Automatic control system for submarine pipe laying vessel

Abstract

The present invention relates to the field of pipe-laying vessel control technology, and discloses an automatic control system for a pipe-laying vessel. The present invention integrates a navigation and positioning module and a dynamic environment perception and prediction module, so that the system can obtain the position of the laying vessel and the pipe, the real-time parameters of the ocean environment, and the prediction of future sea conditions in real time, thereby effectively coping with the complex and changeable seawater environment; the system obtains the physical parameters of the pipe and the initial conditions of the laying operation, providing a basis for accurately calculating the dynamic resistance and stress and 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 combines the target laying speed and acceleration, as well as the laying path planning, and dynamically adjusts the propulsion force of the laying vessel, the tensioner tension setting value, and the stinger posture, thereby achieving precise control of the laying operation, reducing manual participation, and improving laying efficiency.

Description

Technical Field

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

[0002] In the field of marine engineering, laying submarine pipelines is a complex and crucial task. Traditionally, pipeline laying relies primarily on manual operation and pre-set laying plans. Guided by a navigation system, the laying vessel navigates along a predetermined route. Simultaneously, operators manually adjust the vessel's propulsion, the tension of the tensioner, and the attitude of the stinger based on on-site conditions and experience to ensure the pipeline is laid smoothly and accurately to the intended location. During this process, the physical parameters of the submarine pipeline and the initial conditions of the laying operation are key influencing factors. To monitor the laying status of the submarine pipeline, sensors are typically installed to detect various parameters of the submarine pipeline, such as position, attitude, and stress, in real time.

[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 submarine pipeline laying vessels 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 pipe-laying vessel to solve the background technical problems.

[0005] To achieve the above-mentioned object, the present invention provides the following technical solution: an automatic control system for a 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 submarine pipelines;

[0007] Dynamic environment perception and prediction module: uses detection instruments to obtain real-time parameters of the ocean environment and uses machine learning algorithms to predict changes in sea conditions over a period of time;

[0008] Obtain the physical parameters of the submarine pipeline, including pipeline length L and 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 during pipeline laying. Specifically:

[0011] According to the pipe length L, pipe diameter D p , relative velocity V of the pipe in water r =v0+a t ×tV c ×cos(θ c ), where a t is the real-time acceleration, t is the time, and is based on the seawater density ρ w and the pipe surface roughness coefficient C f , calculate the dynamic resistance F of water to the pipe d , the calculation formula is:

[0012] F d =0.5×ρ w ×C d ×π×(D p +2×t p ) 2 ×(V r ) 2

[0013] 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 simulations;

[0014] 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, ocean current speed V c and direction θ c , calculate the maximum stress σ of the pipeline during laying max And the minimum tension T required by the tensioner min , to ensure that the pipeline is not damaged, the calculation formula is:

[0015]

[0016] Among them, θ lay is the laying angle, σ bending is the bending stress, calculated based on the pipe bending radius;

[0017] T min =W×(H actual -H target )×g / L+F d ×sin(θ lay )

[0018] Where g is the acceleration due to gravity;

[0019] Control parameter optimization module: based on dynamic resistance F d , maximum stress σ maxand the required tension T of the tensioner min , combined with the target laying speed v target , target laying acceleration a target and laying path planning, and 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 optimization algorithms to dynamically adjust the propulsion force of the laying vessel, the tension setting value of the tensioner, and the posture of the stinger;

[0020] Actuator control module: Receives the output of the control parameter optimization module, controls the propulsion system, tensioner, and actuators of the laying vessel, and performs precise laying operations.

[0021] 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 submarine pipeline.

[0022] Preferably, the real-time parameters of the ocean environment specifically include seawater density ρ w , ocean current speed V c 、Current direction θ c , wave height H w , wave period T w , wind speed V w 、wind direction(θ w .

[0023] Preferably, 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 Improve the accuracy of resistance calculation in the calculation of

[0024] Preferably, the stress and tension calculation module further 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.

