Movement control method and device of geotextile laying ship, electronic equipment and storage medium

Abstract

The invention discloses a geotextile laying ship movement control method and device, electronic equipment and a storage medium, and is applied to the technical field of ocean engineering.The method comprises the steps that current position information and target position information of a geotextile laying ship are obtained; determining the current tension of each anchor point according to the motor stress corresponding to each anchor point; determining a moving target function of the geotextile laying ship according to the current position information, the target position information and the current tension of each anchor point, and determining the target tension of each anchor point according to a target optimization algorithm and the moving target function of the geotextile laying ship; and for each anchor point, a motor corresponding to the anchor point is adjusted, so that the current tension of the anchor point is modified into the target tension, and the geotextile laying ship is made to move. According to the scheme, the tension of the anchor point is adjusted to be the target tension, control over movement of the geotextile laying ship is achieved, the situation that the geotextile laying ship is manually operated to move is avoided, the manual operation difficulty and the error rate are reduced, the geotextile laying ship moving efficiency is improved, and then the construction progress of seabed engineering is accelerated.

Description

Technical Field

[0001] The present application relates to the field of marine engineering technology, and in particular to a method, device, electronic equipment and storage medium for controlling the movement of a laying vessel. Background Art

[0002] In operation scenarios such as layout and laying on the seabed, the laying vessel needs to frequently move short distances to adapt to layout and laying or other engineering requirements.

[0003] At present, the moving method of the laying ship mainly relies on manual operation. The staff controls the tension and release amount of each anchor point of the laying ship by adjusting the anchor point machine to move the laying ship.

[0004] However, when the laying ship is moved manually, the tension of the anchor point of the laying ship needs to be manually changed to move the laying ship, which is difficult to operate and prone to errors during manual operation, resulting in low efficiency in moving the laying ship, thereby affecting the construction progress of the seabed project. Summary of the invention

[0005] The present application provides a method, device, electronic device and storage medium for controlling the movement of a laying vessel, so as to solve the problem in the prior art that when the laying vessel is moved manually, the tension of the anchor point of the laying vessel needs to be manually changed to make the laying vessel move, which is difficult to operate and prone to errors during manual operation, resulting in low efficiency in the movement of the laying vessel, thereby affecting the construction progress of the seabed project.

[0006] In a first aspect, the present application provides a method for controlling movement of a laying vessel, the method comprising:

[0007] Acquiring current position information and target position information of a laying vessel; wherein the laying vessel is a laying vessel having multiple anchor points;

[0008] Determine the current tension of each anchor point according to the force applied to the motor corresponding to each anchor point;

[0009] Determine the target function of the movement of the laying ship according to the current position information, the target position information and the current tension of each anchor point, and determine the target tension of each anchor point according to the target optimization algorithm and the target function of the movement of the laying ship; wherein the target function of the movement of the laying ship is used to characterize the position error between the current position information and the target position information, and the total tension change of the multiple anchor points, and the total tension change corresponding to the target tension of the multiple anchor points is the minimum change;

[0010] For each of the anchor points, the motor corresponding to the anchor point is adjusted so that the current tension of the anchor point is modified to the target tension, so that the laying ship moves.

[0011] In a second aspect, the present application provides a mobile control device for a laying ship, the device comprising:

[0012] An acquisition module, used to acquire the current position information and target position information of the laying vessel; wherein the laying vessel is a laying vessel with multiple anchor points;

[0013] A first determination module, used to determine the current tension of each anchor point according to the force applied to the motor corresponding to each anchor point;

[0014] A second determination module is used to determine the movement objective function of the laying ship according to the current position information, the target position information and the current tension of each anchor point, and to determine the target tension of each anchor point according to the target optimization algorithm and the movement objective function of the laying ship; wherein the movement objective function of the laying ship is used to characterize the position error between the current position information and the target position information, and the total tension change of the multiple anchor points, and the total tension change corresponding to the target tension of the multiple anchor points is the minimum change;

[0015] The moving module is used to adjust the motor corresponding to each anchor point so that the current tension of the anchor point is modified to the target tension, so that the laying ship moves.

[0016] In a third aspect, the present application provides an electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the method for controlling movement of a laying vessel as described in the first aspect of the present application is implemented.

[0017] In a fourth aspect, the present application further provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the method for controlling movement of a laying vessel as described in the first aspect of the present application.

[0018] In a fifth aspect, the present application provides a computer program product, including a computer program, which, when executed by a processor, implements the method for controlling movement of a laying vessel as described in the first aspect of the present application.

[0019] The scheme of the present application obtains the current position information and target position information of the laying ship; wherein the laying ship is a laying ship with multiple anchor points; the current tension of each anchor point is determined according to the force of the motor corresponding to each anchor point; the laying ship movement objective function is determined according to the current position information, the target position information and the current tension of each anchor point, and the target tension of each anchor point is determined according to the target optimization algorithm and the laying ship movement objective function; wherein the laying ship movement objective function is used to characterize the position error between the current position information and the target position information, as well as the total tension change of multiple anchor points, and the total tension change corresponding to the target tension of multiple anchor points is the minimum change; for each anchor point, the motor corresponding to the anchor point is adjusted so that the current tension of the anchor point is modified to the target tension, so that the laying ship moves. That is, the scheme of the present application determines the target tension of each anchor point, and adjusts the tension of the anchor point to the target tension, realizes the control of the movement of the laying ship, avoids the situation of manual operation of the movement of the laying ship, reduces the difficulty and error rate of manual operation, thereby improving the movement efficiency of the laying ship, and further speeds up the construction progress of the submarine project. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solution of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0021] Figure 1 It is a flow chart of the mobile control method of the laying ship provided by the present application;

[0022] Figure 2 It is another flow chart of the movement control method of the laying ship provided by the present application;

[0023] Figure 3 It is a structural schematic diagram of the mobile control device of the laying ship provided by the present application;

[0024] Figure 4 It is a structural schematic diagram of the electronic device provided by this application. DETAILED DESCRIPTION

[0025] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present application.

