Six-anchor positioning method for geotextile laying ship

Abstract

The embodiment of the invention discloses a positioning method for six anchors of a geotextile laying ship. The method comprises the following steps: acquiring ship data of the geotextile laying ship and anchor data of each anchor; the ship data comprises position data and ship body data of the geotextile laying ship; determining the ship body state of the geotextile laying ship based on the ship data and each predefined state deviation function; the ship body state comprises position deviation, attitude deviation and total deviation of the ship body; determining anchor point tension information of each anchor based on the ship body state, the anchor data of each anchor, a predetermined mechanical model between the ship body and each anchor and an anchor point optimal tension algorithm; and performing positioning control on the geotextile laying ship according to the tension information of each anchor point. According to the method, on the premise of not depending on external environment perception, accurate positioning and stability control are conducted on the geotextile laying ship, it is ensured that the ship body is always kept at the operation position, and high adaptability and reliability are achieved.

Description

Technical Field

[0001] The embodiments of the present invention relate to the technical field of ocean engineering, and in particular, to a six-anchor positioning method for a mattress-laying vessel. Background Art

[0002] In the field of ocean engineering, the positioning control of a mattress-laying vessel is a key link to ensure construction accuracy and safety.

[0003] Traditional ship positioning methods mainly rely on external environment perception. For example, satellite positioning technology and the auxiliary of the ship power system are used to position the mattress-laying vessel. This method highly depends on external environment information such as satellite signals. Once the signal is interfered or delayed under complex sea conditions, the positioning accuracy will drop significantly. And this method usually can only make adjustments after the ship deviates by a certain range, and it is difficult to respond to small offsets or attitude changes in real time, resulting in inaccurate positioning. Summary of the Invention

[0004] The embodiments of the present invention provide a six-anchor positioning method for a mattress-laying vessel, which can accurately position and control the stability of the hull of the mattress-laying vessel in real time without relying on external environment perception, and ensure that the hull always stays at the operation position, with strong adaptability and reliability.

[0005] In a first aspect, the embodiments of the present invention provide a six-anchor positioning method for a mattress-laying vessel, including:

[0006] Obtaining the ship data of the mattress-laying vessel and the anchor data of each anchor; the ship data includes the position data and hull data of the mattress-laying vessel;

[0007] Determining the hull state of the mattress-laying vessel based on the ship data and predefined state deviation functions; the hull state includes the position deviation, attitude deviation and total deviation of the hull;

[0008] Determining the anchor point tension information of each anchor based on the hull state, the anchor data of each anchor, a predefined mechanical model between the hull and each anchor, and an anchor point optimal tension algorithm;

[0009] Performing positioning control on the mattress-laying vessel according to the anchor point tension information of each anchor.

[0010] In a second aspect, the embodiments of the present invention provide a six-anchor positioning device for a mattress-laying vessel, and the device includes:

[0011] A data acquisition module, configured to obtain the ship data of the mattress-laying vessel and the anchor data of each anchor; the ship data includes the position data and hull data of the mattress-laying vessel;

[0012] A first determination module, configured to determine the hull state of the laying vessel based on the vessel data and predefined state deviation functions; the hull state includes the position deviation, attitude deviation, and total deviation of the hull;

[0013] A second determination module, configured to determine the anchor point tension information of each anchor based on the hull state, the anchor data of each anchor, a pre-determined mechanical model between the hull and each anchor, and an anchor point optimal tension algorithm;

[0014] A positioning control module, configured to perform positioning control on the laying vessel according to the anchor point tension information of each anchor.

[0015] In a third aspect, an embodiment of the present invention further provides an electronic device, including a memory, a processor, and a computer program stored on the memory and executable on the processor, where when the processor executes the program, it implements the six-anchor positioning method of the laying vessel as described in any one of the embodiments of the present invention.

[0016] In a fourth aspect, an embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored, and when the program is executed by a processor, it implements the six-anchor positioning method of the laying vessel as described in any one of the embodiments of the present invention.

[0017] In a fifth aspect, an embodiment of the present invention provides a computer program product, including a computer program, where when the computer program is executed by a processor, it implements the six-anchor positioning method of the laying vessel as described in any one of the embodiments of the present invention.

[0018] In the embodiments of the present invention, the vessel data of the laying vessel and the anchor data of each anchor are obtained; the vessel data includes the position data and hull data of the laying vessel; the hull state of the laying vessel is determined based on the vessel data and predefined state deviation functions; the hull state includes the position deviation, attitude deviation, and total deviation of the hull; the anchor point tension information of each anchor is determined based on the hull state, the anchor data of each anchor, a pre-determined mechanical model between the hull and each anchor, and an anchor point optimal tension algorithm; and positioning control is performed on the laying vessel according to the anchor point tension information of each anchor. The method of the embodiments of the present invention can accurately calculate the position deviation and attitude deviation of the hull through the state deviation function, the position data, and the attitude data of the hull. According to the hull state, the mechanical model, and the anchor point optimal tension algorithm, the optimal tension distribution of each anchor point can be accurately calculated. Without relying on external environment perception, precise positioning and stability control of the hull of the laying vessel are performed in real time through the anchor point tension information of each anchor, ensuring that the hull always remains at the operation position, and having strong adaptability and reliability. Description of the Drawings

[0019] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as limiting the scope. For those of ordinary skill in the art, without creative efforts, other related drawings can also be obtained based on these drawings.

