Dynamic positioning control method, device, equipment, medium and program product for floating type aquaculture net cage type industrial ship

Abstract

The invention discloses a power positioning control method, device and equipment for a floating type culture net cage type work ship, a medium and a program product, and relates to the technical field of mariculture equipment. The method comprises the steps that a culture pasture area is determined; relevant information of the breeding work ship is collected; detecting whether a position trend judgment instruction is received or not; after a position trend judgment instruction is received, the position of the breeding work ship and the dynamic positioning requirement under the current sea condition are judged based on the breeding work ship attitude information and the external environment information collected within the preset duration before the current time point; a corresponding control strategy is switched according to the position of the breeding work ship and the dynamic positioning requirement under the current sea condition, so that the breeding work ship is kept in a floating breeding state for a long time under the permissible sea condition, and the purpose of saving energy is achieved. According to the method, the energy consumption of dynamic positioning can be effectively reduced, and meanwhile, a good positioning effect is considered.

Description

Technical Field

[0001] The present application relates to the technical field of offshore aquaculture equipment, and in particular to a method, device, equipment, medium and program product for dynamic positioning control of a floating aquaculture cage-type work vessel. Background Art

[0002] As the scale of offshore aquaculture continues to expand, so too does the demand for offshore aquaculture. Offshore aquaculture typically requires the use of cages or workboats. Cage-type workboats combine the characteristics of both. They utilize cages mounted on workboats in direct contact with seawater for fish farming, while also offering the maneuverability of workboats.

[0003] Due to the needs of aquaculture, aquaculture cage vessels are usually operated in a predetermined aquaculture area to provide suitable aquaculture conditions for fish farming. In order to enable aquaculture cage vessels to operate in a predetermined aquaculture area, they need to have the ability to locate at sea.

[0004] Currently, two common positioning methods are anchoring and dynamic positioning. Dynamic positioning relies on a dynamic positioning control system for real-time positioning adjustments, which is energy-intensive. Relying solely on mooring systems for anchoring can fail to maintain a secure anchor when encountering strong waves, causing aquaculture cage vessels to deviate from their designated aquaculture areas.

[0005] Therefore, a new positioning method is urgently needed to solve the problem that the current positioning method cannot take into account both low energy consumption and good positioning effect. Summary of the Invention

[0006] The main purpose of this application is to provide a dynamic positioning control method, device, equipment, medium and program product for a floating aquaculture cage-type work vessel, aiming to solve the technical problem that the current positioning method cannot take into account both low energy consumption and good positioning effect.

[0007] To achieve the above objectives, the present application proposes a method for controlling dynamic positioning of a floating aquaculture cage-type work vessel, the method comprising:

[0008] Determine the breeding pasture area;

[0009] Collecting the position information and external environment parameters of the aquaculture vessel; wherein the position information includes latitude and longitude coordinates, heading and draft depth;

[0010] Calculating the resultant external interference force on the aquaculture vessel according to the external environmental parameters, and obtaining a dynamic positioning requirement based on the resultant external interference force;

[0011] Detect whether a position trend judgment instruction is received;

[0012] Position determination step: upon receiving the position trend determination instruction, determining the position of the aquaculture vessel based on the longitude and latitude coordinates collected within a preset time period before the current time point;

[0013] If the dynamic positioning demand exceeds the critical dynamic positioning capability parameter for anchoring, outputting an alarm message;

[0014] If the dynamic positioning requirement is between the critical dynamic positioning capability parameter and the anchoring critical dynamic positioning capability parameter, the task is switched to anchoring, the anchoring system is started, and the dynamic positioning system is started to assist in anchoring positioning, so that the aquaculture vessel maintains positioning capability in severe sea conditions;

[0015] If the dynamic positioning requirement is within the critical dynamic positioning capability parameter and the aquaculture vessel is located in the central area of the aquaculture ranch area, the aquaculture vessel is continued to perform floating aquaculture, and the longitude and latitude coordinates of the aquaculture vessel are continuously monitored and analyzed;

[0016] If the dynamic positioning requirement is within the critical dynamic positioning capability parameter and the aquaculture vessel is located in the outer area of the aquaculture ranch area, the dynamic positioning system is activated to enable the aquaculture vessel to navigate into the central area.

[0017] In one embodiment, the step of determining the breeding pasture area includes:

[0018] Determine the central location of the breeding pasture;

[0019] Determining the range of the breeding pasture area and the central area of the breeding pasture area according to the simulation results of the breeding vessel model and the turning radius of the breeding vessel;

[0020] A breeding ranch coordinate system is established with the center position of the breeding ranch as the center.

[0021] In one embodiment, the step of collecting the position information and external environment parameters of the aquaculture vessel includes:

[0022] Obtaining the latitude and longitude coordinates, heading, draft depth and external environmental parameters of the aquaculture vessel through sensors carried by the aquaculture vessel;

[0023] Converting the latitude and longitude coordinates into coordinates in the breeding ranch coordinate system;

[0024] Determining a critical dynamic positioning capability parameter table based on the dynamic positioning capability analysis report of the aquaculture vessel, wherein internal elements of the critical dynamic positioning capability parameter table are composed of the magnitude and direction of the resultant external interference force applied to the aquaculture vessel under critical conditions;

[0025] According to the dynamic positioning assisted anchoring positioning capability analysis report of the aquaculture vessel, a table of anchoring critical dynamic positioning capability parameters is determined.

[0026] In one embodiment, before the position determination step, the method further includes:

[0027] Determining the type of task currently being performed by the aquaculture vessel; wherein the task type includes at least aquaculture tasks, water exchange tasks, and migration tasks;

[0028] If the aquaculture vessel is currently in the aquaculture task, continue the aquaculture task and execute the position determination step;

[0029] If the aquaculture vessel is currently in the water exchange task, wait until the water exchange task is completed before executing the position determination step;

[0030] If the aquaculture vessel is currently in the migration mission, it continues to execute the migration mission and outputs the alarm information; wherein, the alarm information is used to prompt the aquaculture vessel that it encounters bad weather and / or bad sea conditions, and the aquaculture vessel is difficult to maintain its position and needs to migrate and evacuate the aquaculture ranch area.