[0025] Preferably, the control parameter optimization module specifically adopts a multi-objective optimization algorithm, comprehensively considering laying efficiency, cost, safety and environmental impact, and automatically generates the optimal laying plan. At the same time, it takes into account the changes in pipeline physical parameters, fluctuations in marine environmental parameters and the response characteristics of the actuator to ensure the stability and accuracy of the laying operation.

[0026] 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.

[0027] Preferably, the emergency procedure triggers the emergency braking system, the buoyancy release device and the automatic recovery mechanism to release the safety measures.

[0028] 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.

[0029] Compared with the prior art, the present invention has the following beneficial effects:

[0030] Through the integrated navigation and positioning module and dynamic environment perception and prediction module, the system can obtain the real-time location of the laying vessel and pipeline, real-time parameters of the ocean environment, and predictions of future sea conditions, effectively responding to complex and changing seawater environments. The system obtains the physical parameters of the pipeline and the initial conditions of the laying operation, providing a basis for the precise calculation of dynamic resistance and stress and tension. Based on the dynamic resistance calculation module and the stress and tension calculation module, the system can accurately assess the mechanical state during the laying process to ensure that the pipeline is not damaged. Based on these calculation results, combined with the target laying speed and acceleration, as well as the laying path planning, the control parameter optimization module dynamically adjusts the laying vessel's propulsion force, the tensioner tension setting value, and the stinger's posture, achieving precise control of the laying operation, reducing manual intervention, and improving laying efficiency.

[0031] Other features and advantages of the present invention will be described in the following description, and in part will become apparent from the description, or will be 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

[0032] Figure 1 This is a flow chart of the automatic control system of the sea pipe laying vessel of the present invention. DETAILED DESCRIPTION

[0033] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. 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 making any creative efforts shall fall within the scope of protection of the present invention.

[0034] See also Figure 1 , an automatic control system for a submarine pipe-laying vessel, the specific implementation steps of which are as follows:

[0035] 1. Data Acquisition

[0036] 1. Navigation and positioning module:

[0037] GPS, Beidou satellite navigation system, underwater acoustic positioning device and inertial navigation system are used to achieve real-time positioning of the laying vessel and submarine pipeline, obtain the real-time position of the laying vessel and submarine pipeline, and provide a basis for subsequent control and decision-making.

[0038] 2. Dynamic environment perception and prediction module:

[0039] Use sonar, radar, meteorological sensors and other detection instruments to obtain real-time parameters of the ocean environment, including seawater density ρ w , ocean current speed V c 、Current direction θ c , wave height H w , wave period T w , wind speed V w 、wind direction θ w ;

[0040] Using machine learning algorithms to predict changes in sea conditions over a period of time in the future, assuming we have a trained model, its mathematical expression can be expressed as:

[0041]

[0042] in:

[0043] is the predicted output of the model;

[0044] 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.

[0045] x is the input feature vector, which contains the new time point and its associated feature values. For example, for sea state prediction, x may include features such as seawater density, current speed, and wave height at the current time point.

[0046] 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.

[0047] 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 point in time. Input these values ​​into the model and get the prediction results:

[0048]

[0049] in:

[0050] is the model for the new time point tnew and eigenvalue x new The predicted output of

[0051] x new is the new time point t new and the input eigenvectors of the associated eigenvalues.

[0052] 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:

[0053]

[0054] where θ0,θ1,…,θ n are the parameters of the linear regression model, x1, x2, …, x n is the input eigenvalue.

[0055] 3. Subsea pipeline real-time detection module:

[0056] Use sensors to detect the real-time status of submarine pipelines during laying;

[0057] Use sensors to detect the real-time status of submarine pipelines during laying, such as position, posture, deformation, etc.

[0058] 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.

[0059] 4. Subsea pipeline parameters and laying conditions:

[0060] Obtain the physical parameters of the submarine pipeline, including pipeline length L and 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 .