[0026] Figure 1 The present invention provides a flow chart of a method for controlling the movement of a laying ship. The method can be executed by a device for controlling the movement of a laying ship. The device can be implemented in software and / or hardware. In a specific embodiment, the device can be applied to an electronic device, which can be a controller of a laying ship. The following embodiments will be described by taking the device applied to an electronic device as an example. Figure 1 , the method may specifically include the following steps:

[0027] Step 101, obtaining the current position information and target position information of the laying vessel.

[0028] Among them, the laying ship is a laying ship with multiple anchor points.

[0029] Specifically, the laying ship is a laying ship with multiple anchor points, each anchor point is connected to the laying ship hull by a rope with a motor. For example, the laying ship is a laying ship with six anchor points. The tension of the rope between the anchor point and the motor is adjusted by adjusting the motor, thereby realizing the change of the position of the laying ship. The current position information includes the current horizontal coordinate, current vertical coordinate and current azimuth of the laying ship, and the target position information includes the target horizontal coordinate, target vertical coordinate and target azimuth that the laying ship is expected to reach at the current moment. The coordinates of the ship are determined in a coordinate system with the bow of the ship as the positive direction of the horizontal axis, pointing from the stern to the bow, and the positive direction of the longitudinal axis perpendicular to the horizontal axis, pointing to the starboard side of the ship. The azimuth of the ship refers to the angle of the ship relative to a certain direction measured in a clockwise direction with the bow as the reference point. The current position information of the laying ship can be obtained through the Global Positioning System (GPS). The target position information of the laying ship can be obtained by directly obtaining the target horizontal coordinates, target vertical coordinates and target azimuth angle that the laying ship is expected to reach at the current moment, which are input by the user. Alternatively, the target horizontal coordinates, target vertical coordinates and target azimuth angle of the laying ship can be calculated after obtaining the moving direction and moving angle of the laying ship, which are input by the user.

[0030] For example, GPS is used to obtain the current ship's coordinates (x, y) and current azimuth angle θ, where x is the current horizontal coordinate and y is the current vertical coordinate. The user inputs the target moving direction and target moving distance of the laying ship, and the target position information is obtained as follows: The target horizontal coordinate is x 1 =x+dcos(θ), the target vertical coordinate is y 1 =y+dcos(θ), d is the set moving distance. According to the target moving direction and the current azimuth angle θ, the target azimuth angle θ can be determined. 1 .

[0031] Optionally, before executing step 101, steps 11 and 12 may also be executed.

[0032] Step 11, obtaining the starting position information and the ending position information of the laying vessel.

[0033] Specifically, the starting position information of the paving ship is the initial position information before the paving ship moves, including the starting horizontal coordinates, starting vertical coordinates and starting azimuth of the paving ship. The starting position information of the paving ship can be obtained through GPS. The terminal position information of the paving ship is the information of the position that the user expects the paving ship to reach after the movement of the paving ship is completely completed, which can include the terminal horizontal coordinates, terminal vertical coordinates and terminal azimuth. The terminal position information of the paving ship can be obtained by directly obtaining the terminal horizontal coordinates, terminal vertical coordinates and terminal azimuth that the user expects the paving ship to reach after the movement is completed. It can also be obtained by calculating the terminal horizontal coordinates, terminal vertical coordinates and terminal azimuth of the paving ship after obtaining the paving ship movement direction and paving ship movement angle input by the user.

[0034] For example, before the laying vessel moves, the starting coordinates (x 0 ,y 0 ) and the starting point azimuth θ 0 Among them, x 0 is the horizontal coordinate of the starting point, y 0 is the vertical coordinate of the starting point. And obtain the end point coordinate (x 2 ,y 2 ) and the end point azimuth θ 2 Among them, x 2 is the horizontal coordinate of the end point, y 2 is the vertical coordinate of the end point.

[0035] Step 12: determining the moving path of the laying vessel according to the starting position information and the end position information.

[0036] Specifically, after obtaining the starting position information and the end position information of the laying ship, the moving path of the laying ship is determined according to the starting position information and the end position information, so that the laying ship can move from the starting position to the end position after moving according to the moving path. The moving path of the laying ship can also be determined according to the starting position information, the end position information, and the obstacles between the starting position and the end position, so that the laying ship can move from the starting position to the end position after moving according to the moving path, and avoid obstacles such as reefs. Determining the moving path of the laying ship according to the starting position information and the end position information can be achieved by an algorithm for finding the shortest path. For example, the algorithm for finding the shortest path can be A algorithm or Dijkstra algorithm.

[0037] Optionally, after executing steps 11 - 12 , step 101 may be implemented through step 1011 .

[0038] Step 1011, obtaining current position information, and determining target position information corresponding to the current position information according to the moving path of the laying vessel and the current position information.

[0039] Specifically, after the current position information is acquired, the target position information corresponding to the current moment in the moving path of the laying vessel is determined according to the current moment corresponding to the current position information, that is, the target position information corresponding to the current position information.

[0040] Exemplarily, the current position information is the current coordinates (x, y) and the current azimuth θ. According to the moving path, it is determined that at the current moment, the target coordinates that the laying ship is expected to reach are (x 1 ,y 1 ), target azimuth θ 1 .

[0041] Step 102, determining the current tension of each anchor point according to the force applied to the motor corresponding to each anchor point.

[0042] Specifically, the pulling force on each anchor point can be determined according to the torque force of the motor corresponding to each anchor point, that is, the current tension of each anchor point. The current tension of each anchor point can be calculated by calculating the torque force data of multiple groups of motors using the least squares method.