[0020] Figure 1 It is the first flowchart of a six-anchor positioning method for a laying vessel provided by an embodiment of the present invention;

[0021] Figure 2 It is the second flowchart of a six-anchor positioning method for a laying vessel provided by an embodiment of the present invention;

[0022] Figure 3 It is the structural schematic diagram of a six-anchor positioning device for a laying vessel provided by an embodiment of the present invention;

[0023] Figure 4 It is the structural schematic diagram of an electronic device provided by an embodiment of the present invention. Specific Embodiments

[0024] The present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It can be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention. Additionally, it should be noted that for the sake of description, only the parts related to the present invention rather than all the structures are shown in the drawings.

[0025] Figure 1 It is the first flowchart of a six-anchor positioning method for a laying vessel provided by an embodiment of the present invention. Without relying on external environment perception, the method of the embodiment of the present invention can accurately position and control the stability of the laying vessel hull in real time to ensure that the hull always remains at the operation position, with strong adaptability and reliability. This method can be executed by a six-anchor positioning device provided by an embodiment of the present invention, and the device can be implemented in software and / or hardware. The following embodiments will be described by taking the integration of the device in an electronic device as an example. The electronic device can be a computer device, a central controller, a server, etc. Referring to Figure 1 , the method can specifically include the following steps:

[0026] Step 101: Obtain the vessel data of the laying vessel and the anchor data of each anchor.

[0027] Among them, the ship data includes the position data and hull data of the mattress-laying ship. The position data of the mattress-laying ship includes the actual position of the hull and the attitude data of the hull. The attitude data of the hull includes the hull dimensions, center of gravity position, yaw angle, pitch angle, roll angle, etc. The anchor data of each anchor includes the position and angle of each anchor relative to the hull. The number of anchors in this solution can be six. The approximate distribution positions of the six anchors relative to the hull are pre-determined according to the specifications, dimensions and models of the hull and the actual operating environment, etc. For example, a pair of anchor points can be set at the bow, one anchor point can be set on each side of the hull, and a pair of anchor points can be set at the stern.

[0028] Specifically, multiple sensors are installed on the mattress-laying ship. When it is necessary to position the mattress-laying ship, the central controller can obtain dynamic data such as the position, yaw angle, pitch angle, roll angular velocity, etc. of the mattress-laying ship in real time through each sensor. At the same time, static data such as hull dimensions, center position and anchor data are directly obtained from the pre-determined hull data repository.

[0029] Step 102: Determine the hull state of the mattress-laying ship based on the ship data and the pre-defined state deviation functions for each.

[0030] Among them, the hull state is used to describe the position and attitude of the hull at the current moment. The hull state in this solution includes the position deviation, attitude deviation and total deviation of the hull. The position deviation is used to describe the deviation between the actual position of the hull and the target position. The attitude deviation is used to describe the deviation between the actual attitude of the hull and the target attitude. The total deviation is a comprehensive value obtained by synthesizing the position deviation and the attitude deviation. The target position and target attitude are pre-determined according to the actual operating environment, specific requirements and domain big data, etc. Each state deviation function includes a position deviation function, an attitude deviation function and a total deviation function. The position deviation function is used to measure and calculate the deviation between the actual position of the hull and the target position; the attitude deviation function is used to measure and calculate the deviation between the actual attitude of the hull and the target attitude; the total deviation function is used to synthesize the position deviation and the attitude deviation, so as to calculate the total deviation value of the hull.

[0031] Specifically, after obtaining the ship data, the position deviation is measured according to the actual position of the hull, the target position, and the position deviation function; the attitude deviation is measured according to the actual attitude of the hull, the target attitude, and the attitude deviation function; the position deviation and the attitude deviation are balanced according to the position deviation, the attitude deviation, and the total deviation function to obtain the total deviation. In an alternative embodiment, after obtaining the ship data, the position deviation of the paving ship is obtained according to the horizontal difference between the abscissa of the actual position and the target abscissa of the predetermined target position, the vertical difference between the ordinate of the actual position and the target ordinate of the target position, and the position deviation function; the actual attitude of the paving ship is determined based on the attitude data; the attitude data includes the yaw angle, the pitch angle, and the roll angle; the actual attitude and the predetermined target attitude are substituted into the attitude deviation function to obtain the attitude deviation. The position deviation is multiplied by the position weight in the total deviation function to obtain the position error factor; the attitude deviation is multiplied by the attitude weight in the total deviation function to obtain the attitude error factor; the position error factor and the attitude error factor are added to obtain the total deviation.

[0032] Step 103: Determine the anchor point tension information of each anchor based on the hull state, the anchor data of each anchor, the pre-determined mechanical model between the hull and each anchor, and the optimal anchor point tension algorithm.

[0033] Among them, the mechanical model is used to describe the mechanical relationship between each anchor and the hull. The mechanical model in this solution includes a force balance equation, a moment balance equation, and an anchor point tension equation. The optimal anchor point tension algorithm is used to calculate the anchor point tension information corresponding to each anchor point. The optimal anchor point tension algorithm can be the least squares method, the genetic algorithm, the particle swarm optimization algorithm, etc.

