of the target platform touches the bottom can be determined according to the target platform's pile insertion order decision-related parameters and the second dynamic positioning capability evaluation model, so that the dynamic positioning capability of the target platform when each pile leg touches the bottom can be determined according to the second dynamic positioning capability evaluation results.

[0059] S240, determining the pile leg dynamic positioning data and pile leg operation energy consumption data of the target platform according to the target evaluation function and the dynamic positioning capability evaluation result.

[0060] S250, determining the pile insertion order of the pile legs in the target platform according to the pile leg dynamic positioning data and the pile leg operation energy consumption data of the target platform.

[0061] The embodiment of the present invention obtains the pile insertion order decision-related parameters of the target platform, so as to determine the first dynamic positioning capability evaluation result of each pile leg of the target platform in the lowered state according to the pile insertion order decision-related parameters of the target platform and the first dynamic positioning capability evaluation model, and determine the second dynamic positioning capability evaluation result of each pile leg of the target platform in the bottoming state according to the pile insertion order decision-related parameters of the target platform and the second dynamic positioning capability evaluation model. Furthermore, the pile leg dynamic positioning data and pile leg operation energy consumption data of the target platform can be determined according to the target evaluation function and the dynamic positioning capability evaluation result, so that the pile insertion order of the pile legs in the target platform can be determined according to the pile leg dynamic positioning data and pile leg operation energy consumption data of the target platform. The above technical scheme can solve the problem that the existing platform pile insertion order cannot be accurately determined through artificial experience, and can enhance the safety and stability of the platform dynamic positioning system when carrying out pile insertion operations, while improving the energy utilization efficiency of the dynamic positioning system.

[0062] Embodiment 3

[0063] Figure 3 This is a flow chart of a platform plugging order decision method provided by the third embodiment of the present invention. This embodiment is specific based on the above embodiment. In this embodiment, multiple specific optional implementation methods are provided for determining the dynamic positioning capability evaluation results of the target platform under different operating states according to the plugging order decision-related parameters of the target platform and the associated dynamic positioning capability evaluation model. Figure 3 As shown, the method of this embodiment may include:

[0064] S310: Obtain the instrumentation order decision-related parameters of the target platform.

[0065] S320a, calculating the disturbance load sequence of each leg of the target platform at different operating depths.

[0066] The disturbance load sequence of each leg of the target platform at different operating depths may be the dynamic load on each leg of the target platform caused by environmental factors and operating operations during the operation of the target platform. It is understandable that the disturbance load sequence will change with the change of the operating depth.

[0067] In an embodiment of the present invention, after obtaining the pile insertion order decision associated parameters of the target platform, the disturbance load sequence at different operating depths during the individual lowering of each pile leg of the target platform can be calculated according to the pile insertion order decision associated parameters.

[0068] Figure 4 Schematic diagram of disturbance load generated during the lowering of pile leg No. 1 provided in the third embodiment of the present invention. Figure 4As shown in the figure, assuming that the target platform is a jack-up platform, the disturbance load at different operating depths during the individual lowering of each leg can be calculated based on the following formula:

[0069]

[0070] Among them, R Li is the disturbance load at depth H during the lowering of the i-th pile leg alone, X pi is the component force of the disturbance load in the longitudinal direction at the depth H during the individual lowering of the i-th pile leg, Y pi is the component of the disturbance load in the sway direction at depth H during the lowering of the i-th leg alone, N pi is the component moment of the disturbance load in the bow turning direction at depth H during the lowering of the i-th leg alone, W pi is the resultant force of wind disturbance load encountered by the i-th leg during the individual lowering process, α is the relative wind direction of the target platform encountering wind load in the operating environment, C pi is the resultant force of the flow disturbance load encountered by the i-th leg during the individual lowering process, β is the relative flow direction of the wind load encountered by the target platform in the operating environment, and l xi is the distance from the center of gravity of the platform in the lateral swing direction of the i-th pile leg load, l yi is the distance from the center of gravity of the platform in the longitudinal swing direction of the i-th pile leg, H is the current lowering depth of the i-th pile leg, K WPi (H) is the wind disturbance load coefficient of the i-th pile leg, which is a function of the current lowering depth H of the i-th pile leg, K CPi (H) is the flow disturbance load coefficient of the i-th pile leg, which is a function of the current lowering depth H of the i-th pile leg, v w is the relative wind speed of the target platform in the working environment when encountering wind load, v c It is the relative flow velocity of the wind load encountered by the target platform in the working environment.

[0071] Furthermore, the sequence of the lowering depths of each pile leg can be expressed as:

[0072]

[0073] Among them, H is the sequence of the lowering depths of each pile leg, H M is the leg lowering task depth in the target platform leg lowering task parameter, N is a constant, indicating that the leg lowering depth H M The data are evenly divided into N groups, and the value of N can be determined according to actual conditions. The embodiment of the present invention does not limit the specific value of N.

[0074] For example, assuming that the pile leg is pile leg No. 1, the pile leg lowering task depth H Mis 50 meters, and the constant N is 10, then the lowering depth sequence H of the No. 1 pile leg can be: .