[0043] Optionally, the current tension of each anchor point is determined according to the force applied to the motor corresponding to each anchor point and the mechanical models of the multiple anchor points.

[0044] Among them, the mechanical model includes horizontal force balance equation, vertical force balance equation, moment balance equation and anchor point tension equation.

[0045] Specifically, the mechanical model is used to describe the mechanical relationship between each anchor point and between multiple anchor points and the hull of the laying ship. When the laying ship is stable, the tension of each anchor point can maintain the stability of the laying ship in the mechanical model. Therefore, combined with the motor force corresponding to each anchor point and the mechanical models of multiple anchor points, the current tension of each anchor point can be calculated to improve the calculation accuracy of the anchor point tension. Taking the laying ship as a laying ship with six anchor points as an example, the horizontal force balance equation included in the mechanical model can be shown as Formula 1, the vertical force balance equation can be shown as Formula 2, the torque balance equation can be shown as Formula 3, and the anchor point tension equation is used to express the relationship between tension and torque, which can be shown as Formula 4.

[0046] Formula 1

[0047] Formula 2

[0048] Formula 3

[0049] Formula 4

[0050] Among them, F xi represents the horizontal force of the i-th anchor point. The horizontal force balance equation is that the sum of the horizontal forces of multiple anchor points is 0. At this time, the horizontal force acting on the laying ship is 0, so it is determined that the laying ship is stable in terms of horizontal force. yi It represents the vertical force of the ith anchor point. The vertical force balance equation is that the sum of the vertical forces of multiple anchor points is 0. At this time, the vertical force acting on the laying ship is 0, so it is determined that the laying ship is stable in terms of vertical force. i represents the moment of the i-th anchor point, r i is the position vector from the anchor point to the center of gravity of the ship, F i is the force applied on the anchor point, and the moment balance equation is the moment of multiple anchor points, which is also the torque of the motor. At this time, the sum of the torques is 0, so it is determined that the laying ship is stable. i It represents the tension of the i-th anchor point, that is, the tension of each anchor point can be determined according to the torque and position vector of each anchor point. To ensure the accuracy of the data, the least squares method is used to calculate multiple sets of data to obtain the current tension of each anchor point.

[0051] Step 103, determining the target function of the movement of the laying vessel according to the current position information, the target position information and the current tension of each anchor point, and determining the target tension of each anchor point according to the target optimization algorithm and the target function of the movement of the laying vessel.

[0052] Among them, the moving objective function of the laying ship is used to characterize the position error between the current position information and the target position information, as well as the total tension change of multiple anchor points. The total tension change corresponding to the target tension of multiple anchor points is the minimum change.

[0053] Specifically, the goal of the laying ship movement objective function is to minimize the deviation between the target position and the current position, and to ensure that the hull remains stable during the movement, and the stability of the hull requires the minimum change in the total tension of multiple anchor points. Therefore, the laying ship movement objective function can be established based on the current position information of the laying ship, the target position information and the current tension of each anchor point, so that the objective function can achieve the goal of minimizing the deviation between the target position and the current position, and minimizing the change in anchor point tension so that the hull of the laying ship remains stable. That is, the objective function can be defined as the sum of the first weight coefficient and the position deviation, the second weight coefficient and the heading deviation, and the third weight coefficient and the tension change. After determining the laying ship movement objective function, the target tension of each anchor point is determined according to the target optimization algorithm and the laying ship movement objective function. Among them, the target optimization algorithm can be divided into an optimization algorithm that can determine the initial tension, and an optimization algorithm that can adjust the initial tension. For example, the particle swarm optimization algorithm is used to determine the initial tension of the anchor point corresponding to the target function of the movement of the laying ship. After the initial tension is calculated, the control error of the motor is corrected through the proportion-integral-derivative (PID) control algorithm to improve the motor control accuracy, thereby improving the anchor point tension adjustment accuracy and further improving the movement accuracy of the laying ship.

[0054] Optionally, after executing step 12, determining the movement objective function of the laying vessel according to the current position information, the target position information and the current tension of each anchor point can be implemented through steps 31 to 32.

[0055] Step 31, determining the position error and heading angle error of the laying vessel according to the current position information and the target position information.

[0056] Specifically, the position error is the deviation of the ship's position between the current position and the target position, which can be determined by the current position information and the target position information. The heading angle error is the deviation of the current heading and the target heading, which can be determined by the current position information and the target position information.

[0057] For example, the position error can be calculated by Formula 5, and the heading angle error can be calculated by Formula 6.

[0058] Formula 5

[0059] Among them, (x 目标 ,y 目标 ) is the coordinate of the target position, (x 当前 ,y 当前 ) are the coordinates of the current position. E 位置 Indicates position error.

[0060] Formula 6

[0061] Among them, θ 目标 represents the target heading angle, θ 当前 Indicates the current heading angle. 航向 Indicates the heading angle error.

[0062] Step 32, determining the movement objective function of the laying vessel according to the position error, the heading angle error and the current tension of each anchor point.

[0063] Specifically, the target function of the movement of the laying ship can be defined as the sum of the first weight coefficient and the position deviation, the second weight coefficient and the heading deviation, and the third weight coefficient and the tension change, as shown in Formula 7. The weight coefficients are used to balance the influence of different errors.

[0064] Formula 7

[0065] Among them, α is the first weight coefficient, β is the second weight coefficient, and γ is the third weight coefficient. is the position error, is the heading angle error, It is the sum of the anchor point tension changes, that is, the total tension change. The tension change represents the adjustment from the current tension to the target tension.