[0034] Specifically, after obtaining the hull state of the paving ship, the force balance of the hull is considered through the mechanical model: the tension of each anchor point needs to be coordinated with the center of gravity position of the hull, the dynamic force of the hull, external influencing factors such as waves and wind; combined with the mechanical model, according to the attitude data (yaw angle) and position data of the hull, the tension of each anchor point is calculated to keep the hull within the predetermined operation area. The optimal anchor point tension algorithm is used to determine the optimal tension and angle distribution of each anchor point to obtain the anchor point tension information of each anchor. In an alternative embodiment, after obtaining the hull state of the paving ship, the first candidate tension information of each anchor is determined according to the anchor data of each anchor, the position deviation, and the force balance equation; the second candidate tension information of each anchor is determined based on the anchor data of each anchor, the attitude deviation, and the moment balance equation; the target tension value of each anchor is determined according to the anchor data of each anchor, the hull state, the anchor point tension equation, the first candidate tension information, the second candidate tension information, and the optimal anchor point tension algorithm.

[0035] Step 104: Perform positioning control on the paving ship according to the anchor point tension information of each anchor.

[0036] Specifically, after calculating the anchor point tension information of each anchor, a control instruction is generated based on the anchor point tension information, and the control instruction is sent to the mooring equipment (such as winches and windlasses, etc.). After receiving the control instruction, the mooring equipment can adjust the tension of the corresponding anchor point according to the control instruction to achieve the positioning control of the paving ship. For example, the tension of the anchor point can be changed by tightening or loosening the anchor chain. In this solution, after the positioning control of the paving ship, the adjusted hull state (position, attitude, etc.) can be fed back to the central controller again. The central controller recalculates the tension adjustment amount of each anchor point according to the new hull state data and continues to adjust the anchor point tension until the hull state (position and attitude) reaches the predetermined target range.

[0037] Exemplarily, after the positioning control of the paving ship, feedback data (hull state data (position, attitude, etc.) and anchor point tension information) is obtained in real time, and at the same time, the target tension values of each calculated anchor are obtained. , according to 、the obtained actual tension value (anchor point tension information in the feedback data) and the preset tension adjustment formula, the anchor point tension is iteratively adjusted:

[0038] ;

[0039] where K is a pre-determined gain coefficient used to adjust the update speed, and k is the number of iterations. The adjusted hull state (position and attitude, etc.) is fed back to the central controller again to form a closed-loop control. Due to the complexity of the marine environment (such as external disturbances such as waves and wind), the above process needs to be repeated continuously for multiple iterative optimizations to ensure that the hull always remains stable at the operating position. By implementing closed-loop control, the anchor point tension is adjusted in real time and dynamically optimized according to the real-time monitored hull state to ensure that the hull always remains stable at the predetermined position and attitude to cope with the complex marine environment and external disturbances.

[0040] Exemplarily, in the paving operation in a certain sea area, the six-anchor positioning method of the paving ship adopting this solution is used to real-time monitor the position, speed and tilt angle of the hull through sensors installed on the hull. Calculate and adjust the tension of the six anchor points according to the obtained data to ensure that the hull always remains at the specified operating position during the entire paving process. The method of this solution limits the hull offset within 0.5 meters, ensuring the high precision and safety of the operation. Exemplarily, in a sea area with large waves, the paving ship successfully coped with the change of sea conditions through the method of this solution, and kept the offset of the hull within 1 meter during the entire operation process, effectively reducing the influence of the external sea conditions on the hull stability.

[0041] In the technical solution of this embodiment, ship data of a laying barge and anchor data of each anchor are acquired; the ship data includes position data and hull data of the laying barge; based on the ship data and various predefined state deviation functions, the hull state of the laying barge is determined; the hull state includes position deviation, attitude deviation, and total deviation of the hull; based on the hull state, the anchor data of each anchor, a pre-determined mechanical model between the hull and each anchor, and an optimal anchor point tension algorithm, the anchor point tension information of each anchor is determined; the laying barge is positioned and controlled according to the anchor point tension information of each anchor. In the technical solution of this embodiment, through the state deviation function, the position data and attitude data of the hull, the position deviation and attitude deviation of the hull can be accurately calculated, and according to the hull state, the mechanical model, and the optimal anchor point tension algorithm, the optimal tension distribution of each anchor point can be accurately calculated. Without relying on external environment perception, the hull of the laying barge is accurately positioned and its stability is controlled in real time through the anchor point tension information of each anchor, ensuring that the hull always remains at the working position, and having strong adaptability and reliability.

[0042] Figure 2 This is the second flowchart of a six-anchor positioning method for a laying barge provided by an embodiment of the present invention. This embodiment is a refinement based on the above embodiment. The specific method can be as Figure 2 shown, and the method may include the following steps:

[0043] Step 201: Acquire the ship data of the laying barge and the anchor data of each anchor.

[0044] The ship data includes the position data and hull data of the laying barge.

[0045] Step 202: Obtain the position deviation of the laying barge according to the horizontal difference between the abscissa of the actual position and the target abscissa of the pre-determined target position, the vertical difference between the ordinate of the actual position and the target ordinate of the target position, and the position deviation function.

[0046] Among them, the ship data includes the position data and hull data of the laying barge, and the position data includes the actual position of the hull and the attitude data of the hull. The target position is a pre-determined position to which the hull needs to be adjusted. After obtaining the ship data, calculate the horizontal difference between the abscissa of the actual position and the target abscissa of the pre-determined target position, and calculate the vertical difference between the ordinate of the actual position and the target ordinate of the target position; substitute the vertical difference and the horizontal difference into the position deviation function to obtain the position deviation of the laying barge.