[0075] Substituting each depth of each pile leg in the lowering depth sequence H into the calculation formula of the disturbance load at different operating depths during the individual lowering of each pile leg, the disturbance load sequence of each pile leg at different lowering depths can be obtained:

[0076]

[0077] Among them, A i is the disturbance load sequence of the i-th pile leg at different lowering depths; R i_H / N is the disturbance load of the pile leg No. i at the lowering depth H / N, R i_2H / N is the disturbance load of the pile leg No. i at the lowering depth of 2H / N. Similarly, R i_H is the disturbance load of the pile leg No. i at the lowering depth H, X pi is the component force in the longitudinal direction of the disturbance load generated during the lowering of the i-th pile leg, Y pi is the component force in the sway direction of the disturbance load generated during the lowering of the i-th leg alone, N pi is the component moment in the bow turning direction of the disturbance load generated during the individual lowering of the i-th leg.

[0078] S330a, calculating the sum of the environmental load of the target platform and the disturbance load sequence as the overall environmental load sequence of the target platform when each leg is in the lowered state.

[0079] The overall environmental load sequence of the target platform when the pile legs are lowered may be the sum of the environmental load of the target platform and the disturbance load sequence at different operating depths during the process of lowering the pile legs separately. The so-called environmental load may be various external forces on the target platform in the external environment when the pile legs are not lowered. The environmental load may include but is not limited to the loads on the target platform caused by wind, waves, currents, ice, etc.

[0080] Correspondingly, after calculating the disturbance load sequence of each leg of the target platform at different operating depths, the sum of the environmental load of the target platform and the disturbance load sequence can be further calculated, and the sum can be used as the overall environmental load sequence of the target platform when each leg is lowered.

[0081] Figure 5 Schematic diagram of the environmental load direction of a target platform provided by the third embodiment of the present invention. Figure 5As shown in the figure, it is assumed that the target platform has four pile legs, the X0 axis direction points to the bow, the Y0 axis direction points to the starboard, N0 is the bow turning direction, the clockwise direction is the positive direction, and the 0 degree direction of environmental loads such as wind, waves and currents is positioned as the wind from the stern, and the 90 degree direction is the wind from the port side of the hull.

[0082] Continuing with the above example, the environmental load of the target platform can be expressed based on the following formula:

[0083]

[0084] Where D is the environmental load of the target platform, X hull is the component force of the environmental load of the target platform in the longitudinal direction; Y hull is the component force of the environmental load of the target platform in the sway direction; N hull The bow moment of the environmental load of the target platform.

[0085] Therefore, the overall environmental load sequence of the target platform under the lowering state of each leg can be obtained by superimposing the disturbance load sequence at different working depths during the lowering of each leg according to the environmental load resultant of the target platform:

[0086]

[0087] Among them, G i is the overall environmental load sequence of the target platform when the i-th leg is lowered.

[0088] S340a, determining the first dynamic positioning capability result of the target platform in each of the leg lowered states according to the overall environmental load sequence of the target platform in each of the leg lowered states and the first dynamic positioning capability assessment model.

[0089] Wherein, the first dynamic positioning capability result may be the dynamic positioning capability result of each pile leg of the target platform in the lowered state. Exemplarily, the first dynamic positioning capability result may include but is not limited to a lowering positioning capability result sequence and a lowering thruster power result sequence. The lowering positioning capability result sequence may be used to indicate whether each pile leg of the target platform has the dynamic positioning capability during the lowering process. The lowering thruster power result sequence may be the output result of the thruster power during the pile leg lowering operation of the target platform.

[0090] Correspondingly, after calculating the overall environmental load sequence of the target platform under each leg lowering state, the overall environmental load sequence of the target platform under each leg lowering state can be used as the input information of the first dynamic positioning capability evaluation model, and the dynamic positioning capability evaluation of the pile leg lowering process at different lowering depths of each leg can be carried out in turn, so as to obtain the first dynamic positioning capability result of the target platform under each leg lowering state.

[0091] Continuing with the above example, the sequence of the positioning capability results of the i-th leg at different lowering depths can be expressed as:

[0092]

[0093] Among them, Q i is the result sequence of the positioning capability of the pile leg No. i, q H / N is the positioning capability result of the i-th leg at the depth of H / N, q 2H / N is the positioning capability result of the pile leg No. i at a depth of 2H / N. Similarly, q （N-1）H / N is the positioning capability result of the i-th leg at the depth of (N-1)H / N, q H is the result of the positioning capability of the i-th pile leg at the depth H. When the positioning capability result is 1, it means that the i-th pile leg has the dynamic positioning capability at the lowering depth; when the positioning capability result is 0, it means that the i-th pile leg does not have the dynamic positioning capability at the lowering depth.