[0031] In one embodiment, the step of determining the location of the aquaculture vessel includes:

[0032] Calculating a first distance between the aquaculture vessel and the central area within the preset time period based on the longitude and latitude coordinates and the midpoint coordinates of the central area collected within the preset time period;

[0033] If the first distance is less than or equal to the radius of the central area, the aquaculture vessel is located in the central area;

[0034] If the first distance is greater than the radius of the central area, the aquaculture vessel is located in the peripheral area.

[0035] In one embodiment, after the position determination step, the method further includes:

[0036] Using the direction of the resultant external interference force as an index, searching in the critical dynamic positioning capability parameter table and the anchoring critical dynamic positioning capability parameter table to obtain the critical dynamic positioning capability parameter and the anchoring critical dynamic positioning capability parameter of the corresponding direction;

[0037] The dynamic positioning demand is compared with the critical dynamic positioning capability parameter and the anchoring critical dynamic positioning capability parameter of the corresponding direction.

[0038] In addition, to achieve the above-mentioned purpose, the present application also proposes a floating aquaculture cage-type work vessel dynamic positioning control device, the floating aquaculture cage-type work vessel dynamic positioning control device comprising:

[0039] The breeding pasture area module is used to determine the breeding pasture area;

[0040] A position acquisition module collects the position information and external environment parameters of the aquaculture vessel; wherein the position information includes latitude and longitude coordinates, heading and draft depth;

[0041] An interference calculation module is used to calculate the resultant external interference force on the aquaculture vessel according to the external environmental parameters, and obtain a dynamic positioning requirement based on the resultant external interference force;

[0042] A command detection module is used to detect whether a position trend judgment command has been received;

[0043] A position determination module is used for the position determination step: upon receiving a position trend determination instruction, determining the position of the aquaculture vessel based on the longitude and latitude coordinates collected within a preset time period before the current time point;

[0044] a judgment execution module, configured to output an alarm message if the dynamic positioning demand exceeds a critical dynamic positioning capability parameter for anchoring;

[0045] The judgment execution module is further configured to switch to an anchoring task if the dynamic positioning requirement is between a critical dynamic positioning capability parameter and an anchoring critical dynamic positioning capability parameter, start the anchoring system, and start the dynamic positioning system to assist in anchoring positioning, so that the aquaculture vessel maintains positioning capability in severe sea conditions;

[0046] The judgment execution module is further configured to, if the dynamic positioning requirement is within the critical dynamic positioning capability parameter and the aquaculture vessel is located in the central area of the aquaculture ranch area, continue to allow the aquaculture vessel to perform floating aquaculture, and continuously monitor and analyze the longitude and latitude coordinates of the aquaculture vessel;

[0047] The judgment execution module is also used to start the dynamic positioning system if the dynamic positioning requirement is within the critical dynamic positioning capability parameter and the breeding vessel is located in the peripheral area of the breeding ranch area, so as to enable the breeding vessel to navigate into the central area.

[0048] In addition, to achieve the above-mentioned purpose, the present application also proposes a dynamic positioning control device for a floating aquaculture cage-type work vessel, which includes: a memory, a processor, and a computer program stored on the memory and runnable on the processor, and the computer program is configured to implement the steps of the dynamic positioning control method for a floating aquaculture cage-type work vessel as described above.

[0049] In addition, to achieve the above-mentioned purpose, the present application also proposes a storage medium, which is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by the processor, the steps of the dynamic positioning control method of the floating aquaculture cage-type work vessel as described above are implemented.

[0050] In addition, to achieve the above-mentioned purpose, the present application also provides a computer program product, which includes a computer program, and when the computer program is executed by a processor, it implements the steps of the dynamic positioning control method of the floating aquaculture cage-type work vessel as described above.

[0051] One or more technical solutions proposed in this application have at least the following technical effects:

[0052] The technical solution of the present application defines the breeding pasture area according to relevant documents and manifold simulation results, and divides the breeding area into a central area and a peripheral area, wherein the central area can provide higher breeding activity authority; the present application collects the posture information and external environmental parameters of the breeding vessel to obtain the position information and environment of the breeding vessel; and calculates the external interference resultant force on the breeding vessel according to the external environmental parameters, thereby obtaining the dynamic positioning demand based on the external interference resultant force; after receiving the position trend judgment instruction, the position of the breeding vessel is judged; if the dynamic positioning demand exceeds the critical dynamic positioning capability parameter of the anchoring, an alarm message is output to remind the crew that the breeding vessel has encountered relatively bad weather and / or bad weather. In adverse sea conditions, it is difficult for the aquaculture vessel to maintain its positioning; if the dynamic positioning demand is between the critical dynamic positioning capability parameters and the critical dynamic positioning capability parameters for anchoring, the task is switched to anchoring, the anchoring system is started, and the dynamic positioning system is started to assist in anchoring positioning, so that the aquaculture vessel can maintain its positioning capability in adverse sea conditions; if the dynamic positioning demand is within the critical dynamic positioning capability parameters and the aquaculture vessel is located in the central area of the aquaculture ranch, the aquaculture vessel will continue to carry out floating aquaculture, and the longitude and latitude coordinates of the aquaculture vessel will be continuously monitored and analyzed; if the dynamic positioning demand is within the critical dynamic positioning capability parameters and the aquaculture vessel is located in the outer area of the aquaculture ranch, the dynamic positioning system will be started to allow the aquaculture vessel to navigate to the central area.

