Automatic control system of subsea pipeline laying ship

Abstract

The invention relates to the technical field of subsea pipeline laying ship control, and discloses an automatic control system for a subsea pipeline laying ship, and the system can obtain the positions of a laying ship and a subsea pipeline, real-time parameters of a marine environment and future sea condition prediction in real time through an integrated navigation positioning module and a dynamic environment perception and prediction module. Therefore, a complex and changeable seawater environment can be effectively dealt with; the system obtains physical parameters of the subsea pipeline and initial conditions of laying operation, and a basis is provided for accurately calculating dynamic resistance and stress tension; based on the dynamic resistance calculation module and the stress and tension calculation module, the system can accurately evaluate the mechanical state in the laying process, and it is ensured that the pipeline is not damaged. And the control parameter optimization module dynamically adjusts the propulsive force of the laying ship, the tension set value of the tensioner and the posture of the stinger based on the calculation results in combination with the target laying speed and acceleration and laying path planning, so that the accurate control of the laying operation is realized, the manual participation is reduced, and the laying efficiency is improved.

Description

Technical Field

[0001] The invention relates to the technical field of control of a subsea pipe-laying vessel, and in particular to an automatic control system for a subsea pipe-laying vessel. Background Art

[0002] In the field of marine engineering, the laying of submarine pipelines is a complex and crucial task. Traditional submarine pipeline laying mainly relies on manual operation and preset laying plans. Under the guidance of the navigation system, the laying ship sails according to the established route. At the same time, the operator manually adjusts the propulsion of the laying ship, the tension of the tensioner and the posture of the stinger according to the on-site conditions and experience to ensure that the submarine pipeline can be laid smoothly and accurately to the predetermined position. In this process, the physical parameters of the submarine pipeline and the initial conditions of the laying operation are key influencing factors. In order to monitor the laying status of the submarine pipeline, sensors are usually installed to detect various parameters of the submarine pipeline in real time, such as position, posture, stress, etc.

[0003] However, traditional submarine pipelines are mostly laid by manually controlled machinery, which has poor accuracy and is difficult to install. In complex seawater environments, the laying efficiency is low. Therefore, an automatic control system for a submarine pipeline laying vessel is proposed. Summary of the invention

[0004] In view of the deficiencies of the prior art, the present invention provides an automatic control system for a submarine pipe-laying vessel to solve the background technical problems.

[0005] To achieve the above object, the present invention provides the following technical solution: an automatic control system for a submarine pipe laying vessel, comprising:

[0006] Navigation and positioning module: Use the positioning module to obtain the real-time position of the laying vessel and the laying of the subsea pipeline;

[0007] Dynamic environment perception and prediction module: Use detection instruments to obtain real-time parameters of the ocean environment, and use machine learning algorithms to predict changes in sea conditions in the future;

[0008] Obtain the physical parameters of the submarine pipeline, including pipeline length (L), pipeline diameter (D p ), pipe wall thickness (t p ), pipeline material density (ρ p ), pipeline weight (W); and obtain the initial conditions of the laying operation, including the initial laying speed (v0), laying acceleration (a target ), target laying depth (H target );

[0009] Submarine pipeline real-time detection module: uses sensors to detect the real-time status of the submarine pipeline during the laying process;

[0010] Dynamic resistance calculation module: Calculates the dynamic resistance of the pipeline laying process. Specifically, according to the pipeline length (L), pipeline diameter (D p ), the relative speed of the pipe in water (V r =v0+a t ×tV c ×cos(θ c ))(where a t is the real-time acceleration, t is the time), and based on the seawater density (ρ w ) and the pipe surface roughness coefficient (C f ), calculate the dynamic resistance of water to the pipe (F d ), the calculation formula is:

[0011] F d =0.5×ρ w ×C d ×π×(D p +2×t p ) 2 ×(V r ) 2

[0012] Among them, C d is the resistance coefficient, which is related to the pipe shape and Reynolds number factors and is obtained through experiments or numerical simulation.