[0094] In a specific example, assuming that the target platform has four legs, the lowering and positioning capability result sequence of leg No. 1 can be Q1=[1,1,1,1,1,1,1,1,1,1]; the lowering and positioning capability result sequence of leg No. 2 can be Q2=[1,1,1,1,1,1,1,1,0,0,0]; the lowering and positioning capability result sequence of leg No. 3 can be Q3=[1,1,1,1,1,1,1,1,1,1]; and the lowering and positioning capability result sequence of leg No. 4 can be Q4=[1,1,1,1,1,1,1,1,1,1,1].

[0095] Assume that the sequence of the thruster power results during the leg lowering process at different leg lowering depths for the i-th leg is P i :

[0096]

[0097] Among them, P i is the result sequence of the thruster power of the i-th leg, p i_1 is the thrust distribution power of the first thruster when the i-th leg is lowered, p i_2 The thrust distribution power of the second thruster when the i-th leg is lowered, and so on, p i_n The thrust distribution power of the nth thruster when the i-th leg is lowered, [p i_1 ,p i_2 ,…,p i_n ] H / N is the thruster power result of the i-th leg at the depth H / N, [pi_1 ,p i_2 ,…,p i_n ] 2H / N is the thruster power result of the i-th leg at a depth of 2H / N, and so on, [p i_1 ,p i_2 ,…,p i_n ] H is the thruster power result of the i-th leg at depth H.

[0098] In an optional embodiment of the present invention, determining the first dynamic positioning capability result of the target platform in each of the leg lowered states according to the overall environmental load sequence of the target platform in each of the leg lowered states and the first dynamic positioning capability assessment model may include: determining the lowered positioning capability result sequence and the lowered thruster power result sequence according to the overall environmental load sequence of the target platform in each of the leg lowered states and the first dynamic positioning capability assessment model; determining the lowered thruster power summation sequence according to the lowered thruster power result sequence.

[0099] The sequence for summing the power of the lowering thrusters may be the sum of the power results of the lowering thrusters at different lowering depths.

[0100] In an embodiment of the present invention, in the process of determining the first dynamic positioning capability result of each leg of the target platform in the lowered state according to the overall environmental load sequence of the target platform in the lowered state of each leg and the first dynamic positioning capability evaluation model, the overall environmental load sequence of the target platform in the lowered state of each leg can be used as the input information of the first dynamic positioning capability evaluation model, and the dynamic positioning capability evaluation of the lowering process of the legs at different lowering depths of each leg can be carried out in sequence, so as to determine the lowering positioning capability result sequence and the lowering thruster power result sequence. Further, the lowering thruster power results at different lowering depths can be summed, so as to obtain the lowering thruster power summation sequence.

[0101] Continuing with the above example, the power summation sequence of the lowering thruster can be expressed based on the following formula:

[0102]

[0103] Among them, E i is the sum of the thruster power of the i-th leg, e i_H / N is the sum of the thruster power of the i-th leg during the leg lowering process at the depth H / N, e i_2H / N is the sum of the thruster power of the i-th leg during the leg lowering process at a depth of 2H / N. Similarly, e i_HIt is the sum of the thruster powers of the i-th leg during the lowering process at the depth H.

[0104] In a specific example, the summed sequence of the thruster powers of the first leg may be E1=[1.1, 1.2, 1.3, 1.4, 1.5, 1.6, 1.7, 1.8, 1.9, 2.0]; the summed sequence of the thruster powers of the second leg may be E2=[1.1, 1.2, 1.3, 1.4, 1.5, 1.6, 1.7, 4.0, 4.0, 4.0]; the summed sequence of the thruster powers of the third leg may be E3=[1.2, 1.3, 1.4, 1.5, 1.6, 1.7, 1.8, 1.9, 2.0, 2.1]; the summed sequence of the thruster powers of the fourth leg may be E4=[1.1, 1.2, 1.3, 1.4, 1.5, 1.6, 1.7, 1.8, 1.9, 2.0].

[0105] S320b, calculating the supporting load force and supporting load moment of each pile leg on the target platform in the bottoming state.

[0106] The support load force may be the upward support force provided by each pile leg to the main structure of the target platform when the pile legs touch the bottom. The support load moment may be the moment that causes the target platform to rotate around a certain axis due to the distance between the point where the support load force of each pile leg acts on the target platform and the center of gravity or a specific reference point of the target platform.

[0107] In the embodiment of the present invention, after obtaining the pile insertion order decision associated parameters of the target platform, the supporting load force and supporting load moment of each pile leg on the target platform in the bottoming state can be calculated according to the pile insertion order decision associated parameters.

[0108] Continuing with the above example, the supporting load force of the i-th pile leg on the target platform in the bottoming state can be:

[0109]

[0110] Among them, T i is the supporting load force of the i-th pile leg on the target platform in the bottoming state.

[0111] The supporting load moment of the i-th pile leg on the target platform in the bottoming state can be:

[0112]

[0113] Among them, M i is the supporting load moment of the i-th pile leg on the target platform under the bottoming state, B i is the arm of force between the support load force of the i-th pile leg on the target platform and the center of the target platform.

[0114] S330b, determining the overall environmental load sequence of the target platform when each of the pile legs touches the bottom according to the environmental load bow moment of the target platform and the support load moment.