[0047] Exemplarily, let the target position of the hull be ( ), and the actual position of the hull be (x, y). According to the horizontal difference between the abscissa x of the actual position and the target abscissa of the target position, and the vertical difference between the ordinate y of the actual position and the target ordinate Longitudinal difference And position deviation function , to obtain the position deviation of the laying vessel : .

[0048] Step 203: Determine the attitude deviation based on the attitude data and the attitude deviation function, and determine the total deviation according to the position deviation, the attitude deviation and the total deviation function.

[0049] The hull state includes the position deviation, the attitude deviation and the total deviation of the hull. The position deviation is used to describe the deviation between the actual position and the target position of the hull, the attitude deviation is used to describe the deviation between the actual attitude and the target attitude of the hull, and the total deviation is a comprehensive value obtained by synthesizing the position deviation and the attitude deviation. In this solution, optionally, determining the attitude deviation based on the attitude data and the attitude deviation function includes: determining the actual attitude of the laying vessel based on the attitude data; substituting the actual attitude and the pre-determined target attitude into the attitude deviation function to obtain the attitude deviation.

[0050] The attitude data of the hull includes the hull size, the center of gravity position, the yaw angle, the pitch angle and the roll angle, etc. According to the attitude data, the actual attitude of the laying vessel at the current moment can be determined, and the target attitude is the attitude that the hull needs to be adjusted to pre-determined. The attitude deviation function is used to measure and calculate the deviation between the actual attitude and the target attitude of the hull. Exemplarily, assume that the target attitude of the hull is , and the actual attitude is . Substitute the actual attitude and the pre-determined target attitude into the attitude deviation function , to obtain:[[]] .

[0051] The total deviation function is used to balance the position deviation and the attitude deviation, so as to calculate the total deviation value of the hull. In this solution, optionally, determining the total deviation according to the position deviation, the attitude deviation and the total deviation function includes: multiplying the position deviation by the position weight in the total deviation function to obtain the position error factor; multiplying the attitude deviation by the attitude weight in the total deviation function to obtain the attitude error factor; adding the error position factor and the attitude error factor to obtain the total deviation.

[0052] Among them, the position weight and the attitude weight are pre-determined by the central controller according to the field big data and the historical operation data, etc. Use to represent the position weight, multiply the position deviation by the position weight to obtain the position error factor . represents the attitude weight, multiply the attitude deviation by the attitude weight to obtain the attitude error factor . Add the error position factor and the attitude error factor to obtain the total deviation :[[]] . By calculating the position deviation and attitude deviation separately and then synthesizing them into the total deviation, the state of the hull at the current moment can be comprehensively and accurately evaluated. This enables the central controller to clearly understand the position and attitude of the hull in space, providing an accurate basis for subsequent control adjustments.

[0053] Step 204: Determine the first candidate tension information for each anchor based on the anchor data, position deviation, and force balance equation of each anchor; determine the second candidate tension information for each anchor based on the anchor data, attitude deviation, and moment balance equation of each anchor.

[0054] The first candidate tension information is the information that needs to adjust the tension of each anchor, determined according to the position deviation and the force balance equation. The second candidate information is the information that needs to adjust the tension of each anchor, determined according to the attitude deviation and the moment balance equation. Specifically, the force balance equation includes a horizontal force balance equation and a vertical force balance equation. The horizontal force balance equation can be expressed as: (The sum of the horizontal forces is 0), is the horizontal force applied to the anchor point. The vertical force balance equation can be expressed as: , (The sum of the vertical forces is 0), where is the vertical force applied to the anchor point. The position deviation is , and according to the lateral difference and the longitudinal difference , the first candidate tension information of the anchor point tension can be determined. Exemplarily, if , the hull shifts to the right, and it is necessary to increase the tension of the left anchor point or reduce the tension of the right anchor point to move the hull to the left. If , the hull shifts downward, and it is necessary to increase the tension of the front anchor point or reduce the tension of the rear anchor point to move the hull upward.

[0055] The moment balance equation can be expressed as: (The sum of the moments is 0), where is the moment generated by each anchor point relative to the center of gravity of the hull. The calculation formula for the moment is: , where, is the moment of the i-th anchor point, is the position vector from the anchor point to the center of gravity of the hull, is the force applied by the anchor point. Assuming there are N anchor points on the hull, is the tension of the i-th anchor point, and the acting direction of the force of each anchor point is consistent with the force balance of the hull. The relationship between the tension and the moment is . The attitude deviation is , and according to the attitude difference in the attitude deviation function, combined with the moment balance equation, calculate the second candidate tension information of each anchor point. Exemplarily, if > 0 indicates that the hull yaws to the left, and the tension of the anchor point needs to be adjusted to make the hull yaw to the right. If < 0, the hull yaws to the right, and the tension of the anchor point needs to be adjusted to make the hull yaw to the left.

[0056] Step 205: Determine the target tension values of each anchor according to the anchor data of each anchor, the hull state, the anchor point tension equation, the first candidate tension information, the second candidate tension information, and the anchor point optimal tension algorithm.

[0057] The anchor point optimal tension algorithm is used to calculate the anchor point tension information corresponding to each anchor point. The anchor point optimal tension algorithm can be the least squares method, the genetic algorithm, the particle swarm optimization algorithm, etc. In this solution, optionally, determining the target tension values of each anchor according to the anchor data of each anchor, the hull state, the anchor point tension equation, and the anchor point optimal tension algorithm includes the following steps A1 - step A2:

[0058] Step A1: Calculate the tension direction change rate of each anchor point according to the anchor data of each anchor, the hull state, the anchor point tension equation, and the total deviation function.