[0066] Optionally, after executing step 32 , determining the target tension of each anchor point according to the target optimization algorithm and the target function of the movement of the laying vessel can be achieved through step 321 .

[0067] Step 321, adjust the tension of each anchor point according to the target optimization algorithm and the target function of the movement of the laying ship to obtain the minimum value of the target function of the movement of the laying ship, and determine the tension of each anchor point corresponding to the minimum value of the target function of the movement of the laying ship as the target tension of each anchor point, so as to minimize the position error, heading angle error and the total tension change of multiple anchor points.

[0068] Specifically, the values ​​of the target function of the movement of the laying ship corresponding to the tension of each anchor point are determined according to the first weight coefficient, the second weight coefficient, the third weight coefficient, the position error, the heading angle error and the current tension of each anchor point. When the value of the target function of the movement of the laying ship is the minimum value, it is proved that the tension of each anchor point corresponding to the target function at this time can meet the goal that the target function needs to achieve, that is, the total tension change of multiple anchor points is minimized, so the tension of each anchor point corresponding to the minimum value of the target function of the movement of the laying ship is determined as the target tension of each anchor point, so as to minimize the position error, the heading angle error and the total tension change of multiple anchor points.

[0069] Optionally, adjusting the tension of each anchor point according to the target optimization algorithm and the target function of the movement of the laying vessel can be achieved through steps 3211 to 3214.

[0070] Step 3211, setting a random initial tension value for each anchor point.

[0071] Specifically, in the particle swarm optimization algorithm, each particle represents the tension of a set of anchor points. These tension values ​​need to be randomly generated within a reasonable range, which can be determined based on actual engineering needs and safety requirements. Assume that the size of the particle swarm is N, and each particle represents the tension of a set of six anchor points. For each particle i (i=1,2,…,N), randomly generate the tension values ​​of its six anchor points. Initialize the position and velocity of the particle, and the setting of the random initial tension value is completed.

[0072] Step 3212, determining the updated tension of each anchor point according to the random initial tension value of each anchor point and the particle swarm optimization algorithm, and determining the value of the laying ship movement objective function corresponding to the updated tension.

[0073] Exemplarily, the updated tension of each anchor point is determined according to the random initial tension value of each anchor point and the particle swarm optimization algorithm. In the particle swarm optimization algorithm, the current optimal tension distribution is iteratively calculated according to the random initial tension value of each anchor point. The particle velocity is updated as shown in Formula 8, and the position is updated as shown in Formula 9.

[0074] Formula 8

[0075] in, represents the velocity of particle i at time step t+1, represents the inertia weight, represents the velocity of particle i at time step t, c 1 and c 2 represents the learning factor, r 1 and r 2 Represents a random number, with a value range of [0,1], represents the best individual position of particle i at time step t, represents the current position information of particle i at time step t, represents the global optimal position at time step t.

[0076] Formula 9

[0077] in, Represents the current position information of particle i at time step t+1.

[0078] Select the optimal particle obtained by particle swarm optimization algorithm As the current optimal solution, the updated tension of each anchor point is obtained, and the value of the movement objective function of the laying ship is calculated according to the updated tension of each anchor point.

[0079] Step 3213, if the value of the laying ship movement objective function is greater than the preset function threshold, the updated tension of each anchor point is used as the new random initial tension value of each anchor point, and the process returns to step 3212 until the value of the laying ship movement objective function is less than or equal to the preset function threshold.

[0080] Specifically, the preset function threshold is a threshold that can characterize that the laying ship moving objective function reaches the minimum value. After obtaining the updated tension of each anchor point and the value of the laying ship moving objective function corresponding to the updated tension, if the value of the laying ship moving objective function is greater than the preset function threshold, it means that the value of the laying ship moving objective function is not the minimum value, and the total tension change of the multiple anchor points obtained at this time is also not the minimum value. Therefore, the updated tension of each anchor point is used as the new random initial tension value of each anchor point, and the execution of step 3212 is returned to obtain the new updated tension and the value of the objective function corresponding to the new updated tension, until the value of the laying ship moving objective function is less than or equal to the preset function threshold, at which time it is determined that the value of the laying ship moving objective function reaches the minimum value.

[0081] Step 3214: If the value of the laying ship movement objective function is less than or equal to the preset function threshold, the value of the laying ship movement objective function is used as the minimum value of the laying ship movement objective function.

[0082] Specifically, after the value of the laying ship movement objective function is less than or equal to the preset function threshold, it is determined that the value of the laying ship movement objective function reaches a minimum value, and at this time, the value of the laying ship movement objective function is used as the minimum value of the laying ship movement objective function.

[0083] Step 104, for each anchor point, adjust the motor corresponding to the anchor point so that the current tension of the anchor point is modified to the target tension, so that the laying ship moves.

[0084] Specifically, for each anchor point, the current tension of the anchor point is modified to the target tension by adjusting the motor corresponding to the anchor point, so that the laying ship moves until the laying ship moves to the terminal position, completing the ship movement control of the laying ship.

[0085] Optionally, step 104 may be implemented through steps 1041 to 1043 .

[0086] Step 1041, for each anchor point, adjust the motor corresponding to the anchor point to obtain the actual tension of the anchor point.

[0087] Specifically, due to the many factors affecting the marine environment, such as ocean currents, tides, etc., there may be an error between the tension of the anchor point after adjusting the motor and the calculated result. Therefore, for each anchor point, the motor corresponding to the anchor point is adjusted, and after the adjustment is completed, the actual tension of the anchor point at this time is calculated based on the force torque of the motor.

[0088] Step 1042: determining a current tension error according to the actual tension of the anchor point and the target tension of the anchor point.

[0089] Step 1043, adjusting the motor corresponding to the anchor point according to the current tension error and the target control algorithm, so that the actual tension of the anchor point is modified to the target tension, so that the laying ship moves.