[0053] By adopting this solution, under suitable sea conditions, the dynamic positioning control system can be activated only when the aquaculture vessel floats to the outer area, significantly reducing the operating time of the dynamic positioning control system and, in turn, the energy consumption of this dynamic positioning control method. In addition, because this method can use both the power provided by the dynamic positioning control system for positioning and the mooring system for positioning, compared to the traditional use of a single anchor cable for anchoring, this hybrid positioning method can withstand stronger wave impacts and achieve better positioning results. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0055] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0056] Figure 1 A flow chart illustrating a first embodiment of a method for controlling dynamic positioning of a floating aquaculture cage-type work vessel according to the present application;

[0057] Figure 2 A schematic diagram of the aquaculture area provided in Example 1 of the method for controlling the dynamic positioning of a floating aquaculture cage-type work vessel of the present application;

[0058] Figure 3 A flow chart illustrating a second embodiment of a method for controlling dynamic positioning of a floating aquaculture cage-type work vessel according to the present application;

[0059] Figure 4 A flow chart illustrating a third embodiment of a method for controlling dynamic positioning of a floating aquaculture cage-type work vessel according to the present application;

[0060] Figure 5 A flow chart illustrating a fourth embodiment of a method for controlling dynamic positioning of a floating aquaculture cage-type work vessel according to the present application;

[0061] Figure 6 This is a schematic diagram of the module structure of a dynamic positioning control device for a floating aquaculture cage-type work vessel according to an embodiment of the present application;

[0062] Figure 7 This is a schematic diagram of the equipment structure of the hardware operating environment involved in the dynamic positioning control method for a floating aquaculture cage-type work vessel in an embodiment of the present application.

[0063] The purpose, features and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0064] It should be understood that the specific embodiments described herein are merely used to explain the technical solutions of the present application and are not intended to limit the present application.

[0065] In order to better understand the technical solution of the present application, a detailed description will be given below in conjunction with the accompanying drawings and specific implementation methods.

[0066] The main solutions of the embodiment of the present application are: determining the breeding pasture area; collecting the posture information and external environmental parameters of the breeding vessel; wherein the posture information includes latitude and longitude coordinates, bow direction and draft depth; calculating the external interference resultant force on the breeding vessel according to the external environmental parameters, and obtaining the dynamic positioning demand based on the external interference resultant force; detecting whether a position trend judgment instruction is received; position judgment step: after receiving the position trend judgment instruction, judging the position of the breeding vessel based on the latitude and longitude coordinates collected within a preset time period before the current time point; if the dynamic positioning demand exceeds the critical dynamic positioning capability parameter of the anchoring, outputting an alarm message; if the dynamic positioning If the demand is between the critical dynamic positioning capability parameters and the critical dynamic positioning capability parameters for anchoring, the task is switched to anchoring, the anchoring system is started, and the dynamic positioning system is started to assist in anchoring positioning, so that the aquaculture vessel can maintain its positioning capability in severe sea conditions; if the dynamic positioning demand is within the critical dynamic positioning capability parameters and the aquaculture vessel is located in the central area of the aquaculture ranch, the aquaculture vessel will continue to carry out floating aquaculture, and the longitude and latitude coordinates of the aquaculture vessel will be continuously monitored and analyzed; if the dynamic positioning demand is within the critical dynamic positioning capability parameters and the aquaculture vessel is located in the outer area of the aquaculture ranch, the dynamic positioning system will be started to enable the aquaculture vessel to navigate to the central area.

[0067] In this embodiment, for ease of description, the following description is made with the shipborne computing terminal as the execution entity.

[0068] As the scale of offshore aquaculture continues to expand, so too does the demand for offshore aquaculture. Offshore aquaculture typically requires the use of cages or workboats. Cage-type workboats combine the advantages of both. They utilize cages mounted on workboats in direct contact with seawater for fish farming, while also offering the maneuverability of workboats.

[0069] Due to the needs of aquaculture, aquaculture cage vessels are usually operated in a predetermined aquaculture area to provide suitable aquaculture conditions for fish farming. In order to enable aquaculture cage vessels to operate in a predetermined aquaculture area, they need to have the ability to locate at sea.

[0070] Currently, two common positioning methods are anchoring and dynamic positioning. Dynamic positioning relies on a dynamic positioning control system for real-time positioning adjustments, which is energy-intensive. Relying solely on mooring systems for anchoring can fail to maintain a secure anchor when encountering strong waves, causing aquaculture cage vessels to deviate from their designated aquaculture areas.

[0071] Therefore, a new positioning method is urgently needed to solve the problem that the current positioning method cannot take into account both low energy consumption and good positioning effect.

[0072] Based on this, the present application provides a solution to determine the breeding pasture area; collect the posture information and external environmental parameters of the breeding vessel; wherein the posture information includes latitude and longitude coordinates, heading and draft depth; calculate the external interference force on the breeding vessel according to the external environmental parameters, and obtain the dynamic positioning demand based on the external interference force; detect whether the position trend judgment instruction is received; position judgment step: after receiving the position trend judgment instruction, judge the position of the breeding vessel based on the latitude and longitude coordinates collected within the preset time period before the current time point; if the dynamic positioning demand exceeds the critical dynamic positioning capability parameters of the anchoring, output an alarm message; if the dynamic positioning If the demand is between the critical dynamic positioning capability parameters and the critical dynamic positioning capability parameters for anchoring, the task is switched to anchoring, the anchoring system is started, and the dynamic positioning system is started to assist in anchoring positioning, so that the aquaculture vessel can maintain its positioning capability in severe sea conditions; if the dynamic positioning demand is within the critical dynamic positioning capability parameters and the aquaculture vessel is located in the central area of the aquaculture ranch, the aquaculture vessel will continue to carry out floating aquaculture, and the longitude and latitude coordinates of the aquaculture vessel will be continuously monitored and analyzed; if the dynamic positioning demand is within the critical dynamic positioning capability parameters and the aquaculture vessel is located in the outer area of the aquaculture ranch, the dynamic positioning system will be started to enable the aquaculture vessel to navigate to the central area.