[0059] Among them, the hull state includes position deviation and attitude deviation, and the anchor data includes the position and angle of the anchor point relative to the hull. The mechanical model includes the force balance equation, the moment balance equation, and the anchor point tension equation. The anchor point tension equation is used to represent the relationship between tension and moment: . Taking six anchor points as an example, the total deviation function can be expressed as:

[0060] ; represents the tension of six anchor points. In order to find the anchor point tension that minimizes , it is necessary to calculate the gradient of the total deviation function with respect to the tension of each anchor point :

[0061] .

[0062] According to the gradient of the tension of each anchor point, calculate the tension direction change rate of each anchor point : , where is a preset learning rate used to control the amplitude of each tension update.

[0063] Step A2: Determine the target tension values of each anchor based on the preset tension update method, the total deviation function, the first candidate tension information, the second candidate tension information, and the tension direction change rate of each anchor point.

[0064] Specifically, according to the first candidate tension information and the second candidate tension information, combined with the tension direction change rate, determine the preliminary target tension value of each anchor point. For example, use Let the preliminary tension value be , where represents the actual tension of the anchor point at the current moment, is the comprehensive tension direction change rate. Further, with the goal of minimizing , the gradient descent method is used to update the tension of each anchor point according to the tension update method, and the tension update method is: . is the tension of the i-th anchor point at the k-th iteration. Continuously update the tension of each anchor point according to the tension update method until converges to the minimum value or meets the preset accuracy requirements, and the target tension values of each anchor are obtained.

[0065] By calculating the tension direction change rate of each anchor point, combining the candidate tension information and the optimization algorithm, the target tension value of each anchor point is determined, ensuring that the adjustment of the anchor point tension can effectively correct the position and attitude deviation of the hull, thereby realizing the precise positioning and stable control of the hull.

[0066] In this solution, optionally, determining the target tension values of each anchor according to the anchor data, hull state, anchor point tension equation, and anchor point optimal tension algorithm of each anchor includes the following steps B1 - step B2:

[0067] Step B1: Determine the anchor point tension and speed of each group based on the first candidate tension information and the second candidate tension information.

[0068] Among them, the anchor point tension of each group includes the initial tension values of six anchors, and the speed includes the adjustment direction and amplitude of each initial tension value. Specifically, the first candidate tension information is the tension adjustment information determined according to the position deviation and the force balance equation. The second candidate tension information is the tension adjustment information determined according to the attitude deviation and the moment balance equation. Initialize the anchor point tension and speed of multiple groups according to the first tension information and the second tension information. Taking six anchor points as an example, the anchor point tension of each group can be expressed as . Combining the first candidate tension information and the second candidate tension information, set an initial tension value for each anchor. For example, the weighted average of the two can be taken to obtain the initial tension value : ; where is the first candidate tension information, is the second candidate tension information, and are pre-set weight coefficients.

[0069] Step B2: Evaluate the fitness of the anchor tensions of each group according to the total deviation function; adjust the anchor tensions and speeds of each group based on the fitness, speed of the anchor tensions of each group, and the preset particle update rules to obtain the anchor tensions of the optimal group, and determine the target tension values of each anchor based on the anchor tensions of the optimal group.

[0070] Set a fitness function for evaluating the fitness of the anchor tensions of each group according to the total deviation function. The lower the fitness, the closer the corresponding anchor tension is to the optimal solution. The fitness function is: ; The particle update rule is:

[0071] ; ; where k is the number of iterations, are the anchor tensions of the i-th particle (the i-th group of anchor tensions), represents the speed, is the optimal solution of the anchor tensions in the particle, is the global optimal solution, and are acceleration constants, and are random numbers, is the inertia weight. According to the fitness of each particle, update the optimal solution of the anchor tensions in the particle and the global optimal solution, and adjust the solution and speed of the particle according to the particle update rules. When the fitness of the global optimal solution no longer changes, or the number of iterations reaches the preset number of iterations, stop the iteration to obtain the anchor tensions of the optimal group, and determine the target tension values of each anchor based on the anchor tensions of the optimal group.

[0072] In this solution, a genetic algorithm can also be used to search for the optimal anchor tension configuration. By simulating natural selection and genetic operations (such as selection, crossover, and mutation), gradually optimize the total deviation function. The update rule of the genetic algorithm is:

[0073] ; ; where, and are the parent solutions, crossover represents the crossover operation, and mutation represents the mutation operation. The crossover operation and the mutation operation are used to generate new tension configurations .

[0074] Obtain the anchor tensions and speeds of each group through the first candidate tension information and the second candidate tension information, and simulate swarm intelligence according to the particle update rules, the anchor tensions and speeds of each group to accurately obtain the anchor tensions of the optimal group, thereby realizing the precise positioning and stable control of the hull.

[0075] Step 206: Perform positioning control on the laying vessel according to the target tension values of each anchor.