[0115] The target platform's environmental load bow moment may be the moment of rotation about a certain axis of the bow generated by the target platform's environmental load on the target platform. The target platform's overall environmental load sequence in the pile leg bottoming state may be a collection of all load information applied to the target platform by environmental factors after the pile leg bottoming.

[0116] Correspondingly, after calculating the supporting load force and supporting load moment of each pile leg on the target platform in the bottoming state, the overall environmental load sequence of the target platform in the bottoming state of each pile leg can be further determined according to the environmental load bow moment and supporting load moment of the target platform.

[0117] Continuing with the above example, when the pile legs touch the bottom, the support load moment provided by the i-th pile leg to the target platform is superimposed on the environmental load bow moment of the target platform, and the overall environmental load sequence of the target platform when the i-th pile leg touches the bottom can be obtained:

[0118]

[0119] Among them, R i is the overall environmental load sequence of the target platform when the i-th leg touches the bottom.

[0120] Figure 6 Schematic diagram of the support load of the No. 1 pile leg on the target platform in a bottoming state provided by the third embodiment of the present invention. In a specific example, Figure 6 As shown in the figure, the overall environmental load result of the target platform when the No. 1 pile leg touches the bottom can be:

[0121]

[0122] Among them, R1 is the overall environmental load result of the target platform when the No. 1 pile leg touches the bottom, M1 is the supporting load moment of the No. 1 pile leg on the target platform when it touches the bottom, T1 is the supporting load force of the No. 1 pile leg on the target platform when it touches the bottom, and B1 is the lever arm between the supporting load force of the No. 1 pile leg on the target platform and the center of gravity of the target platform.

[0123] S340b, determining the second dynamic positioning capability result of the target platform in the state where each leg of the target platform touches the bottom according to the overall environmental load sequence of the target platform in the state where each leg of the target platform touches the bottom and the second dynamic positioning capability evaluation model.

[0124] The second dynamic positioning capability result may be a dynamic positioning capability result when each leg of the target platform touches the bottom. Exemplarily, the second dynamic positioning capability result may include but is not limited to a bottoming positioning capability result sequence and a bottoming propeller power result sequence. The bottoming positioning capability result sequence may be used to indicate whether each leg of the target platform has dynamic positioning capability when touching the bottom. The bottoming propeller power result sequence may be an output result of propeller power during the bottoming operation of the leg of the target platform.

[0125] Correspondingly, after determining the overall environmental load sequence of the target platform in the bottoming state according to the environmental load bow moment and support load moment of the target platform, the overall environmental load sequence of the target platform in the bottoming state of each leg can be used as the input of the second dynamic positioning capability evaluation model, and the dynamic positioning capability evaluation of each leg touching the bottom can be performed in turn, so as to determine the second dynamic positioning capability result of the target platform in the bottoming state of each leg touching the bottom.

[0126] Continuing with the above example, the bottoming positioning ability result of the i-th pile leg in the bottoming state can be obtained using S i When the bottom positioning capability result indicates that the dynamic positioning capability is available, it is recorded as 1, and when the dynamic positioning capability is not available, it is recorded as 0.

[0127] In a specific example, assuming that the target platform has 4 legs, the bottoming positioning capability result when the first leg touches the bottom is S1=1; the bottoming positioning capability result when the second leg touches the bottom is S2=1; the bottoming positioning capability result when the third leg touches the bottom is S3=1; and the bottoming positioning capability result when the fourth leg touches the bottom is S4=0.

[0128] The power result sequence of the bottom locator when the i-th pile leg touches the bottom can be obtained using V i To express:

[0129]

[0130] Among them, V i is the power result sequence of the bottoming locator when the i-th pile leg touches the bottom, v i_1 The thrust distribution power of the first thruster when the i-th leg touches the bottom, v i_2 The thrust distribution power of the second thruster when the i-th leg touches the bottom is obtained, and so on. i_n The power distribution is for the thrust of the nth thruster when the i-th leg touches the bottom.

[0131] In an optional embodiment of the present invention, determining the second dynamic positioning capability result of the target platform in each of the pile legs touching the bottom state according to the overall environmental load sequence of the target platform in each of the pile legs touching the bottom state and the second dynamic positioning capability assessment model may include: determining the bottoming positioning capability result and the bottoming thruster power result sequence according to the overall environmental load sequence of the target platform in each of the pile legs touching the bottom state; and determining the bottoming thruster power summation result according to the bottoming thruster power result sequence.

[0132] The sum of the bottoming thruster powers may be the sum of the bottoming thruster powers of each leg.

[0133] In an embodiment of the present invention, in the process of determining the second dynamic positioning capability result of each pile leg touching bottom state of the target platform according to the overall environmental load sequence of the target platform under each pile leg touching bottom state and the second dynamic positioning capability evaluation model, firstly, the overall environmental load sequence of the target platform under each pile leg touching bottom state can be used as the input of the second dynamic positioning capability evaluation model, and the dynamic positioning capability evaluation under each pile leg touching bottom state is performed in sequence, so that the bottoming positioning capability result and the bottoming propeller power result sequence under each pile leg touching bottom state can be determined. Further, the bottoming propeller power result sequence under each pile leg touching bottom state can be summed, and the sum value can be used as the bottoming propeller power summation result under each pile leg touching bottom state.