[0073] The technical solution of the present application defines the breeding pasture area according to relevant documents and manifold simulation results, and divides the breeding area into a central area and a peripheral area, wherein the central area can provide higher breeding activity authority; the present application collects the posture information and external environmental parameters of the breeding vessel to obtain the position information and environment of the breeding vessel; and calculates the external interference resultant force on the breeding vessel according to the external environmental parameters, thereby obtaining the dynamic positioning demand based on the external interference resultant force; after receiving the position trend judgment instruction, the position of the breeding vessel is judged; if the dynamic positioning demand exceeds the critical dynamic positioning capability parameter of the anchoring, an alarm message is output to remind the crew that the breeding vessel has encountered relatively bad weather and / or bad weather. In adverse sea conditions, it is difficult for the aquaculture vessel to maintain its positioning; if the dynamic positioning demand is between the critical dynamic positioning capability parameters and the critical dynamic positioning capability parameters for anchoring, the task is switched to anchoring, the anchoring system is started, and the dynamic positioning system is started to assist in anchoring positioning, so that the aquaculture vessel can maintain its positioning capability in adverse sea conditions; if the dynamic positioning demand is within the critical dynamic positioning capability parameters and the aquaculture vessel is located in the central area of the aquaculture ranch, the aquaculture vessel will continue to carry out floating aquaculture, and the longitude and latitude coordinates of the aquaculture vessel will be continuously monitored and analyzed; if the dynamic positioning demand is within the critical dynamic positioning capability parameters and the aquaculture vessel is located in the outer area of the aquaculture ranch, the dynamic positioning system will be started to allow the aquaculture vessel to navigate to the central area.

[0074] By adopting this solution, under suitable sea conditions, the dynamic positioning control system can be activated only when the aquaculture vessel floats to the outer area, significantly reducing the operating time of the dynamic positioning control system and, in turn, the energy consumption of this dynamic positioning control method. In addition, because this method can use both the power provided by the dynamic positioning control system for positioning and the mooring system for positioning, compared to the traditional use of a single anchor cable for anchoring, this hybrid positioning method can withstand stronger wave impacts and achieve better positioning results.

[0075] It should be noted that the execution subject of this embodiment may be a computing service device with data processing, network communication, and program execution functions, such as a tablet computer, personal computer, mobile phone, etc., or an electronic device capable of implementing the above functions, such as a shipborne computing terminal. This embodiment and the following embodiments will be described below using a shipborne computing terminal as an example.

[0076] Based on this, the embodiment of the present application provides a method for controlling the dynamic positioning of a floating aquaculture cage type work vessel, referring to Figure 1 , Figure 1 This is a flow chart of the first embodiment of the dynamic positioning control method for a floating aquaculture cage-type vessel of the present application.

[0077] In this embodiment, the dynamic positioning control method of the floating aquaculture cage-type work vessel includes steps S10 to S60:

[0078] Step S10, determining the breeding pasture area;

[0079] It should be noted that the confirmation of the breeding ranch area requires the confirmation of the center position of the breeding ranch based on relevant approval documents, and the establishment of a breeding ranch coordinate system with the center position of the breeding ranch as the center.

[0080] Step S20, collecting the position information and external environment parameters of the aquaculture vessel; wherein the position information includes latitude and longitude coordinates, heading and draft depth;

[0081] It should be noted that the latitude and longitude coordinates of the aquaculture vessel can be obtained through the global positioning navigation system (GPS), Beidou positioning navigation system (BDS), automatic identification system (AIS), inertial navigation system, etc.

[0082] In addition, it should be noted that the collected latitude and longitude coordinates of the breeding vessel need to be converted into the breeding ranch coordinate system.

[0083] Step S30, calculating the resultant external interference force on the aquaculture vessel according to the external environmental parameters, and obtaining a dynamic positioning requirement based on the resultant external interference force;

[0084] It should be noted that the resultant external interference force includes but is not limited to the combined force caused by various factors such as wind, current impact, and tidal fluctuations; after the external interference resultant force is obtained by comprehensively calculating the above-mentioned various influencing factors, the dynamic positioning requirements required for the aquaculture vessel to resist the external interference resultant force are obtained.

[0085] Step S40, detecting whether a position trend determination instruction is received;

[0086] It should be noted that the position trend determination instruction is triggered by an operator on the aquaculture vessel. This triggering method can be inputting a preset instruction or pressing a corresponding key, which is not limited here. This position trend determination instruction is used to instruct the shipboard computing terminal to execute a series of subsequent steps, including the position determination step, to determine the position of the aquaculture vessel and the relationship between the dynamic positioning demand and the critical dynamic positioning capability parameter and critical dynamic positioning capability parameter of the anchoring. Based on the judgment result, the computing terminal decides whether to perform unpowered floating, activate the dynamic positioning control system, or activate the anchoring positioning system.

[0087] Step S60, position determination step: upon receiving the position trend determination instruction, determining the position of the aquaculture vessel based on the longitude and latitude coordinates collected within a preset time period before the current time point;

[0088] Step S91: if the dynamic positioning demand exceeds the critical dynamic positioning capability parameter for anchoring, output an alarm message;

[0089] Among them, it should be noted that when the dynamic positioning capability parameters of the aquaculture vessel exceed the critical dynamic positioning capability parameters of the anchoring, regardless of whether the aquaculture vessel is located in the central area or the peripheral area, an alarm message needs to be issued to the crew to remind the aquaculture vessel that it has encountered relatively bad weather and / or bad sea conditions, and the aquaculture vessel is difficult to maintain its positioning and needs to be relocated.