[0013] Stress and tension calculation module: Calculates the stress and tension of the pipeline during the laying process. Specifically: according to the pipeline weight W, laying depth H actual (Real-time update), current speed V c and direction θ c , calculate the maximum stress σ of the pipeline during laying max The minimum tension T required by the tensioner min , to ensure that the pipeline is not damaged, the calculation formula is:

[0014]

[0015] Where θlay is the laying angle, and o bending is the bending stress, which is calculated based on the pipe bending radius;

[0016] T min =W×(H actual -H target )×g / L+F d ×sin(θ lay )

[0017] Where g is the acceleration due to gravity.

[0018] Control parameter optimization module: based on dynamic resistance F d , maximum stress σmax And the tensioner required tension T min , combined with the target laying speed v target , target laying acceleration a target It also receives information output by the navigation and positioning module, the dynamic environment perception and prediction module, and the subsea pipeline real-time detection module, and uses an optimization algorithm to dynamically adjust the propulsion force of the laying vessel, the tension setting value of the tensioner, and the posture of the stinger.

[0019] Actuator control module: receives the output of the control parameter optimization module, controls the actuators of the propulsion system, tensioner, and stinger of the laying vessel, and performs precise laying operations.

[0020] Preferably, the positioning module includes GPS, Beidou satellite navigation system, underwater acoustic positioning device and inertial navigation system to achieve real-time positioning of the laying ship and the laying of subsea pipeline.

[0021] Preferably, the real-time parameters of the marine environment specifically include seawater density (ρ w ), current speed (V c ), current direction (θ c ), wave height (H w ), wave period (T w )、wind speed(V w ), wind direction (θ w ).

[0022] Preferably, the dynamic resistance calculation module further considers the dynamic effect of waves on the pipeline, and obtains the additional resistance F of waves on the pipeline through wave spectrum analysis. wave , and incorporate it into the dynamic resistance F d In the calculation of resistance, the accuracy of resistance calculation is improved.

[0023] Preferably, the stress and tension calculation module also includes a pipeline bending stress calculation submodule for calculating the actual bending radius R of the pipeline. actual and pipeline material properties, calculate the bending stress σ of the pipeline during laying bending , ensuring that the pipe does not undergo plastic deformation or breakage during the bending process.

[0024] Preferably, the control parameter optimization module specifically adopts a multi-objective optimization algorithm, comprehensively considers laying efficiency, cost, safety and environmental impact, automatically generates the optimal laying plan, and simultaneously considers changes in pipeline physical parameters, fluctuations in marine environmental parameters and response characteristics of actuators to ensure the stability and accuracy of the laying operation.

[0025] Preferably, the system also includes an emergency response system, which integrates an emergency braking system, a buoyancy release device and an automatic recovery mechanism. Once an abnormal situation occurs, the emergency procedure is immediately activated to ensure personnel safety and reduce property losses.

[0026] Preferably, the emergency procedure triggers an emergency braking system, a buoyancy release device and an automatic recovery mechanism to release safety measures.

[0027] Preferably, the system also includes a data recording and analysis module for recording all parameter changes during the entire laying process, including pipeline physical parameters, marine environmental parameters, control parameters and actuator response data, providing a basis for subsequent data analysis and experience summary.

[0028] Compared with the prior art, the present invention has the following beneficial effects:

[0029] Through the integrated navigation positioning module and dynamic environment perception and prediction module, the system of the present invention can obtain the position of the laying ship and the sea pipe, the real-time parameters of the marine environment and the prediction of future sea conditions in real time, so as to effectively cope with the complex and changeable seawater environment; the system obtains the physical parameters of the sea pipe and the initial conditions of the laying operation, which provides a basis for the accurate calculation of dynamic resistance and stress tension; based on the dynamic resistance calculation module and the stress and tension calculation module, the system can accurately evaluate the mechanical state during the laying process to ensure that the pipeline is not damaged. Based on these calculation results, the control parameter optimization module dynamically adjusts the propulsion force of the laying ship, the tension setting value of the tensioner and the attitude of the stinger frame in combination with the target laying speed and acceleration, as well as the laying path planning, so as to achieve accurate control of the laying operation, reduce manual participation and improve laying efficiency.

[0030] Other features and advantages of the present invention will be described in the following description, and partly become apparent from the description, or understood by practicing the present invention. The purpose and other advantages of the present invention can be realized and obtained by the structures pointed out in the description, claims and drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 This is a flow chart of the automatic control system of the sea pipe laying vessel of the present invention. DETAILED DESCRIPTION

[0032] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions 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 technical field without creative work are within the scope of protection of the present invention.