[0134] Continuing with the above example, the sum of the bottoming thruster power when the i-th pile leg touches the bottom can be expressed using the following formula:

[0135]

[0136] Among them, U i It is the sum of the bottoming thruster powers when the i-th pile leg touches the bottom.

[0137] In a specific example, the summed power of the bottoming thrusters when the No. 1 pile leg touches the bottom can be U1=2.4MW; the summed power of the bottoming thrusters when the No. 2 pile leg touches the bottom can be U2=4.4MW; the summed power of the bottoming thrusters when the No. 3 pile leg touches the bottom can be U3=4.4MW; the summed power of the bottoming thrusters when the No. 4 pile leg touches the bottom can be U4=4.4MW. It should be noted that the dimension of the summed power of the bottoming thrusters can be watts, kilowatts, or megawatts, etc., and the embodiment of the present invention does not limit the specific dimension of the summed power of the bottoming thrusters.

[0138] S350, determining the pile leg dynamic positioning data and pile leg operation energy consumption data of the target platform according to the target evaluation function and the dynamic positioning capability evaluation result.

[0139] In an optional embodiment of the present invention, determining the pile leg dynamic positioning data of the target platform according to the target evaluation function and the dynamic positioning capability evaluation result may include: determining the pile leg dynamic positioning data of the target platform based on the following formula:

[0140]

[0141] Determining the pile leg operation energy consumption data of the target platform according to the target evaluation function and the dynamic positioning capability evaluation result may include: determining the pile leg operation energy consumption data of the target platform based on the following formula:

[0142]

[0143] Among them, J i is the feasibility evaluation coefficient of the i-th pile leg, Q i is the positioning capability result of the i-th pile leg, S i is the bottoming positioning ability result of the i-th pile leg, O i is the optimal selection evaluation coefficient of the i-th pile leg, σ is the evaluation weight, E i is the summation sequence of the thruster power of the i-th leg, U i is the sum of the bottoming thruster powers of the i-th leg.

[0144] S360, determining the pile insertion order of the pile legs in the target platform according to the pile leg dynamic positioning data and pile leg operation energy consumption data of the target platform.

[0145] Continuing with the above example, assuming that the target platform has 4 legs, the feasibility evaluation coefficient of the first leg can be J1=min(Q1)*S1=min([1,1,1,1,1,1,1,1,1,1])*1=1; the feasibility evaluation coefficient of the second leg can be J2=min(Q2)*S2=min([1,1,1,1,1,1,1,0,0,0])*1=0; the feasibility evaluation coefficient of the third leg can be J3=min(Q3)*S3=min([1,1,1,1,1,1,1,1,1,1])*1=1; the feasibility evaluation coefficient of the fourth leg can be J4=min(Q4)*S4=min([1,1,1,1,1,1,1,1,1,1])*0=1. When the feasibility evaluation coefficient J i When it is 1, it means that the i-th pile leg has the ability of dynamic positioning during the operation; when the feasibility evaluation coefficient J i When it is 0, it means that the No. i pile leg does not have the dynamic positioning capability during the operation. Therefore, according to the above results, it can be determined that the No. 1 and No. 3 pile legs have the dynamic positioning capability during the operation.

[0146] Furthermore, assuming that the evaluation weight σ is 0.5, the optimal selection evaluation coefficient for the No. 1 pile leg can be:

[0147]

[0148] The optimal selection evaluation coefficient for the No. 3 pile leg can be:

[0149]

[0150] According to the above results, the optimal selection evaluation coefficient O1 of pile leg No. 1 is smaller than the optimal selection evaluation coefficient O3 of pile leg No. 3. According to the principle of minimum energy consumption, pile leg No. 1 can be selected as the first pile number for the target platform's pile insertion operation. The subsequent pile insertion order of the target platform can be determined in sequence according to the above method.

[0151] Optionally, the first pile number of the target platform's pile insertion operation can be determined from the pile legs with dynamic positioning capability based on the principle of maximum safety, and the subsequent pile insertion order of the target platform can be determined in sequence according to the above method.

[0152] In the embodiment of the present invention, by obtaining the pile insertion sequence decision-related parameters of the target platform, on the one hand, the disturbance load sequence of each pile leg of the target platform at different operating depths can be calculated according to the pile insertion sequence decision-related parameters, and further, the sum of the environmental load of the target platform and the disturbance load sequence can be calculated as the overall environmental load sequence of the target platform in the lowered state, so that the first dynamic positioning capability result of each pile leg of the target platform in the lowered state can be determined according to the overall environmental load sequence of the target platform in the lowered state and the first dynamic positioning capability evaluation model. On the other hand, the support load force and support load moment of each pile leg on the target platform in the bottoming state can be calculated according to the pile insertion sequence decision-related parameters, and further, the overall environmental load sequence of the target platform in the bottoming state can be determined according to the environmental load bow moment and the support load moment of the target platform, so that the second dynamic positioning capability result of each pile leg of the target platform in the bottoming state can be determined according to the overall environmental load sequence of the target platform in the bottoming state and the second dynamic positioning capability evaluation model. The above technical solution can solve the problem that the existing platform pile insertion sequence cannot be accurately judged by artificial experience, and can enhance the safety and stability of the platform dynamic positioning system when carrying out pile insertion operations, while improving the energy utilization efficiency of the dynamic positioning system.