[0076] In the technical solution of this embodiment, ship data of the laying barge and anchor data of each anchor are obtained; the ship data includes the position data and hull data of the laying barge. According to the horizontal difference between the abscissa of the actual position and the target abscissa of the predetermined target position, the vertical difference between the ordinate of the actual position and the target ordinate of the target position, and the position deviation function, the position deviation of the laying barge is obtained. Based on the attitude data and the attitude deviation function, the attitude deviation is determined, and based on the position deviation, the attitude deviation, and the total deviation function, the total deviation is determined. According to the anchor data of each anchor, the position deviation, and the force balance equation, the first candidate tension information of the anchor point tension of each anchor is determined; based on the anchor data of each anchor, the attitude deviation, and the moment balance equation, the second candidate tension information of each anchor is determined; according to the anchor data of each anchor, the hull state, the anchor point tension equation, and the anchor point optimal tension algorithm, the target tension value of each anchor is determined. The laying barge is position-controlled according to the anchor point tension information of each anchor. The technical solution of this embodiment can comprehensively evaluate the current state of the hull by comprehensively considering the position deviation and the attitude deviation. According to the hull state, the mechanical model, and the anchor point optimal tension algorithm, the final target tension value of each anchor point can be accurately determined. Without relying on external environment perception, the laying barge can be accurately position-controlled only based on the dynamic changes of the hull itself, so that the laying operation can also have strong adaptability in a complex marine environment and effectively cope with various sea conditions and operating conditions. That is, the technical solution of this embodiment has the advantages of high precision, strong dynamic adaptability, and high stability, can significantly improve the efficiency and safety of the laying operation, and reduce the operation cost.

[0077] Figure 3 As shown in the figure, it is a structural schematic diagram of a six-anchor positioning device for a laying barge provided by an embodiment of the present invention, and this device is applicable to execute the six-anchor positioning method for a laying barge provided by an embodiment of the present invention. Figure 3 As shown in the figure, this device may specifically include:

[0078] A data acquisition module 301, configured to acquire ship data of the laying barge and anchor data of each anchor; the ship data includes the position data and hull data of the laying barge;

[0079] A first determination module 302, configured to determine the hull state of the laying barge based on the ship data and various predefined state deviation functions; the hull state includes the position deviation, attitude deviation, and total deviation of the hull;

[0080] A second determination module 303, configured to determine the anchor point tension information of each anchor based on the hull state, the anchor data of each anchor, and the predefined mechanical model and anchor point optimal tension algorithm between the hull and each anchor;

[0081] A positioning control module 304, configured to perform positioning control on the laying barge according to the anchor point tension information of each anchor.

[0082] Optionally, the position data includes the actual position of the hull and the attitude data of the hull, and each state deviation function includes a position deviation function, an attitude deviation function, and a total deviation function; the first determination module 302 is specifically configured to: obtain the position deviation of the laying vessel according to the horizontal difference between the abscissa of the actual position and the target abscissa of the pre-determined target position, the vertical difference between the ordinate of the actual position and the target ordinate of the target position, and the position deviation function.

[0083] Determine the attitude deviation based on the attitude data and the attitude deviation function, and determine the total deviation according to the position deviation, the attitude deviation, and the total deviation function.

[0084] Optionally, the first determination module 302 is further configured to: determine the actual attitude of the laying vessel based on the attitude data; the attitude data includes a yaw angle, a pitch angle, and a roll angle.

[0085] Substitute the actual attitude and the pre-determined target attitude into the attitude deviation function to obtain the attitude deviation.

[0086] Optionally, the first determination module 302 is further configured to: multiply the position deviation by the position weight in the total deviation function to obtain a position error factor.

[0087] Multiply the attitude deviation by the attitude weight in the total deviation function to obtain an attitude error factor.

[0088] Add the error position factor and the attitude error factor to obtain the total deviation.

[0089] Optionally, the anchor tension information includes the target tension value of the anchor; the mechanical model includes a force balance equation, a moment balance equation, and an anchor point tension equation; the anchor data includes the position and angle of the anchor relative to the hull; the second determination module 303 is specifically configured to: determine the first candidate tension information of each anchor according to the anchor data of each anchor, the position deviation, and the force balance equation.

[0090] Determine the second candidate tension information of each anchor based on the anchor data of each anchor, the attitude deviation, and the moment balance equation.

[0091] Determine the target tension value of each anchor according to the anchor data of each anchor, the hull state, the anchor point tension equation, the first candidate tension information, the second candidate tension information, and the anchor point optimal tension algorithm.

[0092] Optionally, the second determination module 303 is further configured to: calculate the rate of change of the tension direction of each anchor point according to the anchor data of each anchor, the hull state, the anchor point tension equation, and the total deviation function;

[0093] Determine the target tension value of each anchor based on a preset tension update method, the total deviation function, the first candidate tension information, the second candidate tension information, and the rate of change of the tension direction of each anchor point.

[0094] Optionally, the second determination module 303 is further configured to: determine the anchor point tension and speed of each group based on the first candidate tension information and the second candidate tension information; wherein, the anchor point tension of each group includes the initial tension value of each anchor, and the speed includes the adjustment direction and amplitude of each initial tension value;

[0095] Evaluate the fitness of the anchor point tension of each group according to the total deviation function;

[0096] Adjust the anchor point tension and speed of each group based on the fitness, speed of the anchor point tension of each group, and a preset particle update rule to obtain the anchor point tension of the optimal group, and determine the target tension value of each anchor based on the anchor point tension of the optimal group.

[0097] The six-anchor positioning device of the laying ship provided by the embodiments of the present invention can execute the six-anchor positioning method of the laying ship provided by any embodiment of the present invention, and has the corresponding functional modules and beneficial effects for executing the method. The content not described in detail in this embodiment can be referred to the description in any method embodiment of the present invention.

[0098] The embodiments of the present invention also provide a computer program product.

