A method for controlling laying speed and laying ship moving speed

Abstract

An embodiment of the present invention discloses a method for controlling the laying speed and the movement speed of a laying vessel. The method comprises: obtaining the laying vessel's speed and environmental data in real time; determining the laying speed based on the vessel speed, environmental data, and a pre-set speed matching calculation formula; generating a control signal for a driving device of a laying device based on the laying speed, and controlling the speed of the laying device according to the control signal. By calculating the laying speed that matches the vessel speed in real time, the present invention enables a central controller to adjust the speed of the laying device in real time based on the laying speed, thereby flexibly responding to changes in different sea conditions, vessel states, and other factors, adapting to complex and changing marine environments, matching the speed of the laying device with the movement speed of the laying vessel, avoiding operation interruptions caused by speed mismatches, and improving the continuity and efficiency of laying operations.

Description

Technical Field

[0001] The embodiments of the present invention relate to the field of marine engineering technology, and in particular to a method for controlling a laying speed and a moving speed of a laying vessel. Background Art

[0002] In seabed laying operations, the laying vessel needs to travel along a predetermined path at a certain speed, and at the same time, use laying equipment to accurately lay laying materials, pipes or cables on the seabed.

[0003] Traditional laying methods often set the ship's speed and the laying equipment's speed according to a fixed relationship. This approach leads to problems in matching the ship's speed with the equipment's speed. Especially in complex sea conditions, the ship's speed often fluctuates, leading to unstable laying speeds and thus affecting operational efficiency and quality. Therefore, effectively controlling the matching between the ship's speed and the laying equipment's speed to achieve optimal working conditions has become a key issue in improving the quality of marine engineering operations. Summary of the Invention

[0004] The embodiment of the present invention provides a method for controlling the laying speed and the moving speed of the laying vessel, which can match and adjust the moving speed of the laying vessel and the laying speed of the laying equipment in real time, thereby improving the efficiency and control quality of seabed laying operations.

[0005] In a first aspect, an embodiment of the present invention provides a method for controlling a laying speed and a laying vessel movement speed, comprising:

[0006] Obtain the ship speed and environmental data of the laying vessel in real time;

[0007] Determining a laying speed based on the ship speed, the environmental data, and a pre-set speed matching calculation formula;

[0008] A control signal for a driving device of a laying device is generated based on the laying speed, and a device speed of the laying device is controlled according to the control signal.

[0009] In a second aspect, an embodiment of the present invention provides a device for controlling a laying speed and a laying vessel movement speed, the device comprising:

[0010] A data acquisition module is used to obtain the ship speed and environmental data of the laying ship in real time;

[0011] a speed matching module, configured to determine a paving speed based on the ship speed, the environmental data, and a preset speed matching calculation formula;

[0012] The speed control module is configured to generate a control signal for a driving device of the laying equipment based on the laying speed, and control the equipment speed of the laying equipment according to the control signal.

[0013] In a third aspect, an embodiment of the present invention further 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, a method for controlling the paving speed and the moving speed of the paving ship as described in any one of the embodiments of the present invention is implemented.

[0014] In a fourth aspect, an embodiment of the present invention further provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the method for controlling the laying speed and the moving speed of a laying vessel as described in any one of the embodiments of the present invention.

[0015] In a fifth aspect, an embodiment of the present invention provides a computer program product, comprising a computer program, which, when executed by a processor, implements the method for controlling the laying speed and the moving speed of a laying vessel as described in any one of the embodiments of the present invention.

[0016] In an embodiment of the present invention, the speed of the laying vessel and environmental data are acquired in real time; the laying speed is determined based on the vessel speed, environmental data, and a pre-set speed matching calculation formula; a control signal for a driving device of the laying equipment is generated based on the laying speed, and the speed of the laying equipment is controlled according to the control signal. The method of the embodiment of the present invention uses a speed matching calculation formula to calculate a laying speed that matches the vessel speed in real time based on environmental data and the vessel speed. This allows a central controller to adjust the speed of the laying equipment in real time, flexibly responding to changes in sea conditions, vessel status, and other factors, adapting to the complex and changing marine environment, and ensuring that the speed of the laying equipment matches the moving speed of the laying vessel, thereby avoiding interruptions in operations due to speed mismatches and improving the continuity and efficiency of laying operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments. It should be understood that the following drawings only illustrate certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without paying any creative work.