[0033] See also Figure 1 , an automatic control system for a submarine pipe laying vessel, the specific implementation steps of which are as follows:

[0034] 1. Data Acquisition

[0035] 1. Navigation and positioning module:

[0036] GPS, Beidou satellite navigation system, underwater acoustic positioning device and inertial navigation system are used to achieve real-time positioning of the laying ship and subsea pipeline, obtain the real-time position of the laying ship and subsea pipeline, and provide a basis for subsequent control and decision-making.

[0037] 2. Dynamic environment perception and prediction module:

[0038] Use sonar, radar, meteorological sensors and other detection instruments to obtain real-time parameters of the ocean environment, including seawater density (ρ w ), current speed (V c ), current direction (θ c ), wave height (H w ), wave period (T w )、wind speed(V w ), wind direction (θ w );

[0039] Using machine learning algorithms to predict changes in sea conditions in the future, assuming we have a trained model, its mathematical expression can be expressed as:

[0040]

[0041] in:

[0042] is the predicted output of the model;

[0043] f is the mapping function of the model, which can be a function defined by any machine learning algorithm, such as linear regression, decision tree, neural network, etc.

[0044] x is the input feature vector, which contains the new time point and the associated feature values. For example, for sea condition prediction, x may include features such as seawater density, current speed, and wave height at the current time point.

[0045] θ is the parameters of the model, which are obtained during the training process through optimization algorithms (such as gradient descent) and stored in the trained model.

[0046] Assume there is a new time point t new and the corresponding eigenvalue x new , use the trained model to predict the sea conditions at that time. Input these values ​​into the model and get the prediction results:

[0047]

[0048] in:

[0049] is the model for the new time point t new and the eigenvalue x new The predicted output of

[0050] x new is the new time point t new and the input eigenvectors of the associated eigenvalues.

[0051] In practice, the specific form of f depends on the machine learning algorithm used. For example, if a linear regression model is used, f may be expressed as:

[0052]

[0053] where θ0,θ1,…,θ n are the parameters of the linear regression model, x1, x2, …, x n is the input eigenvalue.

[0054] 3. Subsea pipeline real-time detection module:

[0055] Use sensors to detect the real-time status of the submarine pipeline during the laying process;

[0056] Use sensors to detect the real-time status of the submarine pipeline during the laying process, such as position, posture, deformation, etc.

[0057] The detection data is transmitted to the control parameter optimization module and the actuator control module in real time to adjust the laying strategy and actuator action.

[0058] 4. Subsea pipeline parameters and laying conditions:

[0059] Obtain the physical parameters of the submarine pipeline, including pipeline length (L), pipeline diameter (D p ), pipe wall thickness (t p ), pipeline material density (ρ p ), pipeline weight (W); and obtain the initial conditions of the laying operation, including the initial laying speed (v0), laying acceleration (a target ), target laying depth (H target ).

[0060] 2. Real-time computing

[0061] 1. Dynamic resistance calculation module:

[0062] (1) Calculate the dynamic resistance of the pipeline laying process. Specifically, according to the pipeline length (L), pipeline diameter (Dp ), the relative speed of the pipe in water (V r =v0+a t ×tV c ×cos(θ c ))(where a t is the real-time acceleration, t is the time), and based on the seawater density (ρ w ) and the pipe surface roughness coefficient (C f ), calculate the dynamic resistance of water to the pipe (F d ), the calculation formula is:

[0063] F d =0.5×ρ w ×C d ×π×(D p +2×t p ) 2 ×(V r ) 2

[0064] Among them, C d is the resistance coefficient, which is related to the pipe shape and Reynolds number factors and is obtained through experiments or numerical simulation;

[0065] (2) The dynamic resistance calculation module further considers the dynamic impact of waves on the pipeline and obtains the additional resistance F of waves on the pipeline through wave spectrum analysis. wave , and incorporate it into the dynamic resistance F d In the calculation of resistance, the accuracy of resistance calculation is improved, including:

[0066] Determine the wave parameters:

[0067] Wave height (H): The vertical height of the wave.

[0068] Wavelength (λ): The distance a wave travels horizontally.

[0069] Wave period (T): The time it takes for a wave to go from one crest to the next.