[0153] In the technical solution of the present disclosure, the collection, storage, use, processing, transmission, provision and disclosure of user personal information are in compliance with the relevant laws and regulations and do not violate public order and good morals.

[0154] It should be noted that the relevant information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data for display, data for analysis, etc.) involved in this disclosure are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data comply with relevant laws, regulations and standards in relevant regions.

[0155] It should be noted that any arrangement and combination of the technical features in the above embodiments also falls within the protection scope of the present invention.

[0156] Embodiment 4

[0157] Figure 7 is a schematic diagram of a platform plugging order decision device provided by a fourth embodiment of the present invention, such as Figure 7 As shown, the device includes: an associated parameter acquisition module 410, a dynamic positioning capability evaluation result acquisition module 420, an evaluation data acquisition module 430 and a plugging order determination module 440, wherein:

[0158] The associated parameter acquisition module 410 is used to obtain the pile insertion order decision associated parameters of the target platform; wherein the pile insertion order decision associated parameters include the configuration parameters of the target platform, the current environmental load parameters and the pile leg lowering operation task parameters of the target platform.

[0159] The dynamic positioning capability evaluation result acquisition module 420 is used to determine the dynamic positioning capability evaluation results of the target platform under different operating states according to the insertion sequence decision-related parameters of the target platform and the associated dynamic positioning capability evaluation model.

[0160] The evaluation data acquisition module 430 is used to determine the pile leg dynamic positioning data and pile leg operation energy consumption data of the target platform according to the target evaluation function and the dynamic positioning capability evaluation result.

[0161] The pile insertion order determination module 440 is used to determine the pile insertion order of the pile legs in the target platform according to the pile leg dynamic positioning data and pile leg operation energy consumption data of the target platform.

[0162] The embodiment of the present invention obtains pile insertion order decision-related parameters including configuration parameters of the target platform, current environmental load parameters and pile leg lowering operation task parameters of the target platform, so as to determine the dynamic positioning capability evaluation results of the target platform under different operating conditions according to the pile insertion order decision-related parameters of the target platform and the associated dynamic positioning capability evaluation model. Furthermore, the pile leg dynamic positioning data and pile leg operation energy consumption data of the target platform can be determined according to the target evaluation function and the dynamic positioning capability evaluation results, so that the pile insertion order of the pile legs in the target platform can be determined according to the pile leg dynamic positioning data and pile leg operation energy consumption data of the target platform. The above technical scheme can solve the problem that the existing platform pile insertion order cannot be accurately determined through artificial experience, and can enhance the safety and stability of the platform dynamic positioning system when carrying out pile insertion operations, while improving the energy utilization efficiency of the dynamic positioning system.

[0163] Optionally, the associated dynamic positioning capability assessment model may include a first dynamic positioning capability assessment model and a second dynamic positioning capability assessment model; the dynamic positioning capability assessment result acquisition module 420 is specifically used to: determine a first dynamic positioning capability assessment result of the target platform when each of the pile legs is in a lowered state according to the pile insertion order decision-related parameters of the target platform and the first dynamic positioning capability assessment model; determine a second dynamic positioning capability assessment result of the target platform when each of the pile legs is in a bottoming state according to the pile insertion order decision-related parameters of the target platform and the second dynamic positioning capability assessment model.

[0164] Optionally, the dynamic positioning capability assessment result acquisition module 420 is also used to: calculate the disturbance load sequence of each leg of the target platform at different operating depths; calculate the sum of the environmental load of the target platform and the disturbance load sequence as the overall environmental load sequence of the target platform when each leg is lowered; and determine the first dynamic positioning capability result of the target platform when each leg is lowered according to the overall environmental load sequence of the target platform when each leg is lowered and the first dynamic positioning capability assessment model.

[0165] Optionally, the first dynamic positioning capability result includes a lowering positioning capability result sequence and a lowering thruster power result sequence; the dynamic positioning capability assessment result acquisition module 420 is also used to: determine the lowering positioning capability result sequence and the lowering thruster power result sequence according to the overall environmental load sequence of the target platform in the lowered state of each leg and the first dynamic positioning capability assessment model; determine the lowering thruster power summation sequence according to the lowering thruster power result sequence.

[0166] Optionally, the dynamic positioning capability assessment result acquisition module 420 is also used to: calculate the support load force and support load moment of each of the pile legs on the target platform in the bottoming state; determine the overall environmental load sequence of the target platform in the bottoming state of each of the pile legs according to the environmental load bow moment of the target platform and the support load moment; determine the second dynamic positioning capability result of the target platform in the bottoming state of each of the pile legs according to the overall environmental load sequence of the target platform in the bottoming state of each of the pile legs and the second dynamic positioning capability assessment model.