[0018] Figure 1 A first flow chart of a method for controlling a laying speed and a laying vessel moving speed provided by an embodiment of the present invention;

[0019] Figure 2 A second flow chart of a method for controlling a laying speed and a laying vessel moving speed provided by an embodiment of the present invention;

[0020] Figure 3 A third flow chart of a method for controlling a laying speed and a laying vessel moving speed provided by an embodiment of the present invention;

[0021] Figure 4 A fourth flow chart of a method for controlling a laying speed and a laying vessel moving speed provided by an embodiment of the present invention;

[0022] Figure 5 A schematic structural diagram of a device for controlling laying speed and laying ship movement speed provided by an embodiment of the present invention;

[0023] Figure 6 A schematic structural diagram of an electronic device provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0024] The present invention will be further described in detail below with reference to the accompanying drawings and examples. It will be understood that the specific embodiments described herein are intended only to illustrate the present invention and are not intended to limit the present invention. It should also be noted that, for ease of description, the accompanying drawings only illustrate portions relevant to the present invention, not all structures.

[0025] Figure 1 This is the first flow chart of a method for controlling the laying speed and the moving speed of a laying vessel provided by an embodiment of the present invention. The method of the embodiment of the present invention can match and adjust the moving speed of the laying vessel and the laying speed of the laying equipment in real time, thereby improving the efficiency and control quality of seabed laying operations. The method can be executed by a laying speed and laying vessel moving speed control 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 using the device integrated into an electronic device as an example. The electronic device can be a computer device, a central controller or a server, etc., refer to Figure 1 , the method may specifically include the following steps:

[0026] Step 101: Acquire the ship speed and environmental data of the laying ship in real time.

[0027] A laying vessel is a specialized vessel used for underwater engineering operations, primarily for laying soft-shell rafts, pipelines, and cables in coastal areas or inland waterways. Vessel speed refers to the vessel's operating speed during operation. Environmental data includes, but is not limited to, water temperature, salinity, water depth, wave height, wave period, bottom type (e.g., sandy, muddy, or rocky), current direction, velocity profile, dissolved oxygen content, water quality parameters, wind speed, air humidity, and weather conditions.

[0028] Specifically, sensors for obtaining ship speed and environmental data are installed on the laying vessel. Sensors for obtaining environmental data include but are not limited to acoustic Doppler current profilers, water temperature sensors, depth sensors, and wave meters for measuring water flow speed and direction. Speed sensors are used to collect speed data at different positions of the laying vessel, and speed sensors include but are not limited to radar speed meters, global satellite positioning modules, inertial measurement units and other equipment. In an optional embodiment, when the laying vessel is in operation, each environmental data sensor can collect the environmental data of the laying vessel in real time, and send the environmental data to the central controller in real time through the wireless communication module. The central controller can obtain the environmental data based on each speed sensor. and , Is the time interval between laying out the ship The displacement within, then the ship speed can be determined to be .

[0029] Step 102: Determine the laying speed based on the ship speed, environmental data, and a preset speed matching calculation formula.

[0030] Among them, the laying speed is the speed of the laying equipment that matches the speed of the laying ship, calculated by the central controller based on the ship speed and environmental data. The laying equipment is used to achieve precise underwater laying operations through a series of mechanical and control systems. The laying speed needs to match the ship speed to improve the efficiency of the laying operation. In addition to being affected by the speed of the laying ship, the laying speed is also affected by the actual operating environment, such as ocean currents, wind speeds, and waves. The speed matching formula is determined based on domain big data, historical data of laying ships and laying equipment, etc., and is used to calculate the laying speed based on ship speed and environmental data. For example , represents the laying speed, and H is the environmental influencing factor.

[0031] Specifically, each speed sensor can collect the ship speed of the laying ship in real time and send the ship speed to the central controller. Due to the complexity and variability of the operating environment of the laying ship, the ship speed collected by the ship speed sensor may not be accurate enough. Therefore, after obtaining the ship speed, the central controller can correct the ship speed according to the environmental data. In an optional embodiment, after obtaining the ship speed and environmental data, the central controller determines the speed correction factor of the laying ship based on the environmental data, corrects the ship speed according to the speed correction factor, and obtains the actual speed of the laying ship. The sea state correction amount is determined based on the ocean current information, wind speed information and wave information, and the equipment performance correction amount is determined based on the equipment information of the laying equipment obtained in advance; the sea state correction amount, the equipment performance correction amount, the actual speed of the laying ship, the predetermined sea state coefficient and the equipment coefficient are substituted into the speed matching calculation formula to obtain the laying speed.

[0032] Step 103: Generate a control signal for a driving device of the laying equipment based on the laying speed, and control the equipment speed of the laying equipment according to the control signal.