[0090] Specifically, the target control algorithm may be a PID control algorithm, that is, the motor corresponding to the anchor point is adjusted according to the current tension error and the PID control algorithm, thereby improving the accuracy of motor control. The process of adjusting the motor according to the current tension error and the PID control algorithm is shown in Formula 10.

[0091] Formula 10

[0092] in, Represents the updated value of the control quantity, which refers to the adjusted new tension (or other control quantity) value, which is the new control quantity output by the PID controller after time step t. Represents the old value of the control variable, which refers to the controller at the time step The control amount at that time, the historical control amount output by the controller, that is, the control amount corresponding to the actual tension of the anchor point, is used to add the new adjustment amount in the calculation. is the current tension error, that is, the difference between the target tension and the actual tension. The error is the basis for controller adjustment, and the control performance is optimized by reducing the error. The integral term that represents the error represents the accumulated value of past errors. It helps to eliminate the error. The integral term accumulates over time and gradually corrects the deviation by adding control quantity. Represents the proportionality factor, the controller's response ratio to the error. Increasing the proportionality factor can make the system respond faster, but may cause over-adjustment and oscillation. Represents the integral coefficient, the controller's response to the accumulation of past errors. The integral term can eliminate long-term steady-state errors in the system, but may cause the system to over-respond. Represents the differential coefficient, the controller's response to the error change rate. The differential term helps predict future changes in the error and can reduce system overshoot and oscillation. Adaptive adjustment method is used for dynamic optimization The value of . The derivative of the error, that is, the rate at which the error changes, is represented by the differential term. The differential term helps the controller to foresee the trend of the error by calculating the rate of change of the error, thereby making adjustments more quickly and reducing oscillations. The above PID parameters can be adjusted when the position error of the laying ship is greater than the preset value or the heading error is greater than the preset value, thereby improving the response speed and obtaining the updated tension of each anchor point more quickly. In addition, after obtaining the updated tension value, the measurement noise can be eliminated by Kalman filtering, thereby further improving the control accuracy.

[0093] The scheme of the present application obtains the current position information and target position information of the laying ship; wherein the laying ship is a laying ship with multiple anchor points; the current tension of each anchor point is determined according to the force of the motor corresponding to each anchor point; the laying ship movement objective function is determined according to the current position information, the target position information and the current tension of each anchor point, and the target tension of each anchor point is determined according to the target optimization algorithm and the laying ship movement objective function; wherein the laying ship movement objective function is used to characterize the position error between the current position information and the target position information, as well as the total tension change of multiple anchor points, and the total tension change corresponding to the target tension of multiple anchor points is the minimum change; for each anchor point, the motor corresponding to the anchor point is adjusted so that the current tension of the anchor point is modified to the target tension, so that the laying ship moves. That is, the scheme of the present application determines the target tension of each anchor point, and adjusts the tension of the anchor point to the target tension, realizes the control of the movement of the laying ship, avoids the situation of manual operation of the movement of the laying ship, reduces the difficulty and error rate of manual operation, thereby improving the movement efficiency of the laying ship, and further speeds up the construction progress of the submarine project.

[0094] Figure 2 is another flow chart of the mobile control method of the laying ship provided by the present application. Figure 1 Based on the illustrated embodiment and various optional implementation schemes, the steps of adjusting the motor corresponding to the anchor point are described in detail. Figure 2 As shown, the method may include the following steps:

[0095] Step 201, obtaining the current position information and target position information of the laying vessel.

[0096] Step 202, determining the current tension of each anchor point according to the force applied to the motor corresponding to each anchor point.

[0097] Step 203, determining the target function of the movement of the laying vessel according to the current position information, the target position information and the current tension of each anchor point, and determining the target tension of each anchor point according to the target optimization algorithm and the target function of the movement of the laying vessel.

[0098] Step 204, when the distance between the current position of the laying vessel and the position corresponding to the terminal position information is greater than or equal to the preset distance, for each anchor point, the motor corresponding to the anchor point is adjusted at a first preset speed to modify the current tension of the anchor point to the target tension, so that the laying vessel moves.

[0099] Specifically, the preset distance is the distance at which the laying vessel needs to slow down its moving speed to maintain the stability of the vessel. When the distance between the current position of the laying vessel and the position corresponding to the terminal position information is greater than or equal to the preset distance, for each anchor point, the motor corresponding to the anchor point is adjusted at a first preset speed, so that the current tension of the anchor point is modified to the target tension at the first preset speed, so that the laying vessel moves at the first speed.

[0100] Step 205, when the distance between the current position of the laying vessel and the position corresponding to the terminal position information is less than the preset distance, for each anchor point, the motor corresponding to the anchor point is adjusted at a second preset speed to modify the current tension of the anchor point to the target tension, so that the laying vessel moves.

[0101] The second preset speed is lower than the first preset speed.

[0102] Specifically, when it is detected that the distance between the current position of the laying ship and the target position is less than the preset distance, for each anchor point, the motor corresponding to the anchor point is adjusted at the second preset speed, so that the current tension of the anchor point is modified to the target tension at the second preset speed, thereby reducing the moving speed of the laying ship to the second speed. Exemplarily, the goal is to control the laying ship to slow down to 20% of the original speed. This process can be achieved by reducing the change speed of the anchor tension, and the change speed of the anchor tension can be achieved by adjusting the motor corresponding to the anchor point at the second preset speed, thereby ensuring that the hull remains stable at the target position. After the laying ship reaches the target position, it can also feedback a ship movement completion signal to the staff's equipment so that the staff can obtain this information.