[0099] The various embodiments of the systems and technologies described above in this article can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-chip (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments can include: implemented in one or more computer program products, the one or more computer program products can include one or more computer programs, the one or more computer programs can be executed and / or interpreted on a programmable system including at least one programmable processor, the programmable processor can be a dedicated or general programmable processor, and can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit the data and instructions to the storage system, the at least one input device, and the at least one output device.

[0100] Figure 4The following is a schematic structural diagram of an electronic device provided by an embodiment of the present invention. Refer to Figure 4 , Figure 4 The electronic device 12 shown is only an example and should not impose any limitation on the functions and scope of use of the embodiments of the present application. As Figure 4 shown, the electronic device 12 is presented in the form of a general-purpose computing device. The components of the electronic device 12 may include, but are not limited to: one or more processors or processing units 16, a system memory 28, and a bus 18 connecting different system components (including the system memory 28 and the processing unit 16).

[0101] The bus 18 represents one or more of several types of bus structures, including a memory bus or a memory controller, a peripheral bus, a graphics acceleration port, a processor, or a local bus using any of the various bus structures. For example, these architectures include, but are not limited to, Industry Standard Architecture (ISA) bus, Micro Channel Architecture (MAC) bus, Enhanced ISA bus, Video Electronics Standards Association (VESA) local bus, and Peripheral Component Interconnect (PCI) bus.

[0102] The electronic device 12 typically includes a variety of computer system-readable media. These media can be any available media that can be accessed by the electronic device 12, including volatile and non-volatile media, removable and non-removable media.

[0103] The system memory 28 may include computer system-readable media in the form of volatile memory, such as random access memory (RAM) 30 and / or cache memory 32. The electronic device 12 may further include other removable / non-removable, volatile / non-volatile computer system storage media. By way of example only, a storage system 34 can be used to read and write non-removable, non-volatile magnetic media ( Figure 4 not shown, typically referred to as a "hard disk drive"). Although Figure 4 not shown in the figure, a disk drive for reading and writing removable non-volatile disks (such as "floppy disks") and an optical disk drive for reading and writing removable non-volatile optical disks (such as CD-ROM, DVD-ROM, or other optical media) can be provided. In these cases, each drive can be connected to the bus 18 through one or more data media interfaces. The memory 28 may include at least one program product having a set (such as at least one) of program modules that are configured to perform the functions of the embodiments of the present application.

[0104] A program / utilities 40 having a set (at least one) of program modules 46 can be stored, for example, in a memory 28. Such program modules 46 include, but are not limited to, an operating system, one or more application programs, other program modules, and program data. Each or some combination of these examples may include an implementation of a network environment. The program modules 46 generally execute the functions and / or methods in the embodiments described in this application.

[0105] The electronic device 12 can also communicate with one or more external devices 14 (such as a keyboard, a pointing device, a display 24, etc.), and can also communicate with one or more devices that enable a user to interact with the electronic device 12, and / or communicate with any device that enables the electronic device 12 to communicate with one or more other computing devices (such as a network card, a modem, etc.). Such communication can be carried out through an input / output (I / O) interface 22. Moreover, the electronic device 12 can also communicate with one or more networks (such as a local area network (LAN), a wide area network (WAN), and / or a public network, such as the Internet) through a network adapter 20. As shown in the figure, the network adapter 20 communicates with other modules of the electronic device 12 through a bus 18. It should be understood that although Figure 4 not shown in the figure, other hardware and / or software modules can be used in combination with the electronic device 12, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems, etc.

[0106] The processing unit 16 executes various functional applications and data processing by running programs stored in the system memory 28, such as implementing a six-anchor positioning method for a laying vessel provided by an embodiment of the present invention: obtaining the vessel data of the laying vessel and the anchor data of each anchor; the vessel data includes the position data and hull data of the laying vessel; determining the hull state of the laying vessel based on the vessel data and predefined state deviation functions; the hull state includes the position deviation, attitude deviation, and total deviation of the hull; determining the anchor point tension information of each anchor based on the hull state, the anchor data of each anchor, and a predefined mechanical model and anchor point optimal tension algorithm between the hull and each anchor; and performing positioning control on the laying vessel according to the anchor point tension information of each anchor.

[0107] An embodiment of the present invention provides a computer-readable storage medium, on which a computer program is stored. When the program is executed by a processor, it implements a six-anchor positioning method for a paving ship provided by all embodiments of the present invention: obtaining ship data of the paving ship and anchor data of each anchor; the ship data includes position data and hull data of the paving ship; determining the hull state of the paving ship based on the ship data and predefined state deviation functions; the hull state includes position deviation, attitude deviation, and total deviation of the hull; determining the anchor point tension information of each anchor based on the hull state, the anchor data of each anchor, and a pre-determined mechanical model and anchor point optimal tension algorithm between the hull and each anchor; and performing positioning control on the paving ship according to the anchor point tension information of each anchor. The computer-readable medium can be a computer-readable signal medium or a computer-readable storage medium. The computer-readable storage medium can be, for example, but not limited to, an electronic device, apparatus, or device of electricity, magnetism, light, electromagnetic, infrared, or semiconductor, or any combination of the above. More specific examples (non-exhaustive list) of the computer-readable storage medium include: an electrical connection having 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 this document, the computer-readable storage medium can be any tangible medium that contains or stores a program, which can be used by or in combination with an instruction-executing electronic device, apparatus, or device.