[0033] The drive unit is the core component of the laying equipment, responsible for converting control signals into mechanical motion, thereby driving the equipment. The control signal is generated by the central controller and instructs the drive unit to operate at a predetermined speed. Specifically, after calculating the laying speed, the central controller converts the laying speed into an electrical signal (control signal), which instructs the drive unit to operate at the predetermined speed. In this solution, optionally, generating a control signal for the drive unit of the laying equipment based on the laying speed includes: determining a gain coefficient for the drive unit of the laying equipment based on environmental data; and multiplying the gain coefficient by the laying speed to generate the control signal for the drive unit.

[0034] The gain factor of the drive unit is a proportional factor used to convert the laying speed into the drive unit's control signal. Environmental data can affect the actual operating efficiency and response characteristics of the laying equipment. Therefore, the central controller can dynamically adjust the gain factor based on environmental data to ensure the accuracy and adaptability of the control signal. For example, if the ocean current is strong, the gain factor may need to be increased to compensate for the current's impact on the equipment speed.

[0035] In an optional embodiment, the gain coefficient of the driving device can be determined according to a preset gain coefficient determination formula and environmental data: .in, is the basic gain coefficient. is the influence coefficient of ocean current, is the influence coefficient of wind speed, is the wave influence coefficient. It's all pre-set. is the ocean current speed, is the wind speed, is the wave height. According to the environmental data, 、 and Furthermore, after obtaining the gain coefficient of the driving device, the control signal of the driving device is obtained according to the gain coefficient and the laying speed: .in, It is the input signal for the layout equipment drive device.

[0036] After receiving the control signal, the central controller can optimize the control signal through the digital signal processing module to ensure the accuracy and reliability of the control signal. For example, the central controller can perform noise filtering on the control signal to reduce noise interference during the transmission of the control signal; signal amplification to ensure that the control signal strength is sufficient to drive the laying equipment; signal correction to correct the control signal according to the actual response characteristics of the laying equipment. The optimized control signal is transmitted to the drive device of the laying equipment through the wireless communication module. After receiving the control signal, the drive device of the laying equipment adjusts the speed of the motor, the flow of the hydraulic pump or the pressure of the pneumatic device according to the size of the control signal, thereby controlling the laying equipment to run according to the laying speed. The control signal is generated by the central controller, and the gain coefficient is dynamically adjusted according to the environmental data, so as to accurately control the operating speed of the laying equipment, so that the laying equipment can maintain stable operation in a complex marine environment, ensuring the efficient and accurate completion of the laying operation.

[0037] The technical solution of this embodiment obtains the speed and environmental data of the laying vessel in real time; determines the laying speed based on the vessel speed, environmental data, and a pre-set speed matching calculation formula; generates a control signal for the driving device of the laying equipment based on the laying speed, and controls the equipment speed of the laying equipment according to the control signal. The technical solution of this embodiment uses a speed matching calculation formula to calculate the laying speed that matches the ship speed in real time based on environmental data and ship speed. This allows for flexible response to changes in sea conditions, ship hull status, and other factors, adapting to the complex and changing marine environment. This allows the central controller to adjust the speed of the laying equipment in real time to match the moving speed of the laying vessel, avoiding operation interruptions caused by speed mismatches and improving the continuity and efficiency of the laying operation.

[0038] Figure 2 The second flow chart of a method for controlling the laying speed and the moving speed of the laying ship provided by the embodiment of the present invention is a refinement of the above embodiment. Figure 2 As shown, the method may include the following steps:

[0039] Step 201: Acquire the ship speed and environmental data of the laying ship in real time.

[0040] Step 202: Determine a speed correction factor of the laying ship based on the environmental data, and correct the ship speed according to the speed correction factor to obtain the actual speed of the laying ship.

[0041] Environmental data includes information about ocean currents, wind speeds, waves, and vessel motion. A speed correction factor is used to correct the vessel's speed to obtain the actual speed of the laying vessel. Due to the complexity and variability of the laying vessel's operating environment, the speed recorded by the vessel's speed sensor may be inaccurate. Therefore, after obtaining the vessel's speed, the central controller determines the speed correction factor based on the environmental data and corrects the vessel's speed accordingly.