[0090] Step S92: If the dynamic positioning requirement is between the critical dynamic positioning capability parameter and the anchoring critical dynamic positioning capability parameter, switching to an anchoring task, starting the anchoring system, and starting the dynamic positioning system to assist in anchoring positioning, so that the aquaculture vessel maintains positioning capability in severe sea conditions;

[0091] Step S93: If the dynamic positioning requirement is within the critical dynamic positioning capability parameter and the aquaculture vessel is located in the central area of the aquaculture ranch, the aquaculture vessel is allowed to continue floating aquaculture, and the longitude and latitude coordinates of the aquaculture vessel are continuously monitored and analyzed;

[0092] It should be noted that, please refer to Figure 2 In this embodiment, the aquaculture area is divided into a central area and a peripheral area. The central area is the core area of the aquaculture area and provides higher authority for aquaculture activities. The peripheral area is also a farming area, but has lower authority for aquaculture activities. Therefore, when the aquaculture vessel is located in the peripheral area of the aquaculture area, the dynamic positioning control system is activated to navigate the aquaculture vessel into the central area, where floating aquaculture can then be carried out, thereby achieving the goal of reducing energy consumption.

[0093] Step S94: if the dynamic positioning requirement is within the critical dynamic positioning capability parameter and the aquaculture vessel is located in the peripheral area of the aquaculture ranch area, the dynamic positioning system is activated to enable the aquaculture vessel to navigate to the central area.

[0094] This embodiment provides a method for controlling the dynamic positioning of a floating aquaculture cage-type vessel. According to relevant documents and manifold simulation results, the aquaculture pasture area is delineated, and the aquaculture area is divided into a central area and a peripheral area, wherein the central area can provide higher authority for aquaculture activities; this application collects the posture information and external environmental parameters of the aquaculture vessel to obtain the position information and environment of the aquaculture vessel; and calculates the resultant external interference force on the aquaculture vessel according to the external environmental parameters, thereby obtaining the dynamic positioning requirement based on the resultant external interference force; after receiving the position trend judgment instruction, the position of the aquaculture vessel is judged; if the dynamic positioning requirement exceeds the critical dynamic positioning capability parameter of the anchoring, an alarm message is output to remind the crew that the aquaculture vessel has encountered In severe weather and / or sea conditions, it is difficult for the aquaculture vessel to maintain its positioning; if the dynamic positioning demand is between the critical dynamic positioning capability parameters and the critical dynamic positioning capability parameters for anchoring, the task is switched to anchoring, the anchoring system is started, and the dynamic positioning system is started to assist in anchoring positioning, so that the aquaculture vessel can maintain its positioning capability in severe sea conditions; if the dynamic positioning demand is within the critical dynamic positioning capability parameters and the aquaculture vessel is located in the central area of the aquaculture ranch, the aquaculture vessel will continue to carry out floating aquaculture, and the longitude and latitude coordinates of the aquaculture vessel will be continuously monitored and analyzed; if the dynamic positioning demand is within the critical dynamic positioning capability parameters and the aquaculture vessel is located in the outer area of the aquaculture ranch, the dynamic positioning system will be started to sail the aquaculture vessel to the central area.

[0095] By adopting this solution, under suitable sea conditions, the dynamic positioning control system can be activated only when the aquaculture vessel floats to the outer area, significantly reducing the operating time of the dynamic positioning control system and, in turn, the energy consumption of this dynamic positioning control method. In addition, because this method can use both the power provided by the dynamic positioning control system for positioning and the mooring system for positioning, compared to the traditional use of a single anchor cable for anchoring, this hybrid positioning method can withstand stronger wave impacts and achieve better positioning results.

[0096] Based on the first embodiment of the present application, in the second embodiment of the present application, the same or similar contents as those in the above embodiment 1 can be referred to the above introduction and will not be described in detail later. Figure 3 , step S10 further includes steps S11 to S13:

[0097] Step S11, determining the center position of the breeding pasture;

[0098] Step S12, determining the range of the breeding pasture area and the central area of the breeding pasture area according to the simulation results of the breeding vessel model and the turning radius of the breeding vessel;

[0099] Step S13: establishing a breeding ranch coordinate system with the center position of the breeding ranch as the center.

[0100] In this embodiment, the center position of the breeding ranch is first determined, and then the range of the breeding ranch area and the center area of the breeding ranch area are determined based on the model simulation results of the breeding process and the turning radius of the breeding work vessel. Then, a breeding ranch coordinate system is established with the center position of the breeding ranch as the center, so that the latitude and longitude coordinates obtained by the sensor are subsequently converted into coordinates in the breeding ranch coordinate system to compare whether the breeding work vessel is located in the breeding ranch area.

[0101] Furthermore, as an optional implementation, step S20 may further include steps S21 to S24:

[0102] Step S21, obtaining the latitude and longitude coordinates, heading, draft and external environmental parameters of the aquaculture vessel through sensors carried by the aquaculture vessel;

[0103] Step S22, converting the latitude and longitude coordinates into coordinates in the breeding ranch coordinate system;

[0104] Step S23: determining a critical dynamic positioning capability parameter table based on the dynamic positioning capability analysis report of the aquaculture vessel, wherein the internal elements of the critical dynamic positioning capability parameter table are composed of the magnitude and direction of the resultant external interference force applied to the aquaculture vessel under critical conditions;

[0105] Step S24: determining a critical dynamic positioning capability parameter table for anchoring according to the dynamic positioning assisted anchoring positioning capability analysis report of the aquaculture vessel.

[0106] In this embodiment, the longitude and latitude coordinates, heading, draft, and external environmental parameters of the breeding process are obtained and converted into coordinates in the breeding ranch coordinate system, thereby facilitating the subsequent comparison between the coordinates in the breeding ranch coordinate system and the coordinates of the breeding ranch area. Then, a critical dynamic positioning capability parameter table and an anchoring critical dynamic positioning capability parameter table are determined based on the dynamic positioning capability analysis report and the dynamic positioning assisted anchoring positioning capability analysis report of the breeding vessel, respectively. By searching the critical dynamic positioning capability parameter table and the anchoring critical dynamic positioning capability parameter table, corresponding critical dynamic positioning capability parameters and anchoring critical dynamic positioning capability parameters are obtained, and compared with the dynamic positioning requirements to obtain the dynamic positioning strategy to be adopted in the breeding process.