[0167] Optionally, the second dynamic positioning capability result may include a bottoming positioning capability result and a bottoming thruster power result sequence; the dynamic positioning capability assessment result acquisition module 420 is also used to: determine the bottoming positioning capability result and the bottoming thruster power result sequence according to the overall environmental load sequence of the target platform when each of the legs is in the bottoming state; determine the bottoming thruster power summation result according to the bottoming thruster power result sequence.

[0168] Optionally, the evaluation data acquisition module 430 is specifically used to: determine the pile leg dynamic positioning data of the target platform according to the target evaluation function and the dynamic positioning capability evaluation result, which may include: determining the pile leg dynamic positioning data of the target platform based on the following formula:

[0169]

[0170] Determining the pile leg operation energy consumption data of the target platform according to the target evaluation function and the dynamic positioning capability evaluation result may include: determining the pile leg operation energy consumption data of the target platform based on the following formula:

[0171]

[0172] Among them, J i is the feasibility evaluation coefficient of the i-th pile leg, Q i is the positioning capability result of the pile leg No. i, S i is the bottoming positioning ability result of the i-th pile leg, O i is the optimal selection evaluation coefficient of the i-th pile leg, σ is the evaluation weight, E i is the summation sequence of the thruster power of the i-th leg, U i is the sum of the bottoming thruster powers of the i-th leg.

[0173] The above-mentioned platform plugging order decision device can execute the platform plugging order decision method provided by any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method. For technical details not fully described in this embodiment, please refer to the platform plugging order decision method provided by any embodiment of the present invention.

[0174] Since the platform plugging order decision device introduced above is a device that can execute the platform plugging order decision method in the embodiment of the present invention, based on the platform plugging order decision method introduced in the embodiment of the present invention, the technical personnel in this field can understand the specific implementation mode of the platform plugging order decision device of this embodiment and its various variations, so how the platform plugging order decision device implements the platform plugging order decision method in the embodiment of the present invention will not be introduced in detail here. As long as the technical personnel in this field implement the device adopted by the platform plugging order decision method in the embodiment of the present invention, it belongs to the scope of protection of this application.

[0175] Embodiment 5

[0176] Figure 8 A schematic diagram of the structure of an electronic device 10 that can be used to implement an embodiment of the present invention is shown. 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 processing, 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 merely examples and are not intended to limit the implementation of the present invention described and / or required herein.

[0177] like Figure 8 As shown, the electronic device 10 includes at least one processor 11, and a memory connected to the at least one processor 11, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., wherein the memory stores a computer program that can be executed by at least one processor, and the processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 to the random access memory (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. The input / output (I / O) interface 15 is also connected to the bus 14.

[0178] A number 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 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.

[0179] The processor 11 may be a variety of general and / or special 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 special artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as the platform instrumentation order decision method.

[0180] In some embodiments, the platform instrumentation order decision method may be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or installed on 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 platform instrumentation order decision method described above may be performed. Alternatively, in other embodiments, the processor 11 may be configured to execute the platform instrumentation order decision method in any other appropriate manner (e.g., by means of firmware).

[0181] Optionally, the platform pile insertion order decision method may include: obtaining pile insertion order decision-related parameters of the target platform; wherein the pile insertion order decision-related parameters include configuration parameters of the target platform, current environmental load parameters and pile leg lowering operation task parameters of the target platform; determining the dynamic positioning capability evaluation results of the target platform under different operating states according to the pile insertion order decision-related parameters of the target platform and an associated dynamic positioning capability evaluation model; determining the pile leg dynamic positioning data and pile leg operation energy consumption data of the target platform according to the target evaluation function and the dynamic positioning capability evaluation results; and determining the pile insertion order of the pile legs in the target platform according to the pile leg dynamic positioning data and pile leg operation energy consumption data of the target platform.

[0182] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations 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 data and instructions to the storage system, the at least one input device, and the at least one output device.

[0183] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that when the computer program is executed by the processor, the functions / operations specified in the flow chart and / or block diagram are implemented. The computer program may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0184] In the context of the present invention, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, device, or equipment. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices, or equipment, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, 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 disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0185] To provide interaction with a user, the systems and techniques described herein may 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 pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device. Other types of devices may also be used to provide interaction with the user; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form (including acoustic input, voice input, or tactile input).

[0186] The systems and techniques described herein may be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations 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 may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0187] A computing system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The client and server relationship is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS services.

[0188] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps recorded in this disclosure can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solutions disclosed in this disclosure can be achieved, and this document does not limit this.

[0189] The above specific implementations do not constitute a limitation on the protection scope of the present disclosure. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present disclosure shall be included in the protection scope of the present disclosure.