[0042] For example, before obtaining the ship speed and environmental data of the laying ship in real time, the degree of influence of ocean currents, wind speeds, and the hull's own motion on the ship speed is determined based on domain big data, and each influencing factor (such as ocean current influence factor, wind speed influence factor, and hull influence factor) is determined based on each degree of influence. The ocean current speed is multiplied by the ocean current influence factor to obtain the ocean current influence factor, the wind speed influence factor is multiplied by the wind speed to obtain the wind speed influence factor, and the hull influence factor is multiplied by the hull's own operating data (such as the hull pitch angle and rotation angle, etc.) to obtain the hull influence factor. The ocean current influence factor, wind speed influence factor, and hull influence factor are added together to obtain the correction factor for the ship speed. Furthermore, after obtaining the ship speed data and environmental data of the laying ship, the relevant environmental data is brought into the calculation method of the speed correction factor to obtain the correction factor for the ship speed. .according to 、 and The actual speed of the laying ship is: .

[0043] Step 203: Determine the laying speed based on the actual speed of the laying vessel, environmental data, and a speed matching calculation formula.

[0044] The speed matching formula is determined based on domain big data, historical data of laying vessels and laying equipment, and is a formula used to calculate the laying speed based on ship speed and environmental data. After obtaining the actual speed, the actual speed and relevant environmental data are substituted into the speed matching calculation formula to obtain the laying speed. In this solution, the laying speed can be optionally determined based on the actual speed of the laying vessel, environmental data and the speed matching calculation formula, including: determining the sea state correction based on ocean current information, wind speed information and wave information, and determining the equipment performance correction based on the equipment information of the laying equipment obtained in advance; substituting the sea state correction, equipment performance correction, the actual speed of the laying vessel, the predetermined sea state coefficient and the equipment coefficient into the speed matching calculation formula to obtain the laying speed.

[0045] The sea state correction is an adjustment based on the influence of factors such as current speed, wind speed and wave height on the laying speed. The equipment performance correction is an adjustment based on the characteristics of the laying equipment (such as speed response time and power characteristics). Specifically, after obtaining the current speed, wind speed and wave height, the sea state correction can be determined as The equipment performance correction amount is determined according to the predetermined equipment performance correction function: Furthermore, the sea condition correction, equipment performance correction, actual speed of the laying vessel, predetermined sea condition coefficient and equipment coefficient are substituted into the speed matching calculation formula to obtain the laying speed: , is the sea state coefficient, =The equipment coefficient. By taking into account sea condition corrections and equipment performance corrections, we can assess the impact of the environment and equipment itself on the laying speed, thereby accurately determining the laying speed that matches the ship's speed. This ensures efficient and stable laying operations in complex marine environments, while also improving the flexibility and adaptability of laying operations.

[0046] Step 204: Generate a control signal for a driving device of the laying equipment based on the laying speed, and control the equipment speed of the laying equipment according to the control signal.

[0047] In the technical solution of this embodiment, the ship speed and environmental data of the laying ship are obtained in real time. The speed correction factor of the laying ship is determined based on the environmental data; the ship speed is corrected according to the speed correction factor to obtain the actual speed of the laying ship. The environmental data includes ocean current information, wind speed information, wave information and hull motion information; the laying speed is determined based on the actual speed of the laying ship, the environmental data and the speed matching calculation formula. A control signal for the driving device of the laying equipment is generated based on the laying speed, and the equipment speed of the laying equipment is controlled according to the control signal. The technical solution of this embodiment can accurately determine the actual speed of the laying ship based on environmental data, etc., laying the foundation for the subsequent accurate determination of the laying speed. By dynamically adjusting the speed of the laying equipment according to the laying speed, it is ensured that the speeds of the two are matched, thereby improving the efficiency of the laying operation.

[0048] Figure 3 The third flow chart of a method for controlling the laying speed and the moving speed of the laying ship provided by an embodiment of the present invention. Figure 3 As shown, the method may include the following steps:

[0049] Step 301: Obtain the current laying speed, and obtain feedback parameters of the laying equipment through various sensors of the laying equipment.

[0050] Among them, the feedback parameters include the actual equipment speed of the laying equipment at the current moment. The laying speed at the current moment is calculated by the central controller and is a speed that matches the speed of the laying ship. Specifically, after controlling the laying equipment to run according to the laying speed, due to the complexity and variability of the laying environment. The speed of the laying equipment may change. Therefore, during the laying process of the laying equipment, the laying equipment can be monitored in real time to determine whether its actual equipment speed is too different from the laying speed. In an optional embodiment, the laying equipment is equipped with a plurality of sensors for monitoring parameters such as pipeline tension, laying progress, material position and arrangement speed. The central controller can obtain parameters such as actual equipment speed, pipeline tension, laying progress, material position and arrangement speed through the sensors of the laying equipment.

[0051] Step 302: Adjust the speed of the laying equipment based on the actual equipment speed and the current laying speed.