[0107] Furthermore, as an optional embodiment, after the position determination step, i.e., step S60, the dynamic positioning control method for the floating aquaculture cage-type vessel further includes steps S70 to S80:

[0108] Step S70: using the direction of the resultant external interference force as an index, searching the critical dynamic positioning capability parameter table and the anchor critical dynamic positioning capability parameter table to obtain the critical dynamic positioning capability parameter and the anchor critical dynamic positioning capability parameter of the corresponding direction;

[0109] Step S80: comparing the dynamic positioning requirement with the critical dynamic positioning capability parameter of the corresponding direction and the critical dynamic positioning capability parameter of the anchoring.

[0110] In this embodiment, by using the direction of the external interference resultant force as an index, the critical dynamic positioning capability parameter and the anchoring critical dynamic positioning capability parameter of the corresponding direction are searched in the critical dynamic positioning capability parameter table and the anchoring critical dynamic positioning capability parameter table, and then the dynamic positioning demand is compared with the critical dynamic positioning capability parameter and the anchoring critical dynamic positioning capability parameter of the corresponding direction, thereby ensuring that the directions of the parameters used for comparison are consistent, thereby obtaining a reasonable and reliable comparison result, and providing a reliable judgment basis for determining which dynamic positioning strategy should be adopted for aquaculture vessels.

[0111] Based on the first embodiment of the present application, in the third embodiment of the present application, the same or similar contents as those in the first embodiment can be referred to the above introduction and will not be described in detail later. Figure 4 The position determination step, i.e., before step S60, the floating aquaculture cage type vessel dynamic positioning control method further includes steps S51 to S54:

[0112] Step S51, determining the type of task currently being performed by the aquaculture vessel; wherein the task types include at least aquaculture tasks, anchoring tasks, water exchange tasks, and migration tasks;

[0113] In order to solve the problem that the aquaculture vessel is interrupted by the response operation of the position trend judgment instruction while performing other important tasks, in step S41, it is first necessary to determine the type of task currently performed by the aquaculture vessel.

[0114] Step S52: If the aquaculture vessel is currently in the aquaculture task and / or the anchoring task, continue the aquaculture task and / or the anchoring task and execute the position determination step;

[0115] Among them, the aquaculture task is the task that the aquaculture work ship performs most of the time, that is, the normal state of the aquaculture work ship; when the aquaculture work ship drifts out of the central area in the process of performing the aquaculture task, it is necessary to return the aquaculture work ship to the central area to prevent the aquaculture work ship from drifting further.

[0116] The anchoring mission is when the sea conditions and weather are beyond expectations (the critical conditions beyond expectations can be determined based on the dynamic positioning capability analysis report), then the aquaculture mission is converted to the anchoring mission, and a temporary anchor is used to assist the dynamic positioning control system to provide power, so as to provide reliable positioning effect in severe sea conditions.

[0117] Step S53: If the aquaculture vessel is currently in the water exchange task, wait until the water exchange task is completed before executing the position determination step;

[0118] Among them, the water exchange task is a task interspersed in the breeding task. During the breeding task, in order to reduce energy consumption, the breeding ship is in the top flow state most of the time. In this state, the exchange efficiency between the water body of the breeding cage and the natural water is the lowest. Long-term top flow state will affect the water quality in the breeding cage on the breeding ship. Therefore, it is necessary to perform water exchange tasks regularly during the breeding task. During the water exchange period, the bow of the breeding ship needs to form a certain angle with the water flow direction and maintain it for a period of time so that the water body in the breeding cage can be fully exchanged with the external water flow; since the water exchange task usually does not last too long, and the bow of the breeding ship needs to be maintained for a period of time, it is not convenient to carry out dynamic positioning to adjust the direction, so the subsequent position judgment steps can be performed after the water exchange task is completed.

[0119] Step S54: If the aquaculture vessel is currently in the migration task, continue to execute the migration task and output the alarm information; wherein, the alarm information is used to prompt the aquaculture vessel that it encounters bad weather and / or bad sea conditions, and the aquaculture vessel is difficult to maintain its position and needs to migrate and evacuate the aquaculture ranch area.

[0120] The migration mission involves relocating aquaculture vessels following typhoon, tsunami, and other warnings. Because the migration mission requires leaving the farm area, the subsequent position determination steps are unnecessary after receiving the position trend determination command. The vessel can continue the migration mission and generate an alert.

[0121] In this embodiment, by setting the execution order of the position determination step according to different task types, the aquaculture vessel is prevented from being interrupted when performing high-priority tasks such as water changes and migration tasks, ensuring that high-priority tasks can be fully executed. For more routine tasks such as aquaculture and anchoring tasks, the original tasks can be executed in parallel with the position determination step, ensuring timely response to position trend determination instructions.

[0122] Based on the first embodiment of the present application, in the fourth embodiment of the present application, the same or similar contents as those in the above-mentioned embodiment 1 can be referred to the above introduction and will not be described in detail later. Figure 5 In step S60, the step of determining the location of the aquaculture vessel includes steps S61 to S63:

[0123] Step S61, calculating a first distance between the aquaculture vessel and the central area within the preset time period based on the longitude and latitude coordinates and the midpoint coordinates of the central area collected within the preset time period;

[0124] Step S62: If the first distance is less than or equal to the radius of the central area, the aquaculture vessel is located in the central area;

[0125] Step S63: If the first distance is greater than the radius of the central area, the aquaculture vessel is located in the peripheral area.

[0126] In this embodiment, a first distance between the aquaculture vessel and the central area is calculated based on the longitude and latitude coordinates of the aquaculture vessel and the midpoint coordinates of the central area collected over a preset time period. This first distance is then compared with the radius of the central area to accurately determine whether the aquaculture vessel is currently located within the central area or the peripheral area. This determination method has low computational complexity and consumes minimal computing resources, achieving accurate and efficient position determination.