[0061] 2. Real-time Computing

[0062] 1. Dynamic resistance calculation module:

[0063] (1) Calculate the dynamic resistance of the pipeline laying process. Specifically: according to the pipeline length L, pipeline diameter D p , relative velocity V of the pipe in water r =v0+a t ×tV c ×cos(θ c ), where a t is the real-time acceleration, t is the time, and is based on the seawater density ρw and the pipe surface roughness coefficient C f , calculate the dynamic resistance F of water to the pipe d , the calculation formula is:

[0064] F d =0.5×ρ w ×C d ×π×(D p +2×t p ) 2 ×(V r ) 2

[0065] 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 simulations;

[0066] (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 Improve the accuracy of resistance calculation in the calculation of

[0067] Determine the wave parameters:

[0068] Wave height H: the vertical height of the wave.

[0069] Wavelength λ: The distance a wave travels horizontally.

[0070] Wave period T: The time it takes for a wave to travel from one peak to the next.

[0071] Wave velocity c: The speed of wave propagation in the horizontal direction, which can be calculated using the following formula:

[0072]

[0073] Where g is the acceleration due to gravity;

[0074] Determine pipeline parameters:

[0075] Pipe diameter D: The external diameter of the pipe.

[0076] Pipeline length L: The total length of the pipeline (part or all of the pipeline length may need to be considered when calculating dynamic resistance).

[0077] Pipe material: affects the friction coefficient and resistance characteristics of the pipeline.

[0078] Wave spectrum analysis:

[0079] 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.).

[0080] Wave spectrum analysis can be used to determine the effects of waves of different frequencies and directions on pipelines.

[0081] Calculate the additional wave resistance on the pipe:

[0082] 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.

[0083] The additional resistance can be expressed as a function of wave forces (such as drag force, inertia force, etc.). d_wave_drag This is calculated using the following simplified formula (similar to the Morison equation):

[0084]

[0085] 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 pipe portion affected by the wave).

[0086] Calculate the total dynamic resistance:

[0087] The total dynamic resistance F is obtained by adding the additional resistance caused by waves to the original dynamic resistance (which may include friction resistance, local resistance, etc.) d :

[0088] F d =F d_static +F d_wave_drag +…

[0089] 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.).

[0090] 2. Stress and tension calculation module:

[0091] (1) Calculate 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, ocean current speed V c and direction θ c , calculate the maximum stress σ of the pipeline during laying maxThe minimum tension T required by the tensioner min , to ensure that the pipeline is not damaged, the calculation formula is:

[0092]

[0093] Among them, θ lay is the laying angle, σ bending is the bending stress, calculated based on the pipe bending radius;

[0094] T min =W×(H actual -H target )×g / L+F d ×sin(θ lay )

[0095] Where g is the acceleration due to gravity.

[0096] (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.

[0097] The calculation of bending stress can be written as the following mathematical formula:

[0098]

[0099] E: elastic modulus, which is the ratio of stress to strain within the elastic deformation range of a material, measured in Pascals (Pa) or megapascals (MPa);

[0100] D: outer diameter of the pipe, in meters (m) or millimeters (mm);

[0101] θ: bending angle, indicating the degree of pipe bending, the unit is radian (rad);

[0102] 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.

[0103] 3. Control Optimization

[0104] Control parameter optimization module: based on dynamic resistance F d , maximum stress σ max and the required tension T of the tensioner min , combined with the target laying speed v target , target laying acceleration a targetThe system automatically generates the optimal laying plan based on the information output from the navigation and positioning module, the dynamic environment perception and prediction module, and the real-time detection module for submarine pipelines. It also considers the changes in pipeline physical parameters, fluctuations in marine environmental parameters, and the response characteristics of the actuators, and dynamically adjusts the propulsion force of the laying vessel, the tension setting value of the tensioner, and the posture of the stinger. Specifically:

[0105] Decision variables are parameters that are adjusted to optimize the objective. Decision variables include:

[0106] Propulsion force F of laying vessel prop ;

[0107] Tension setting value T of the tensioner tension ;

[0108] The attitude of the stinger (which can be expressed by angle θ or other parameters);

[0109] These decision variables are expressed as a vector, x = [F prop ,T tension ,θ].