[0052] Specifically, after determining the actual device speed and the laying speed at the current moment, if the actual device speed and the laying speed at the current moment differ greatly, it means that the laying device has not maintained the optimal working state, and the speed of the laying device can be adjusted. If the actual device speed and the laying speed at the current moment differ slightly, there is no need to adjust the speed of the laying device. In this solution, the speed of the laying device is optionally adjusted based on the actual device speed and the laying speed at the current moment: including: calculating the absolute value of the difference between the actual device speed and the laying speed at the current moment to obtain a deviation value; when the deviation value is greater than a pre-set deviation threshold, adjusting the gain coefficient of the driving device and the speed correction factor of the laying ship based on the deviation value, and adjusting the speed of the laying device according to the adjusted gain coefficient and the adjusted speed correction factor.

[0053] The deviation threshold is predetermined based on domain big data and is used to measure whether the speed of the paving equipment needs to be adjusted. When the deviation value is greater than the deviation threshold, it means that the paving equipment is not maintained in the best working state, and the speed of the paving equipment can be adjusted. When the deviation value is not greater than the deviation threshold, the speed of the paving equipment does not need to be adjusted. Indicates the deviation value, .in, is the feedback data, is the expected laying speed of the central controller (i.e. the laying speed obtained at the current moment). If the deviation is greater than the threshold, the central controller can adjust and Adjust the speed of the paving equipment to keep it in the best working condition at all times.

[0054] In the above steps, the central controller only makes adjustments when the deviation exceeds the deviation threshold, avoiding frequent adjustments due to minor fluctuations and improving the stability of the laying operation. Dynamic adjustment of the gain coefficient and speed correction factor based on real-time environmental data can adapt to complex marine environments and equipment operating conditions, enhancing the reliability and adaptability of laying operations.

[0055] The technical solution of this embodiment obtains the current laying speed; obtains feedback parameters of the laying equipment through various sensors of the laying equipment; the feedback parameters include the actual equipment speed of the laying equipment at the current moment; and adjusts the speed of the laying equipment based on the actual equipment speed and the current laying speed. The technical solution of this embodiment can determine in real time whether the laying equipment is operating according to the predetermined speed. When the laying equipment deviates, it makes timely adjustments, ensuring that the laying equipment always maintains optimal operating conditions and improving the stability of the laying operation.

[0056] Figure 4 The fourth flow chart of a method for controlling the laying speed and the moving speed of the laying ship provided by an embodiment of the present invention. Figure 4 As shown, the method may include the following steps:

[0057] Step 401: Determine whether the laying vessel and laying equipment are in an abnormal environmental state based on environmental data.

[0058] Specifically, the central controller can acquire real-time environmental data about the environment in which the paving equipment is located. If anomalies are found in the environmental data, the central controller determines that the paving equipment is in an abnormal environmental state. For example, if the environmental data indicates excessive wind speed, drastic changes in ocean currents, or abnormal paving progress, the central controller determines that the paving equipment is in an abnormal environmental state.

[0059] Step 402: When the laying vessel and laying equipment are in an abnormal environment, determine the vessel abnormality adjustment coefficient, the impact correction amount, and the external abnormality adjustment coefficient of the impact correction amount based on the environmental data.

[0060] Specifically, the vessel abnormality adjustment coefficient and the external abnormality adjustment coefficient are parameters used to calculate the abnormality adjustment speed. The impact correction factor is used to account for external unexpected factors, such as sudden wind speed surges and rapid currents. When the laying vessel and laying equipment encounter abnormal environmental conditions, the central controller activates the emergency adjustment mechanism, calculates the abnormality adjustment speed, and adjusts the vessel speed and laying speed accordingly.

[0061] In an optional embodiment, when the laying vessel and laying equipment are in an abnormal environmental state, the central controller can determine the vessel abnormality adjustment coefficient and the external abnormality adjustment coefficient based on specific environmental data. For example, when the wind speed suddenly increases, it may be necessary to increase the value of the external abnormality adjustment coefficient to more significantly consider the impact of the external environment. When the ocean current changes drastically, it may be necessary to adjust the value of the vessel abnormality adjustment coefficient to better match the speed of the laying vessel. The central controller can also pre-determine the corresponding relationship between the impact correction amount and the abnormal adjustment speed based on the field big data and the laying work data of the historical period, and determine the impact correction amount based on the corresponding relationship and the current environmental data.

[0062] Step 403: Substitute the current ship speed, ship abnormality adjustment coefficient, impact correction amount and external abnormality adjustment coefficient into a predetermined abnormality adjustment formula to obtain the abnormality adjustment speed; adjust the ship speed and laying speed based on the abnormality adjustment speed.