[0108] The computer-readable signal medium can include a data signal propagated in a baseband or as part of a carrier wave, which carries computer-readable program code. Such a propagated data signal can take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. The computer-readable signal medium can also be any computer-readable medium other than the computer-readable storage medium, which can send, propagate, or transmit a program for use by or in combination with an instruction-executing electronic device, apparatus, or device.

[0109] The program code contained on the computer-readable medium can be transmitted by any appropriate medium, including but not limited to wireless, wire, optical cable, RF, etc., or any suitable combination of the above.

[0110] Computer program code for performing the operations of the present invention may be written in one or more programming languages or combinations thereof. The programming languages include object-oriented programming languages such as Java, Smalltalk, C++, and also include conventional procedural programming languages such as the "C" language or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, executed as a stand-alone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may 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, alternatively, may be connected to an external computer (e.g., by connecting through the Internet using an Internet service provider).

[0111] Note that the above is only the preferred embodiment of the present invention and the technical principles applied. Those skilled in the art will understand that the present invention is not limited to the specific embodiments here. Various obvious changes, re-adjustments, and substitutions can be made by those skilled in the art without departing from the protection scope of the present invention. Therefore, although the present invention has been described in more detail through the above embodiments, the present invention is not limited to the above embodiments. Without departing from the concept of the present invention, more other equivalent embodiments may be included, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. A six-anchor positioning method for a laying vessel, characterized in that: The method comprises: Acquire ship data of the laying ship and anchor data of each anchor; the ship data includes position data and hull data of the laying ship; Determine the hull state of the laying ship based on the ship data and predefined state deviation functions; the hull state includes the position deviation, attitude deviation and total deviation of the hull; Determining anchor point tension information of each anchor based on the hull state, anchor data of each anchor, a predetermined mechanical model between the hull and each anchor, and an anchor point optimal tension algorithm; The laying vessel is positioned and controlled according to the tension information of each anchor point.

2. The method according to claim 1, characterized in that The position data includes the actual position of the hull and the posture data of the hull, and the state deviation functions include a position deviation function, a posture deviation function and a total deviation function; the hull state of the laying ship is determined based on the ship data and the predefined state deviation functions, including: Obtaining the position deviation of the laying vessel according to the lateral difference between the abscissa of the actual position and the target abscissa of the predetermined target position, the longitudinal difference between the ordinate of the actual position and the target ordinate of the target position, and the position deviation function; A posture deviation is determined based on the posture data and the posture deviation function, and the total deviation is determined according to the position deviation, the posture deviation and the total deviation function.

3. The method according to claim 2, characterized in that Determining a posture deviation based on the posture data and the posture deviation function includes: Determine the actual attitude of the laying vessel based on the attitude data; the attitude data includes yaw angle, pitch angle and roll angle; The actual posture and the predetermined target posture are substituted into the posture deviation function to obtain the posture deviation.

4. The method according to claim 2, characterized in that: Determining the total deviation according to the position deviation, the posture deviation and the total deviation function includes: Multiplying the position deviation and the position weight in the total deviation function to obtain a position error factor; Multiplying the posture deviation and the posture weight in the total deviation function to obtain a posture error factor; The position error factor and the attitude error factor are added together to obtain the total deviation.

5. The method according to claim 2, characterized in that: The anchor point tension information includes a target tension value of the anchor; the mechanical model includes a force balance equation, a moment balance equation and an anchor point tension equation; the anchor data includes a position and an angle of the anchor relative to the hull; the anchor point tension information of each anchor is determined based on the hull state, the anchor data of each anchor, a predetermined mechanical model between the hull and each anchor, and an anchor point optimal tension algorithm, including: Determine first candidate tension information of each anchor according to the anchor data of each anchor, the position deviation and the force balance equation; determining second candidate tension information for each anchor based on the anchor data of each anchor, the posture deviation, and the moment balance equation; The target tension value of each anchor is determined according to the anchor data of each anchor, the hull state, the anchor point tension equation, the first candidate tension information, the second candidate tension information and the anchor point optimal tension algorithm.

6. The method according to claim 5, characterized in that Determining a target tension value of each anchor according to the anchor data of each anchor, the hull state, the anchor point tension equation, the first candidate tension information, the second candidate tension information and the anchor point optimal tension algorithm includes: Calculate the tension direction change rate of each anchor point according to the anchor data of each anchor, the hull state, the anchor point tension equation and the total deviation function; The target tension value of each anchor is determined based on a preset tension update method, the total deviation function, the first candidate tension information, the second candidate tension information, and the tension direction change rate of each anchor point.

7. The method according to claim 5, characterized in that Determining a target tension value of each anchor according to the anchor data of each anchor, the hull state, the anchor point tension equation, the first candidate tension information, the second candidate tension information and the anchor point optimal tension algorithm includes: Determine the anchor point tension and speed of each group based on the first candidate tension information and the second candidate tension information; wherein the anchor point tension of each group includes the initial tension value of each anchor, and the speed includes the adjustment direction and amplitude of each initial tension value; The fitness of the anchor tension of each group was evaluated based on the total deviation function; The anchor tension and speed of each group are adjusted based on the fitness, speed and pre-set particle update rules of the anchor tension of each group to obtain the anchor tension of the optimal group, and the target tension value of each anchor is determined based on the anchor tension of the optimal group.

8. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the computer program implements a six-anchor positioning method for a laying vessel according to any one of claims 1 to 7.

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 six-anchor positioning method for a laying vessel as described in any one of claims 1-7 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 six-anchor positioning method for a laying vessel as described in any one of claims 1-7 is implemented.

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