[0070] Wave velocity (c): The speed at which waves propagate in the horizontal direction, which can be calculated using the following formula:

[0071]

[0072] Where g is the acceleration due to gravity;

[0073] Determine pipeline parameters:

[0074] Pipe Diameter (D): The outside diameter of the pipe.

[0075] Pipe Length (L): The total length of the pipe (part or all of the length of the pipe may need to be considered when calculating dynamic resistance).

[0076] Pipe material: affects the friction coefficient and resistance characteristics of the pipeline.

[0077] Wave spectrum analysis:

[0078] Wave spectra are used to describe the energy distribution of waves. Wave spectra are usually constructed based on wave parameters (such as wave height, wavelength, etc.).

[0079] Through wave spectrum analysis, the impact of waves of different frequencies and directions on the pipeline can be determined.

[0080] Calculate the additional wave resistance on the pipe:

[0081] This often involves complex fluid dynamics calculations and may require the use of computational fluid dynamics (CFD) software or experimental methods to simulate the interaction of waves with the pipe.

[0082] The additional resistance can be expressed as a function of wave forces (such as drag force, inertia force, etc.). d_wave_drag The following simplified formula is used for calculation (similar to the Morison equation):

[0083]

[0084] Where ρ is the density of seawater (about 1025 kg / m 3 ), C D is the drag coefficient (depending on the pipe shape and wave conditions), μ0 is the wave trajectory velocity (or effective velocity), D is the pipe diameter, and L is the pipe length (or the length of the portion of the pipe affected by the wave).

[0085] Calculate the total dynamic resistance:

[0086] Add the additional resistance caused by waves to the original dynamic resistance (which may include friction resistance, local resistance, etc.) to get the total dynamic resistance F d :

[0087] F d =F d_static +F d_wave_drag +…

[0088] Among them, F d_static is the original dynamic resistance (excluding the part affected by waves), F d_wave_drag is the drag force caused by waves, and the ellipsis indicates that there may be other types of additional resistance (such as resistance caused by inertia, buoyancy changes, etc.).

[0089] 2. Stress and tension calculation module:

[0090] (1) Calculate the stress and tension of the pipeline during the laying process. Specifically: Based on the pipeline weight W and laying depth H actual (Real-time update), current speed V c and direction θ c , calculate the maximum stress σ of the pipeline during laying max The minimum tension T required by the tensioner min , to ensure that the pipeline is not damaged, the calculation formula is:

[0091]

[0092] Where θlay is the laying angle, and o bending is the bending stress, which is calculated based on the pipe bending radius;

[0093] T min =W×(H actual -H target )×g / L+F d ×sin(θ lay )

[0094] Where g is the acceleration due to gravity.

[0095] (2) The stress and tension calculation module also includes a pipeline bending stress calculation submodule, which is used to calculate the actual bending radius R of the pipeline. actual and pipeline material properties, calculate the bending stress σ of the pipeline during laying bending , ensuring that the pipe does not undergo plastic deformation or breakage during the bending process.

[0096] The calculation of bending stress can be written as the following mathematical formula:

[0097]

[0098] E: elastic modulus, which is the ratio of stress to strain within the elastic deformation range of a material, expressed in Pascal (Pa) or Megapascal (MPa);

[0099] D: The outer diameter of the pipe, in meters (m) or millimeters (mm);

[0100] θ: bending angle, indicating the degree of pipe bending, in radians (rad);

[0101] ν: Poisson's ratio, which represents the ratio of lateral contraction or expansion of a material when it is subjected to axial tension or compression. It is a dimensionless quantity.

[0102] 3. Control Optimization

[0103] Control parameter optimization module: based on dynamic resistance F d , maximum stress σmax And the tensioner required tension T min , combined with the target laying speed v target , target laying acceleration a target The system receives information output by the navigation and positioning module, the dynamic environment perception and prediction module, and the real-time detection module for offshore pipelines. It uses a multi-objective optimization algorithm to comprehensively consider the laying efficiency, cost, safety, and environmental impact, and automatically generates the optimal laying plan. It also considers the changes in the physical parameters of the pipeline, the fluctuations in the marine environmental parameters, and the response characteristics of the actuator, and dynamically adjusts the propulsion force of the laying vessel, the tension setting value of the tensioner, and the posture of the stinger. Specifically:

[0104] Decision variables are parameters that are adjusted to optimize the objective. Decision variables include:

[0105] Propulsion force F of laying vessel prop ;

[0106] Tension setting value T of the tensioner tension ;

[0107] The attitude of the stinger (which can be expressed by angle θ or other parameters);

[0108] These decision variables are represented as a vector, x = [F prop ,T tension ,θ].