[0063] Specifically, after determining the current ship speed, ship abnormality adjustment coefficient, impact correction amount and external abnormality adjustment coefficient, calculate the abnormality adjustment speed for: Among them, α is the ship abnormality adjustment coefficient, β is the external abnormality adjustment coefficient, The error correction factor is the impact correction factor. The abnormal adjustment speed is a system-level adjustment parameter. After determining the abnormal adjustment speed, the central controller can adjust the speed of both the laying vessel and the laying equipment based on the abnormal adjustment speed in an emergency. This ensures the safety and stability of the laying equipment and vessel in emergencies, and avoids operational accidents caused by speed mismatches.

[0064] The technical solution of this embodiment determines whether the laying ship and laying equipment are in an abnormal environmental state based on environmental data. When the laying ship and laying equipment are in an abnormal environmental state, the ship abnormality adjustment coefficient, the impact correction amount and the external abnormality adjustment coefficient that affects the correction amount of the laying ship are determined based on the environmental data. The ship speed, ship abnormality adjustment coefficient, impact correction amount and external abnormality adjustment coefficient at the current moment are substituted into the predetermined abnormality adjustment formula to obtain the abnormal adjustment speed; the ship speed and laying speed are adjusted based on the abnormal adjustment speed. The technical solution of this embodiment, when an abnormality is detected in the environment, can quickly calculate the abnormal adjustment speed that can adapt to the current environment, adjust the ship speed and laying speed according to the abnormal adjustment speed, so that the laying ship and laying speed can also operate stably in an abnormal environment, thereby improving the safety and stability of the laying operation.

[0065] Figure 5 This is a schematic diagram of the structure of a device for controlling the laying speed and the moving speed of a laying ship provided by an embodiment of the present invention. The device is suitable for executing the method for controlling the laying speed and the moving speed of a laying ship provided by an embodiment of the present invention. Figure 5 As shown, the device may specifically include:

[0066] The data acquisition module 501 is used to obtain the ship speed and environmental data of the laying ship in real time;

[0067] A speed matching module 502 is configured to determine a paving speed based on the ship speed, the environmental data, and a preset speed matching calculation formula;

[0068] The speed control module 503 is configured to generate a control signal for a driving device of the laying equipment based on the laying speed, and control the equipment speed of the laying equipment according to the control signal.

[0069] Optionally, the speed matching module 502 is specifically configured to: determine a speed correction factor of the laying vessel based on the environmental data; the environmental data includes ocean current information, wind speed information, wave information, and vessel motion information;

[0070] Correcting the ship speed according to the speed correction factor to obtain the actual speed of the laying ship;

[0071] The laying speed is determined based on the actual speed of the laying vessel, the environmental data, and the speed matching calculation formula.

[0072] Optionally, the speed matching module 502 is further configured to: determine a sea condition correction value based on the ocean current information, wind speed information, and wave information, and determine an equipment performance correction value based on pre-acquired equipment information of the laying equipment;

[0073] The sea condition correction amount, the equipment performance correction amount, the actual speed of the laying vessel, a predetermined sea condition coefficient and an equipment coefficient are substituted into the speed matching calculation formula to obtain the laying speed.

[0074] Optionally, the speed control module 503 is specifically configured to: determine a gain coefficient of a driving device of the paving device according to the environmental data;

[0075] The gain coefficient is multiplied by the laying speed to obtain a control signal for the driving device.

[0076] Optionally, the speed control module 503 is further configured to: obtain the paving speed at the current moment;

[0077] Acquiring feedback parameters of the paving device through various sensors of the paving device; the feedback parameters include the actual device speed of the paving device at the current moment;

[0078] The speed of the laying device is adjusted based on the actual device speed and the laying speed at the current moment.

[0079] Optionally, the speed control module 503 is further configured to: calculate an absolute value of a difference between the actual device speed and the paving speed at the current moment to obtain a deviation value;

[0080] When the deviation value is greater than a preset deviation threshold, the gain coefficient of the driving device and the speed correction factor of the laying vessel are adjusted based on the deviation value, and the speed of the laying equipment is adjusted according to the adjusted gain coefficient and the adjusted speed correction factor.