[0103] The solution of the present application can reduce the adjustment speed of the motor when it is monitored that the distance between the current position of the paving ship and the end position is less than the preset distance, thereby controlling the paving ship to slow down until the paving ship reaches the target position, thereby reducing the speed of the paving ship when approaching the end point, enhancing the stability of the paving ship's movement, further avoiding deviations in the movement of the paving ship, and improving the accuracy of the paving ship's movement process.

[0104] Figure 3 Schematic diagram of a structure of a mobile control device for a laying ship provided in the present application, which is suitable for executing the mobile control method for a laying ship provided in the present application. Figure 3 As shown, the device may specifically include:

[0105] The acquisition module 301 is used to acquire the current position information and target position information of the laying vessel; wherein the laying vessel is a laying vessel with multiple anchor points.

[0106] The first determination module 302 is used to determine the current tension of each anchor point according to the force applied to the motor corresponding to each anchor point.

[0107] The second determination module 303 is used to determine the laying ship movement objective function based on the current position information, the target position information and the current tension of each anchor point, and determine the target tension of each anchor point based on the target optimization algorithm and the laying ship movement objective function; wherein the laying ship movement objective function is used to characterize the position error between the current position information and the target position information, and the total tension change of the multiple anchor points, and the total tension change corresponding to the target tension of the multiple anchor points is the minimum change.

[0108] The moving module 304 is used to adjust the motor corresponding to each anchor point so as to modify the current tension of the anchor point to the target tension, thereby moving the laying vessel.

[0109] In one embodiment, the acquisition module 301 is also used for: before obtaining the current position information and target position information of the laying ship, obtaining the starting position information and the ending position information of the laying ship; determining the moving path of the laying ship according to the starting position information and the ending position information; the acquisition module is specifically used for: obtaining the current position information, and determining the target position information corresponding to the current position information according to the moving path of the laying ship and the current position information; the second determination module 303 is specifically used for determining the moving target function of the laying ship according to the current position information, the target position information and the current tension of each anchor point, and is specifically used for: determining the position error and the heading angle error of the laying ship according to the current position information and the target position information; determining the moving target function of the laying ship according to the position error, the heading angle error and the current tension of each anchor point.

[0110] In one embodiment, the first determination module 302 is specifically used to determine the current tension of each anchor point based on the motor force corresponding to each anchor point and the mechanical model of the multiple anchor points; wherein the mechanical model includes a horizontal force balance equation, a vertical force balance equation, a torque balance equation and an anchor point tension equation.

[0111] In one embodiment, the second determination module 303, in determining the target tension of each anchor point according to the target optimization algorithm and the target function of the movement of the laying ship, is specifically used to: adjust the tension of each anchor point according to the target optimization algorithm and the target function of the movement of the laying ship to obtain the minimum value of the target function of the movement of the laying ship, and determine the tension of each anchor point corresponding to the minimum value of the target function of the movement of the laying ship as the target tension of each anchor point, so as to minimize the position error, the heading angle error and the total tension change of the multiple anchor points.

[0112] In one embodiment, the target optimization algorithm includes a particle swarm optimization algorithm, and the second determination module 303, in adjusting the tension of each anchor point according to the target optimization algorithm and the laying ship movement objective function to obtain the minimum value of the laying ship movement objective function, is specifically used to: set a random initial tension value for each anchor point; determine an updated tension for each anchor point according to the random initial tension value of each anchor point and the particle swarm optimization algorithm, and determine the value of the laying ship movement objective function corresponding to the updated tension; if the value of the laying ship movement objective function is greater than a preset function threshold, then use the updated tension of each anchor point as the new random initial tension value of each anchor point, and return to execute the step of "determining the updated tension of each anchor point according to the random initial tension value of each anchor point and the particle swarm optimization algorithm" until the value of the laying ship movement objective function is less than or equal to the preset function threshold; if the value of the laying ship movement objective function is less than or equal to the preset function threshold, then use the value of the laying ship movement objective function as the minimum value of the laying ship movement objective function.

[0113] In one embodiment, the moving module 304 is specifically used to: for each of the anchor points, adjust the motor corresponding to the anchor point to obtain the actual tension of the anchor point; determine the current tension error according to the actual tension of the anchor point and the target tension of the anchor point; adjust the motor corresponding to the anchor point according to the current tension error and the target control algorithm to modify the actual tension of the anchor point to the target tension, so that the laying ship moves.

[0114] In one embodiment, the moving module 304 is specifically used to adjust the motor corresponding to each anchor point, when the distance between the current position of the laying ship and the position corresponding to the terminal position information is greater than or equal to the preset distance, adjust the motor corresponding to the anchor point at a first preset speed for each anchor point; when the distance between the current position of the laying ship and the position corresponding to the terminal position information is less than the preset distance, adjust the motor corresponding to the anchor point at a second preset speed for each anchor point; wherein the second preset speed is less than the first preset speed.

[0115] The device of the present application obtains the current position information and target position information of the laying ship; wherein the laying ship is a laying ship with multiple anchor points; according to the force of the motor corresponding to each anchor point, the current tension of each anchor point is determined; according to the current position information, the target position information and the current tension of each anchor point, the laying ship movement objective function is determined, and the target tension of each anchor point is determined according to the target optimization algorithm and the laying ship movement objective function; wherein the laying ship movement objective function is used to characterize the position error between the current position information and the target position information, as well as the total tension change of multiple anchor points, and the total tension change corresponding to the target tension of multiple anchor points is the minimum change; for each anchor point, the motor corresponding to the anchor point is adjusted so that the current tension of the anchor point is modified to the target tension, so that the laying ship moves. That is, the scheme of the present application determines the target tension of each anchor point, and adjusts the tension of the anchor point to the target tension, realizes the control of the movement of the laying ship, avoids the situation of manual operation of the movement of the laying ship, reduces the difficulty and error rate of manual operation, thereby improving the movement efficiency of the laying ship, and further speeds up the construction progress of the submarine project.