[0109] The objective function is the indicator that needs to be optimized. In this multi-objective optimization problem, there are the following objectives:

[0110] Minimize dynamic drag D(x)

[0111] Minimize the maximum stress σ max (x)

[0112] Minimize the tensioner required T req (x)

[0113] Maximize laying efficiency E(x) (related to laying speed and acceleration)

[0114] Minimize cost C(x) (related to fuel consumption, maintenance cost, etc.)

[0115] Maximize safety S(x) (related to the thresholds of stress, tension, etc.)

[0116] Minimize environmental impact I(x) (related to noise, emissions, etc.)

[0117] These objectives are expressed as a series of objective functions f1(x),f2(x),…,f n (x).

[0118] Constraints are conditions that decision variables must satisfy. These conditions include:

[0119] The laying speed v must be within the target range [v min ,v max ];

[0120] The laying acceleration a must be within the target range [a min ,a max ];

[0121] Changes in pipeline physical parameters must be within a safe range;

[0122] Fluctuations in marine environmental parameters must be within acceptable ranges;

[0123] The response characteristics of the actuator must meet the requirements;

[0124] These constraints can be expressed as a series of inequalities and equalities g1(x)≤0,g2(x)≤0,…,g m (x)≤0 and h1(x)=0,h2(x)=0,…,h p (x)=0.

[0125] Multi-objective optimization algorithms (such as NSGA-II, MOEA / D, etc.) aim to find a set of Pareto optimal solutions that strike a balance between the objective functions. The basic steps of the algorithm include:

[0126] Initialize the population: Generate a set of random decision variable vectors x1, x2, …, x N ;

[0127] Evaluate the population: calculate the objective function value and constraint violation degree of each individual;

[0128] Selection: Select excellent individuals for reproduction based on the objective function value and constraint violation degree;

[0129] Crossover and mutation: Generate new individuals through genetic operations;

[0130] Update population: replace old individuals with new ones to form a new generation of population;

[0131] Termination condition: Check whether the termination condition is met (such as reaching the maximum number of iterations or finding a satisfactory solution);

[0132] Output result: Output the Pareto optimal solution set.

[0133] IV. Execution

[0134] Actuator control module: receives the output of the control parameter optimization module, controls the propulsion system, tensioner, stinger and other actuators of the laying vessel, and performs precise laying operations.

[0135] V. Emergency Response

[0136] The emergency response system integrates the emergency braking system, buoyancy release device and automatic recovery mechanism, receives information transmitted by multiple modules, and immediately initiates the emergency procedure in case of abnormal conditions, such as pipeline stress exceeding the safety threshold or sudden changes in sea conditions, to ensure personnel safety and reduce property losses.

[0137] The emergency procedure triggers the emergency braking system, buoyancy release device and automatic recovery mechanism to release safety measures.

[0138] 6. Record Storage

[0139] The data recording and analysis module is used to record all parameter changes during the entire laying process, including pipeline physical parameters, marine environmental parameters, control parameters and actuator response data, providing a basis for subsequent data analysis and experience summary.