[0081] Optionally, the speed control module 503 is further configured to: determine whether the laying vessel and the laying equipment are in an abnormal environmental state based on the environmental data;

[0082] When the laying ship and the laying equipment are in the abnormal environmental state, determining a ship abnormality adjustment coefficient, an impact correction amount, and an external abnormality adjustment coefficient of the impact correction amount of the laying ship based on the environmental data;

[0083] Substituting the current ship speed, the ship abnormality adjustment coefficient, the impact correction amount, and the external abnormality adjustment coefficient into a predetermined abnormality adjustment formula to obtain an abnormality adjustment speed;

[0084] The ship speed and the laying speed are adjusted based on the abnormal adjustment speed.

[0085] The apparatus for controlling the laying speed and the moving speed of a laying vessel provided in the embodiments of the present invention can execute the method for controlling the laying speed and the moving speed of a laying vessel provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects. Any details not fully described in this embodiment can be referred to the description of any method embodiment of the present invention.

[0086] An embodiment of the present invention also provides a computer program product.

[0087] Various embodiments of the systems and techniques described herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), system-on-chip systems (SOCs), programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments can include being implemented in one or more computer program products, which can include one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0088] Figure 6 A schematic diagram of the structure of an electronic device provided by an embodiment of the present invention, referring to Figure 6 , Figure 6 The electronic device 12 shown is only an example and should not limit the functions and scope of use of the embodiments of the present application. Figure 6 As shown, electronic device 12 is implemented as a general-purpose computing device. Components of electronic device 12 may include, but are not limited to, one or more processors or processing units 16, system memory 28, and a bus 18 that connects various system components (including system memory 28 and processing unit 16).

[0089] Bus 18 represents one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, a processor, or a local bus using any of a variety of bus architectures. Examples of these architectures include, but are not limited to, an Industry Standard Architecture (ISA) bus, a Micro Channel Architecture (MAC) bus, an Enhanced ISA bus, a Video Electronics Standards Association (VESA) local bus, and a Peripheral Component Interconnect (PCI) bus.

[0090] 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.

[0091] 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, the storage system 34 may be configured to read and write non-removable, non-volatile magnetic media ( Figure 6 Not shown, usually called a "hard drive"). Although Figure 6 Although not shown, a disk drive for reading and writing to a removable non-volatile disk (e.g., a "floppy disk"), as well as an optical disk drive for reading and writing to a removable non-volatile optical disk (e.g., a CD-ROM, DVD-ROM, or other optical media) may be provided. In these cases, each drive may be connected to bus 18 via one or more data media interfaces. Memory 28 may include at least one program product having a set (e.g., at least one) of program modules configured to perform the functions of various embodiments of the present application.

[0092] A program / utility 40 having a set (at least one) of program modules 46 may be stored, for example, in 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 of which, or some combination thereof, may include an implementation of a network environment. Program modules 46 generally implement the functions and / or methods of the embodiments described herein.

[0093] The electronic device 12 may also communicate with one or more external devices 14 (e.g., keyboards, pointing devices, displays 24, etc.), and may also communicate with one or more devices that enable a user to interact with the electronic device 12, and / or any device that enables the electronic device 12 to communicate with one or more other computing devices (e.g., a network card, a modem, etc.). Such communication may be performed via an input / output (I / O) interface 22. Furthermore, the electronic device 12 may also communicate with one or more networks (e.g., a local area network (LAN), a wide area network (WAN), and / or a public network, such as the Internet) via a network adapter 20. As shown, the network adapter 20 communicates with the other modules of the electronic device 12 via the bus 18. It should be understood that although Figure 6 Not shown, other hardware and / or software modules may be used in conjunction 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.

[0094] The processing unit 16 executes various functional applications and data processing by running the programs stored in the system memory 28, such as implementing a method for controlling the laying speed and the moving speed of the laying vessel provided in an embodiment of the present invention: acquiring the ship speed and environmental data of the laying vessel in real time; determining the laying speed based on the ship speed, the environmental data and a pre-set speed matching calculation formula; generating a control signal for a driving device of the laying equipment based on the laying speed, and controlling the equipment speed of the laying equipment according to the control signal.

[0095] An embodiment of the present invention provides a computer-readable storage medium having a computer program stored thereon. When executed by a processor, the program implements a method for controlling the laying speed and movement speed of a laying vessel as provided in all embodiments of the present invention: obtaining the laying vessel's speed and environmental data in real time; determining the laying speed based on the vessel speed, the environmental data, and a pre-set speed matching calculation formula; generating a control signal for a driving device of a laying device based on the laying speed, and controlling the speed of the laying device based on the control signal. The computer-readable medium may be a computer-readable signal medium or a computer-readable storage medium. The computer-readable storage medium may be, for example, but not limited to, an electronic device, apparatus, or device that is electrical, magnetic, optical, electromagnetic, infrared, or semiconductor, or any combination thereof. More specific examples (non-exhaustive list) of computer-readable storage media 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 thereof. In this document, a computer readable storage medium may be any tangible medium that can contain or store a program for use by or in connection with an instruction-executing electronic device, apparatus, or device.