[0127] This application also provides a floating aquaculture cage type workboat dynamic positioning control device, please refer to Figure 6 The floating aquaculture cage type work vessel dynamic positioning control device includes:

[0128] A breeding pasture area module 10 is used to determine the breeding pasture area;

[0129] The position acquisition module 20 collects the position information and external environment parameters of the aquaculture vessel; wherein the position information includes latitude and longitude coordinates, heading and draft depth;

[0130] An interference calculation module 30 is used to calculate the resultant external interference force on the aquaculture vessel according to the external environmental parameters, and obtain a dynamic positioning requirement based on the resultant external interference force;

[0131] The instruction detection module 40 is used to detect whether a position trend determination instruction is received;

[0132] The position determination module 60 is used for the position determination step: upon receiving the position trend determination instruction, determining the position of the aquaculture vessel based on the longitude and latitude coordinates collected within a preset time period before the current time point;

[0133] a judgment execution module 90, configured to output an alarm message if the dynamic positioning demand exceeds a critical dynamic positioning capability parameter for anchoring;

[0134] The judgment execution module 90 is further configured to switch to an anchoring task if the dynamic positioning requirement is between the critical dynamic positioning capability parameter and the anchoring critical dynamic positioning capability parameter, start the anchoring system, and start the dynamic positioning system to assist in anchoring positioning, so that the aquaculture vessel maintains positioning capability in severe sea conditions;

[0135] The judgment execution module 90 is further configured to, if the dynamic positioning requirement is within the critical dynamic positioning capability parameter and the aquaculture vessel is located in the central area of the aquaculture ranch area, continue to allow the aquaculture vessel to perform floating aquaculture, and continuously monitor and analyze the longitude and latitude coordinates of the aquaculture vessel;

[0136] The judgment execution module 90 is further configured to activate the dynamic positioning system if the dynamic positioning requirement is within the critical dynamic positioning capability parameter and the aquaculture vessel is located in the peripheral area of the aquaculture ranch area, so as to enable the aquaculture vessel to navigate into the central area.

[0137] The floating aquaculture net cage type work vessel dynamic positioning control device provided in this application adopts the floating aquaculture net cage type work vessel dynamic positioning control method of the above-mentioned embodiment, which can solve the technical problem that the current positioning method cannot achieve both low energy consumption and good positioning effect. Compared with the existing technology, the beneficial effects of the floating aquaculture net cage type work vessel dynamic positioning control device provided in this application are the same as the beneficial effects of the floating aquaculture net cage type work vessel dynamic positioning control method provided in the above-mentioned embodiment. The other technical features of the floating aquaculture net cage type work vessel dynamic positioning control device are the same as the features disclosed in the above-mentioned embodiment method, and are not further described here.

[0138] The present application provides a dynamic positioning control device for a floating aquaculture cage-type work vessel, which includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the dynamic positioning control method for the floating aquaculture cage-type work vessel in the above-mentioned embodiment one.

[0139] Reference below Figure 7, which shows a schematic structural diagram of a dynamic positioning control device for a floating aquaculture cage-type work vessel suitable for implementing an embodiment of the present application. The dynamic positioning control device for a floating aquaculture cage-type work vessel in the embodiment of the present application may include, but is not limited to, mobile terminals such as mobile phones, laptop computers, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Descriptions), PMPs (Portable Media Players), vehicle-mounted terminals (e.g., vehicle-mounted navigation terminals), and fixed terminals such as digital TVs and desktop computers. Figure 7 The dynamic positioning control equipment for the floating aquaculture cage-type work vessel shown is merely an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0140] like Figure 7 As shown, the dynamic positioning control system for a floating aquaculture cage-type work vessel may include a processing device 1001 (e.g., a central processing unit, a graphics processing unit, etc.), which can perform various appropriate actions and processes based on programs stored in a read-only memory (ROM) 1002 or programs loaded from a storage device 1003 into a random access memory (RAM) 1004. RAM 1004 also stores various programs and data required for the operation of the dynamic positioning control system for a floating aquaculture cage-type work vessel. Processing device 1001, ROM 1002, and RAM 1004 are interconnected via a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Typically, the following systems can be connected to the I / O interface 1006: input devices 1007 including, for example, a touch screen, touchpad, keyboard, mouse, image sensor, microphone, accelerometer, gyroscope, etc.; output devices 1008 including, for example, a liquid crystal display (LCD), speaker, vibrator, etc.; storage devices 1003 including, for example, a magnetic tape, hard disk, etc.; and communication devices 1009. Communication devices 1009 can allow the floating aquaculture cage-type work vessel dynamic positioning control system to communicate wirelessly or wired with other devices to exchange data. While the figure shows a floating aquaculture cage-type work vessel dynamic positioning control system with various systems, it should be understood that implementation or presence of all the illustrated systems is not required. More or fewer systems may alternatively be implemented or present.

[0141] In particular, according to the embodiments disclosed in the present application, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, the embodiments disclosed in the present application include a computer program product comprising a computer program carried on a computer-readable medium, the computer program comprising program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network via a communication device, or installed from a storage device 1003, or installed from a ROM 1002. When the computer program is executed by the processing device 1001, the above-mentioned functions defined in the method of the embodiment disclosed in the present application are executed.

[0142] The floating aquaculture cage-type work vessel dynamic positioning control device provided in this application utilizes the floating aquaculture cage-type work vessel dynamic positioning control method of the aforementioned embodiment, which can resolve the technical problem that current positioning methods cannot achieve both low energy consumption and good positioning results. Compared with the prior art, the beneficial effects of the floating aquaculture cage-type work vessel dynamic positioning control device provided in this application are the same as the beneficial effects of the floating aquaculture cage-type work vessel dynamic positioning control method provided in the aforementioned embodiment. The other technical features of the floating aquaculture cage-type work vessel dynamic positioning control device are the same as those disclosed in the aforementioned embodiment and are not further described here.

[0143] It should be understood that the various parts disclosed in this application can be implemented using hardware, software, firmware, or a combination thereof. In the description of the above embodiments, specific features, structures, materials, or characteristics can be combined in any one or more embodiments or examples in a suitable manner.