Claims

1. A platform plugging order decision method, characterized in that: include: Obtaining pile insertion sequence decision-related parameters of the target platform; wherein the pile insertion sequence decision-related parameters include configuration parameters of the target platform, current environmental load parameters, and pile leg lowering task parameters of the target platform; Determine the dynamic positioning capability evaluation results of the target platform under different operating states according to the pile insertion order decision-related parameters and the associated dynamic positioning capability evaluation model of the target platform; wherein the associated dynamic positioning capability evaluation model includes a first dynamic positioning capability evaluation model and a second dynamic positioning capability evaluation model; Determine the pile leg dynamic positioning data and pile leg operation energy consumption data of the target platform according to the target evaluation function and the dynamic positioning capability evaluation result; Determine the order of inserting pile legs in the target platform according to the pile leg dynamic positioning data and pile leg operation energy consumption data of the target platform; Wherein, determining the dynamic positioning capability evaluation result of the target platform under different operating states according to the plugging order decision-related parameters of the target platform and the associated dynamic positioning capability evaluation model includes: Determine a first dynamic positioning capability evaluation result of the target platform when each of the pile legs is in a lowered state according to the pile insertion order decision-related parameters of the target platform and the first dynamic positioning capability evaluation model; Determine a second dynamic positioning capability evaluation result of the target platform when each of the pile legs of the target platform is in a bottoming state according to the pile insertion sequence decision-related parameters of the target platform and the second dynamic positioning capability evaluation model; The determining of the pile leg dynamic positioning data of the target platform according to the target evaluation function and the dynamic positioning capability evaluation result comprises: The dynamic positioning data of the pile legs of the target platform are determined based on the following formula: The energy consumption data of the pile leg operation of the target platform is determined according to the target evaluation function and the dynamic positioning capability evaluation result, including: The energy consumption data of the pile leg operation of the target platform is determined based on the following formula: Among them, J i is the feasibility evaluation coefficient of the i-th pile leg, Q i is the positioning capability result of the i-th pile leg, S i is the bottoming positioning ability result of the i-th pile leg, O i is the optimal selection evaluation coefficient of the i-th pile leg, σ is the evaluation weight, E i is the summation sequence of the thruster power of the i-th leg, U i is the sum of the bottoming thruster powers of the i-th leg.

2. The method according to claim 1, characterized in that The step of determining the first dynamic positioning capability evaluation result of the target platform when each of the pile legs is in the lowered state according to the pile insertion sequence decision-related parameters of the target platform and the first dynamic positioning capability evaluation model comprises: Calculating the disturbance load sequence of each leg of the target platform at different operating depths; Calculating the sum of the environmental load of the target platform and the disturbance load sequence as the overall environmental load sequence of the target platform when each of the pile legs is in a lowered state; The first dynamic positioning capability result of the target platform in each of the leg lowered states is determined according to the overall environmental load sequence of the target platform in each of the leg lowered states and the first dynamic positioning capability evaluation model.

3. The method according to claim 2, characterized in that The first dynamic positioning capability result includes a sequence of lowering positioning capability results and a sequence of lowering thruster power results; Determining the first dynamic positioning capability result of the target platform in each leg lowering state according to the overall environmental load sequence of the target platform in each leg lowering state and the first dynamic positioning capability assessment model includes: Determine the lowering positioning capability result sequence and the lowering thruster power result sequence according to the overall environmental load sequence of the target platform in the lowering state of each leg and the first dynamic positioning capability evaluation model; The sequence of summing the power of lowered thrusters is determined according to the sequence of the result of lowered thruster power.

4. The method according to claim 1, characterized in that The step of determining the second dynamic positioning capability evaluation result of the target platform when each of the pile legs touches the bottom according to the pile insertion sequence decision-related parameters of the target platform and the second dynamic positioning capability evaluation model comprises: Calculate the supporting load force and supporting load moment of each pile leg on the target platform in the bottoming state; Determine the overall environmental load sequence of the target platform when each of the pile legs touches the bottom according to the environmental load bow moment of the target platform and the support load moment; The second dynamic positioning capability result of the target platform in the state where each leg of the target platform touches the bottom is determined according to the overall environmental load sequence of the target platform in the state where each leg of the target platform touches the bottom and the second dynamic positioning capability evaluation model.

5. The method according to claim 4, characterized in that The second dynamic positioning capability result includes a bottoming positioning capability result and a bottoming thruster power result sequence; Determining the second dynamic positioning capability result of the target platform in the state where each leg of the target platform touches the bottom according to the overall environmental load sequence of the target platform in the state where each leg of the target platform touches the bottom and the second dynamic positioning capability evaluation model includes: Determine the bottoming positioning capability result and the bottoming thruster power result sequence according to the overall environmental load sequence of the target platform in the bottoming state of each leg; The bottoming thruster power summation result is determined according to the bottoming thruster power result sequence.

6. 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 executed 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 platform instrumentation order decision method according to any one of claims 1 to 5.

7. 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 platform instrumentation order decision method described in any one of claims 1-5 when executed.

8. A computer program product comprising a computer program / instructions, wherein: When the computer program / instruction is executed by a processor, the platform instrumentation order decision method according to any one of claims 1 to 5 is implemented.

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