[0116] The present application also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the program, the movement control method of the laying vessel provided in any of the above embodiments is implemented.

[0117] The present application also provides a computer-readable medium on which a computer program is stored. When the program is executed by a processor, the method for controlling the movement of a laying vessel provided in any of the above embodiments is implemented.

[0118] Reference below Figure 4 , which shows a structural schematic diagram of an electronic device 400 suitable for implementing the present application. Figure 4 The electronic device shown is only an example and should not bring any limitation to the function and scope of use of the present application.

[0119] like Figure 4 As shown, the electronic device 400 includes a central processing unit (CPU) 401, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 402 or a program loaded from a storage part 408 into a random access memory (RAM) 403. In the RAM 403, various programs and data required for the operation of the electronic device 400 are also stored. The CPU 401, the ROM 402, and the RAM 403 are connected to each other via a bus 404. An input / output (I / O) interface 405 is also connected to the bus 404.

[0120] The following components are connected to the I / O interface 405: an input section 406 including a keyboard, a mouse, etc.; an output section 407 including a cathode ray tube (CRT), a liquid crystal display (LCD), etc., and a speaker, etc.; a storage section 408 including a hard disk, etc.; and a communication section 409 including a network interface card such as a LAN card, a modem, etc. The communication section 409 performs communication processing via a network such as the Internet. A drive 410 is also connected to the I / O interface 405 as needed. A removable medium 411, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed on the drive 410 as needed, so that a computer program read therefrom is installed into the storage section 408 as needed.

[0121] In particular, according to the embodiments disclosed in the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, the embodiments disclosed in the present application include a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program contains program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from the network through the communication part 409, and / or installed from the removable medium 411. When the computer program is executed by the central processing unit (CPU) 401, the above-mentioned functions defined in the system of the present application are executed.

[0122] It should be noted that the computer-readable medium shown in the present application may be a computer-readable signal medium or a computer-readable storage medium or any combination of the above two. The computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present application, a computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system, device or device. In the present application, a computer-readable signal medium may include a data signal propagated in a baseband or as part of a carrier wave, which carries a computer-readable program code. This propagated data signal may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. Computer-readable signal media may also be any computer-readable medium other than computer-readable storage media, which may send, propagate or transmit a program for use by or in conjunction with an instruction execution system, apparatus or device. The program code contained on the computer-readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wire, optical cable, RF, etc., or any suitable combination of the above.

[0123] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present application. In this regard, each box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the above-mentioned module, program segment or a part of a code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram or flow chart, and the combination of the boxes in the block diagram or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0124] The modules and / or units described in this application may be implemented in software or hardware. The modules and / or units described may also be set in a processor, for example, it may be described as: a processor includes an acquisition module, a first determination module, a second determination module and a movement module. The names of these modules do not, in some cases, constitute limitations on the modules themselves.

[0125] As another aspect, the present application also provides a computer-readable medium, which may be included in the device described in the above embodiment; or may exist independently without being assembled into the device. The above computer-readable medium carries one or more programs, and when the above one or more programs are executed by a device, the device performs the following operations:

[0126] The current position information and target position information of the laying ship are obtained; wherein the laying ship is a laying ship with multiple anchor points; the current tension of each anchor point is determined according to the force on the motor corresponding to each anchor point; the moving objective function of the laying ship is determined according to the current position information, the target position information and the current tension of each anchor point, and the target tension of each anchor point is determined according to the target optimization algorithm and the moving objective function of the laying ship; wherein the moving objective function of the laying ship is used to characterize the position error between the current position information and the target position information, as well as the total tension change of multiple anchor points, and the total tension change corresponding to the target tension of multiple anchor points is the minimum change; for each anchor point, the motor corresponding to the anchor point is adjusted to modify the current tension of the anchor point to the target tension, so that the laying ship moves.

[0127] According to the technical solution of the present application, the current position information and target position information of the laying ship are obtained; wherein the laying ship is a laying ship with multiple anchor points; the current tension of each anchor point is determined according to the force of the motor corresponding to each anchor point; the laying ship movement objective function is determined according to the current position information, the target position information and the current tension of each anchor point, and the target tension of each anchor point is determined according to the target optimization algorithm and the laying ship movement objective function; wherein the laying ship movement objective function is used to characterize the position error between the current position information and the target position information, as well as the total tension change of multiple anchor points, and the total tension change corresponding to the target tension of multiple anchor points is the minimum change; for each anchor point, the motor corresponding to the anchor point is adjusted so that the current tension of the anchor point is modified to the target tension, so that the laying ship moves. That is, the solution of the present application determines the target tension of each anchor point, and adjusts the tension of the anchor point to the target tension, realizes the control of the movement of the laying ship, avoids the situation of manual operation of the movement of the laying ship, reduces the difficulty and error rate of manual operation, thereby improving the movement efficiency of the laying ship, and further speeds up the construction progress of the submarine project.

[0128] An embodiment of the present application also provides a computer program product, including a computer program, which, when executed by a processor, implements the movement control method of a laying vessel provided in any embodiment of the present application.

[0129] In the process of implementation, the computer program product can be written in one or more programming languages ​​or a combination thereof to perform the computer program code of the present application, and the programming language includes an object-oriented programming language, such as Java, Smalltalk, C++, and also includes a conventional procedural programming language, such as "C" language or similar programming language. The program code can be executed completely on the user's computer, partially on the user's computer, as an independent software package, partially on the user's computer and partially on the remote computer, or completely on the remote computer or server. In the case of a remote computer, the remote computer can be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or can be connected to an external computer (for example, using an Internet service provider to connect through the Internet).