[0110] The objective function is the metric that needs to be optimized. In this multi-objective optimization problem, there are the following objectives:

[0111] Minimize dynamic resistance D(x)

[0112] Minimize the maximum stress σ max (x)

[0113] Minimize the required tension T of the tensioner req (x)

[0114] Maximize laying efficiency E(x) (related to laying speed and acceleration)

[0115] Minimize cost C(x) (related to fuel consumption, maintenance costs, etc.)

[0116] Maximize safety S(x) (related to the thresholds of stress, tension, etc.)

[0117] Minimize environmental impact I(x) (related to noise, emissions, etc.)

[0118] These objectives are expressed as a series of objective functions f1(x),f2(x),…,f n (x).

[0119] Constraints are conditions that decision variables must satisfy. These conditions include:

[0120] The laying speed v must be within the target range [vmin ,v max ];

[0121] The laying acceleration a must be within the target range [a min ,a max ];

[0122] Changes in pipeline physical parameters must be within a safe range;

[0123] Fluctuations in marine environmental parameters must be within acceptable ranges;

[0124] The response characteristics of the actuator must meet the requirements;

[0125] 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.

[0126] Multi-objective optimization algorithms (such as NSGA-II, MOEA / D, etc.) aim to find a set of Pareto optimal solutions that achieve a balance between the objective functions. The basic steps of the algorithm include:

[0127] Initialize the population: Generate a set of random decision variable vectors x1, x2, ..., x N ;

[0128] Evaluation population: Calculate the objective function value and constraint violation degree of each individual;

[0129] Selection: Select excellent individuals for reproduction based on the objective function value and constraint violation degree;

[0130] Crossover and mutation: Generate new individuals through genetic operations;

[0131] Update population: replace old individuals with new ones to form a new generation of population;

[0132] Termination condition: Check whether the termination condition is met (such as reaching the maximum number of iterations or finding a satisfactory solution);

[0133] Output result: Output the Pareto optimal solution set.

[0134] IV. Execution

[0135] 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.

[0136] V. Emergency Response

[0137] The emergency response system integrates an emergency braking system, a buoyancy release device, and an automatic recovery mechanism. It receives information transmitted by multiple modules and immediately initiates emergency procedures in the event of an abnormal situation, such as pipeline stress exceeding the safety threshold or sudden changes in sea conditions, to ensure personnel safety and minimize property losses.

[0138] The emergency procedure triggers the emergency braking system, buoyancy release device and automatic recovery mechanism to release safety measures.

[0139] 6. Record Storage

[0140] 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.

[0141] Obviously, the above embodiments of the present invention are merely examples for the purpose of clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. Those skilled in the art will appreciate that other variations or modifications can be made based on the above description. It is not necessary and impossible to enumerate all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention shall be included within the scope of protection 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 submarine pipelines; Dynamic environment perception and prediction module: uses detection instruments to obtain real-time parameters of the ocean environment and uses machine learning algorithms to predict changes in sea conditions over a period of time; Obtain the physical parameters of the submarine pipeline, including pipeline length L and 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 during pipeline laying. Specifically: According to the pipeline length L, pipeline diameter D p , relative velocity V of the pipe in water r =v0+a t ×tV c ×cos(θ c ), where a t is the real-time acceleration, t is the time, and is based on the seawater density ρ w and the pipe surface roughness coefficient C f , calculate the dynamic resistance F of water to the pipe 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 simulations; 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, ocean current speed V c and direction θ c , calculate the maximum stress σ of the pipeline during laying max And the minimum tension T required by the tensioner min , to ensure that the pipeline is not damaged, the calculation formula is: Among them, θ lay is the laying angle, σ bending is the bending stress, 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 required tension T of the tensioner min , combined with the target laying speed v target , target laying acceleration a target and laying path planning, and 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 optimization algorithms 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 propulsion system, tensioner, and actuators 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 vessels and submarine pipelines.

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 , ocean 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 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 Improve the accuracy of resistance calculation in the calculation of 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 considering laying efficiency, cost, safety and environmental impact, and automatically generates the optimal laying plan. At the same time, it takes into account changes in pipeline physical parameters, fluctuations in marine environmental parameters, and the response characteristics of the actuator 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, buoyancy release device and 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.

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