[0096] A computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, which carries computer-readable program code. Such propagated data signals may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. A computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium that can transmit, propagate, or transfer a program for use by or in conjunction with an instruction-executing electronic device, apparatus, or device.

[0097] Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

[0098] Computer program code for performing the operations of the present invention may be written in one or more programming languages, or a combination thereof, including object-oriented programming languages such as Java, Smalltalk, C++, and conventional procedural programming languages such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, 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 cases involving a remote computer, the remote computer may be connected to the user's computer via any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0099] Note that the above are only preferred embodiments of the present invention and the technical principles employed. Those skilled in the art will appreciate that the present invention is not limited to the specific embodiments herein, and that various obvious changes, readjustments, and substitutions are possible for those skilled in the art without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in detail through the above embodiments, the present invention is not limited to the above embodiments and may include many other equivalent embodiments without departing from the scope of the present invention. The scope of the present invention is determined by the scope of the appended claims.

Claims

1. A method for controlling the laying speed and the moving speed of a laying ship, characterized in that: The method comprises: Obtain the ship speed and environmental data of the laying vessel in real time; Determining the paving speed based on the ship speed, the environmental data, and a preset speed matching calculation formula; determining the paving speed based on the ship speed, the environmental data, and a preset speed matching calculation formula includes: Determining a speed correction factor for the laying vessel based on the environmental data, wherein the environmental data includes ocean current information, wind speed information, wave information, and ship motion information; correcting the ship speed according to the speed correction factor to obtain the actual speed of the laying vessel; and determining the laying speed based on the actual speed of the laying vessel, the environmental data, and the speed matching calculation formula; Generating a control signal for a driving device of a laying device based on the laying speed, and controlling the device speed of the laying device according to the control signal; generating a control signal for the driving device of the laying device based on the laying speed, including: A gain coefficient of a driving device of the paving equipment is determined according to the environmental data; and a control signal of the driving device is obtained by multiplying the gain coefficient and the paving speed.

2. The method according to claim 1, characterized in that Determining the laying speed based on the actual speed of the laying vessel, the environmental data, and the speed matching calculation formula includes: Determining a sea condition correction amount based on the ocean current information, wind speed information, and wave information, and determining an equipment performance correction amount based on the pre-acquired equipment information of the laying equipment; The sea condition correction amount, the equipment performance correction amount, the actual speed of the laying vessel, a predetermined sea condition coefficient and an equipment coefficient are substituted into the speed matching calculation formula to obtain the laying speed.

3. The method according to claim 1, characterized in that The method further comprises: Obtaining the paving speed at the current moment; Acquiring feedback parameters of the paving device through various sensors of the paving device; the feedback parameters include the actual device speed of the paving device at the current moment; The speed of the laying device is adjusted based on the actual device speed and the laying speed at the current moment.

4. The method according to claim 3, characterized in that Adjusting the speed of the paving device based on the actual device speed and the paving speed at the current moment includes: Calculating an absolute value of a difference between the actual device speed and the paving speed at the current moment to obtain a deviation value; When the deviation value is greater than a preset deviation threshold, the gain coefficient of the driving device and the speed correction factor of the laying vessel are adjusted based on the deviation value, and the speed of the laying equipment is adjusted according to the adjusted gain coefficient and the adjusted speed correction factor.

5. The method according to claim 1, wherein The method further comprises: determining whether the laying vessel and the laying equipment are in an abnormal environmental state based on the environmental data; When the laying ship and the laying equipment are in the abnormal environmental state, determining a ship abnormality adjustment coefficient, an impact correction amount, and an external abnormality adjustment coefficient of the impact correction amount of the laying ship based on the environmental data; Substituting the current ship speed, the ship abnormality adjustment coefficient, the impact correction amount, and the external abnormality adjustment coefficient into a predetermined abnormality adjustment formula to obtain an abnormality adjustment speed; The ship speed and the laying speed are adjusted based on the abnormal adjustment speed.

6. 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 method for controlling a laying speed and a laying ship movement speed according to any one of claims 1 to 5.

7. 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 the laying speed and the moving speed of the laying ship as claimed in any one of claims 1 to 5 is implemented.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the method for controlling the laying speed and the moving speed of the laying vessel as claimed in any one of claims 1 to 5 is implemented.

Images