[0130] 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 application can be executed in parallel, sequentially or in different orders, as long as the expected results of the technical solution of this application can be achieved, and this document is not limited here.

[0131] The above specific implementations do not constitute a limitation on the protection scope of this application. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions may occur depending on design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of this application should be included in the protection scope of this application.

Claims

1. A method for controlling movement of a laying ship, characterized in that: The method comprises: Acquiring current position information and target position information of a laying vessel; wherein the laying vessel is a laying vessel having multiple anchor points; Determine the current tension of each anchor point according to the force applied to the motor corresponding to each anchor point; Determine the target function of the movement of the laying ship according to the current position information, the target position information and the current tension of each anchor point, and determine the target tension of each anchor point according to the target optimization algorithm and the target function of the movement of the laying ship; wherein the target function of the movement of the laying ship is used to characterize the position error between the current position information and the target position information, and the total tension change of the multiple anchor points, and the total tension change corresponding to the target tension of the multiple anchor points is the minimum change; For each of the anchor points, the motor corresponding to the anchor point is adjusted so that the current tension of the anchor point is modified to the target tension, so that the laying ship moves.

2. The method according to claim 1, characterized in that Before obtaining the current position information and target position information of the laying vessel, the method further includes: Obtaining the starting position information and the ending position information of the laying ship; Determining a moving path of the laying vessel according to the starting position information and the end position information; The obtaining of the current position information and the target position information of the laying vessel includes: Acquire the current position information, and determine the target position information corresponding to the current position information according to the moving path of the laying ship and the current position information; The step of determining the movement objective function of the laying vessel according to the current position information, the target position information and the current tension of each anchor point comprises: Determine the position error and heading angle error of the laying vessel according to the current position information and the target position information; The movement objective function of the laying vessel is determined according to the position error, the heading angle error and the current tension of each anchor point.

3. The method according to claim 2, characterized in that Determining the current tension of each anchor point according to the force of the motor corresponding to each anchor point includes: The current tension of each anchor point is determined according to the motor force corresponding to each anchor point and the mechanical model of the multiple anchor points; wherein the mechanical model includes a horizontal force balance equation, a vertical force balance equation, a torque balance equation and an anchor point tension equation.

4. The method according to claim 2, characterized in that: Determining the target tension of each anchor point according to the target optimization algorithm and the target function of the laying vessel movement includes: The tension of each anchor point is adjusted according to the target optimization algorithm and the target function of the movement of the laying ship to obtain the minimum value of the target function of the movement of the laying ship, and the tension of each anchor point corresponding to the minimum value of the target function of the movement of the laying ship is determined as the target tension of each anchor point, so as to minimize the position error, the heading angle error and the total tension change of the multiple anchor points.

5. The method according to claim 4, characterized in that The target optimization algorithm includes a particle swarm optimization algorithm, and adjusting the tension of each anchor point according to the target optimization algorithm and the target function of the movement of the laying ship to obtain the minimum value of the target function of the movement of the laying ship includes: Setting a random initial tension value for each of the anchor points; Determine the updated tension of each anchor point according to the random initial tension value of each anchor point and the particle swarm optimization algorithm, and determine the value of the movement objective function of the laying ship corresponding to the updated tension; If the value of the movement objective function of the laying ship is greater than the preset function threshold, the updated tension of each anchor point is used as the new random initial tension value of each anchor point, and the process returns to the step of "determining the updated tension of each anchor point according to the random initial tension value of each anchor point and the particle swarm optimization algorithm" until the value of the movement objective function of the laying ship is less than or equal to the preset function threshold; If the value of the laying ship movement objective function is less than or equal to the preset function threshold, the value of the laying ship movement objective function is used as the minimum value of the laying ship movement objective function.

6. The method according to claim 1, characterized in that The step of adjusting the motor corresponding to each anchor point so that the current tension of the anchor point is changed to the target tension and the laying vessel moves includes: For each of the anchor points, adjusting the motor corresponding to the anchor point to obtain the actual tension of the anchor point; Determining a current tension error according to the actual tension of the anchor point and the target tension of the anchor point; The motor corresponding to the anchor point is adjusted according to the current tension error and the target control algorithm, so that the actual tension of the anchor point is modified to the target tension, so that the laying ship moves.

7. The method according to claim 2, characterized in that The step of adjusting the motor corresponding to each anchor point includes: When the distance between the current position of the laying vessel and the position corresponding to the terminal position information is greater than or equal to a preset distance, for each of the anchor points, adjusting the motor corresponding to the anchor point at a first preset speed; When the distance between the current position of the laying vessel and the position corresponding to the terminal position information is less than a preset distance, for each anchor point, the motor corresponding to the anchor point is adjusted at a second preset speed; wherein the second preset speed is less than the first preset speed.

8. A mobile control device for a laying ship, characterized in that: The device comprises: An acquisition module, used to acquire the current position information and target position information of the laying vessel; wherein the laying vessel is a laying vessel with multiple anchor points; A first determination module, used to determine the current tension of each anchor point according to the force applied to the motor corresponding to each anchor point; A second determination module is used to determine the movement objective function of the laying ship according to the current position information, the target position information and the current tension of each anchor point, and to determine the target tension of each anchor point according to the target optimization algorithm and the movement objective function of the laying ship; wherein the movement objective function of the laying ship is used to characterize the position error between the current position information and the target position information, and the total tension change of the multiple anchor points, and the total tension change corresponding to the target tension of the multiple anchor points is the minimum change; The moving module is used to adjust the motor corresponding to each anchor point so that the current tension of the anchor point is modified to the target tension, so that the laying ship moves.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the program, the movement control method of the laying ship as described in any one of claims 1 to 7 is implemented.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the movement control method of a laying ship as claimed in any one of claims 1 to 7 is implemented.

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