[0140] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the embodiments here. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. An automatic control system for a pipe-laying vessel, characterized in that: include: Navigation and positioning module: Use the positioning module to obtain the real-time position of the laying vessel and the laying of the subsea pipeline; Dynamic environment perception and prediction module: Use detection instruments to obtain real-time parameters of the ocean environment, and use machine learning algorithms to predict changes in sea conditions in the future; Obtain the physical parameters of the submarine pipeline, including pipeline length (L), pipeline diameter (D p ), pipe wall thickness (t p ), pipeline material density (ρ p ), pipeline weight (W); and obtain the initial conditions of the laying operation, including the initial laying speed (v0), laying acceleration (a target ), target laying depth (H target ); Submarine pipeline real-time detection module: uses sensors to detect the real-time status of the submarine pipeline during the laying process; Dynamic resistance calculation module: Calculates the dynamic resistance of the pipeline laying process. Specifically, according to the pipeline length (L), pipeline diameter (D p ), the relative speed of the pipe in water (V r =v0+a t ×tV c ×cos(θ c ))(where a t is the real-time acceleration, t is the time), and based on the seawater density (ρ w ) and the pipe surface roughness coefficient (C f ), calculate the dynamic resistance of water to the pipe (F d ), the calculation formula is: F d =0.5×ρ w ×C d ×π×(D p +2×t p ) 2 ×(V r ) 2 Among them, C d is the resistance coefficient, which is related to the pipe shape and Reynolds number factors and is obtained through experiments or numerical simulation. Stress and tension calculation module: Calculates the stress and tension of the pipeline during the laying process. Specifically: according to the pipeline weight W, laying depth H actual (Real-time update), current speed V c and direction θ c , calculate the maximum stress σ of the pipeline during laying max The minimum tension T required by the tensioner min , to ensure that the pipeline is not damaged, the calculation formula is: Where θlay is the laying angle, and o bending is the bending stress, which is calculated based on the pipe bending radius; T min =W×(H actual -H target )×g / L+F d ×sin(θ lay ) Where g is the acceleration due to gravity. Control parameter optimization module: based on dynamic resistance F d , maximum stress σ max And the tensioner required tension T min , combined with the target laying speed v target , target laying acceleration a target It also receives information output by the navigation and positioning module, the dynamic environment perception and prediction module, and the subsea pipeline real-time detection module, and uses an optimization algorithm to dynamically adjust the propulsion force of the laying vessel, the tension setting value of the tensioner, and the posture of the stinger. Actuator control module: receives the output of the control parameter optimization module, controls the actuators of the propulsion system, tensioner, and stinger of the laying vessel, and performs precise laying operations.

2. The automatic control system for a pipe-laying vessel according to claim 1, characterized in that: The positioning module includes GPS, Beidou satellite navigation system, underwater acoustic positioning device and inertial navigation system to achieve real-time positioning of laying ships and sea pipe laying.

3. The automatic control system for a pipe-laying vessel according to claim 1, characterized in that: The real-time parameters of the ocean environment specifically include seawater density (ρ w ), current speed (V c ), current direction (θ c ), wave height (H w ), wave period (T w )、wind speed(V w ), wind direction (θ w ).

4. The automatic control system for a pipe-laying vessel according to claim 1, characterized in that: The dynamic resistance calculation module further considers the dynamic effect of waves on the pipeline and obtains the additional resistance F of waves on the pipeline through wave spectrum analysis. wave , and incorporate it into the dynamic resistance F d In the calculation of resistance, the accuracy of resistance calculation is improved.

5. The automatic control system for a pipe-laying vessel according to claim 1, characterized in that: The stress and tension calculation module also includes a pipeline bending stress calculation submodule for calculating the actual bending radius R of the pipeline. actual and pipeline material properties, calculate the bending stress σ of the pipeline during laying bending , ensuring that the pipe does not undergo plastic deformation or breakage during the bending process.

6. The automatic control system for a pipe-laying vessel according to claim 1, characterized in that: The control parameter optimization module specifically adopts a multi-objective optimization algorithm, comprehensively considers laying efficiency, cost, safety and environmental impact, automatically generates the optimal laying plan, and simultaneously considers changes in pipeline physical parameters, fluctuations in marine environmental parameters and response characteristics of actuators to ensure the stability and accuracy of the laying operation.

7. The automatic control system for a pipe-laying vessel according to claim 1, characterized in that: The system also includes an emergency response system, which integrates an emergency braking system, a buoyancy release device and an automatic recovery mechanism. Once an abnormal situation occurs, the emergency procedure is immediately activated to ensure personnel safety and reduce property losses.

8. The automatic control system for a pipe-laying vessel according to claim 7, characterized in that: The emergency procedure triggers the emergency braking system, the buoyancy release device and the automatic recovery mechanism to release the safety measures.

9. The automatic control system for a pipe-laying vessel according to claim 1, characterized in that: The system also includes a data recording and analysis module, which is used to record all parameter changes during the entire laying process, including pipeline physical parameters, marine environmental parameters, control parameters and actuator response data, providing a basis for subsequent data analysis and experience summary.

Images