[0144] The above description is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this application should be included in the scope of protection of this application. Therefore, the scope of protection of this application should be based on the scope of protection of the claims.

[0145] The present application provides a computer-readable storage medium having computer-readable program instructions (i.e., computer programs) stored thereon, and the computer-readable program instructions are used to execute the dynamic positioning control method for a floating aquaculture cage-type work vessel in the above-mentioned embodiment.

[0146] The computer-readable storage medium provided in this application may be, for example, a USB flash drive, but is not limited to electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, systems or devices, or any combination thereof. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof. In this embodiment, the computer-readable storage medium may be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, system or device. The program code contained on the computer-readable storage medium may be transmitted using any appropriate medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination thereof.

[0147] The computer-readable storage medium may be included in the dynamic positioning control device of the floating aquaculture cage-type work vessel; or it may exist independently without being assembled into the dynamic positioning control device of the floating aquaculture cage-type work vessel.

[0148] The computer-readable storage medium carries one or more programs. When the one or more programs are executed by the floating aquaculture cage-type work vessel dynamic positioning control device, the floating aquaculture cage-type work vessel dynamic positioning control device is enabled to: determine the aquaculture pasture area; collect the posture information and external environmental parameters of the aquaculture work vessel; wherein the posture information includes latitude and longitude coordinates, bow direction and draft depth; calculate the external interference resultant force on the aquaculture work vessel according to the external environmental parameters, and obtain the dynamic positioning demand based on the external interference resultant force; detect whether a position trend judgment instruction is received; position judgment step: after receiving the position trend judgment instruction, the position of the aquaculture work vessel is judged based on the latitude and longitude coordinates collected within a preset time period before the current time point; if the dynamic positioning If the positioning demand exceeds the critical dynamic positioning capability parameters for anchoring, an alarm message is output; if the dynamic positioning demand is between the critical dynamic positioning capability parameters and the critical dynamic positioning capability parameters for anchoring, the task is switched to anchoring, the anchoring system is started, and the dynamic positioning system is started to assist in anchoring positioning, so that the aquaculture vessel maintains positioning capability in severe sea conditions; if the dynamic positioning demand is within the critical dynamic positioning capability parameters and the aquaculture vessel is located in the central area of the aquaculture ranch area, the aquaculture vessel continues to carry out floating aquaculture, and the longitude and latitude coordinates of the aquaculture vessel are continuously monitored and analyzed; if the dynamic positioning demand is within the critical dynamic positioning capability parameters and the aquaculture vessel is located in the outer area of the aquaculture ranch area, the dynamic positioning system is started to enable the aquaculture vessel to navigate to the central area.

[0149] Computer program code for performing the operations of the present application 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 the remote computer or server. In cases involving 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 may be connected to an external computer (e.g., through the Internet using an Internet service provider).

[0150] The flow charts and block diagrams in the accompanying drawings illustrate the possible architecture, functions and operations of the systems, methods and computer program products according to various embodiments of the present application. In this regard, each box in the flow chart or block diagram can represent a module, program segment or a part of code, and the module, program segment or a part of code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order than that marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flow chart, and the combination of the boxes in the block diagram and / or flow chart can be implemented by a dedicated hardware-based system that performs the specified function or operation, or can be implemented by a combination of dedicated hardware and computer instructions.

[0151] The modules described in the embodiments of the present application may be implemented in software or hardware, wherein the name of a module does not necessarily limit the unit itself.

[0152] The computer-readable storage medium provided in this application is a computer-readable storage medium storing computer-readable program instructions (i.e., a computer program) for executing the above-described method for controlling the dynamic positioning of a floating aquaculture cage vessel. This computer-readable storage medium can address the technical issue of current positioning methods being unable to achieve both low energy consumption and good positioning results. Compared to the prior art, the beneficial effects of the computer-readable storage medium provided in this application are similar to those of the method for controlling the dynamic positioning of a floating aquaculture cage vessel provided in the above-described embodiment, and are not further elaborated here.

[0153] The present application also provides a computer program product, comprising a computer program, which, when executed by a processor, implements the steps of the above-mentioned method for dynamic positioning control of a floating aquaculture cage-type work vessel.

[0154] The computer program product provided in this application can address the technical problem that current positioning methods cannot achieve both low energy consumption and good positioning results. Compared with the existing technology, the beneficial effects of the computer program product provided in this application are the same as those of the dynamic positioning control method for floating aquaculture cage vessels provided in the above-mentioned embodiment, and will not be elaborated here.

[0155] The above description is only part of the embodiments of the present application and does not limit the patent scope of the present application. All equivalent structural transformations made by using the contents of the present application specification and drawings under the technical concept of the present application, or direct / indirect application in other related technical fields are included in the patent protection scope of the present application.

Claims

1. A dynamic positioning control method for a floating aquaculture cage-type work vessel, characterized in that: The method comprises: Determine the breeding pasture area; Collecting the position information and external environment parameters of the aquaculture vessel; wherein the position information includes latitude and longitude coordinates, heading and draft depth; Calculating the resultant external interference force on the aquaculture vessel according to the external environmental parameters, and obtaining a dynamic positioning requirement based on the resultant external interference force; Detect whether a position trend judgment instruction is received; Position determination step: upon receiving the position trend determination instruction, determining the position of the aquaculture vessel based on the longitude and latitude coordinates collected within a preset time period before the current time point; If the dynamic positioning demand exceeds the critical dynamic positioning capability parameter for anchoring, outputting an alarm message; If the dynamic positioning requirement is between the critical dynamic positioning capability parameter and the anchoring critical dynamic positioning capability parameter, the task is switched to anchoring, the anchoring system is started, and the dynamic positioning system is started to assist in anchoring positioning, so that the aquaculture vessel maintains positioning capability in severe sea conditions; If the dynamic positioning requirement is within the critical dynamic positioning capability parameter and the aquaculture vessel is located in the central area of the aquaculture ranch area, the aquaculture vessel is continued to perform floating aquaculture, and the longitude and latitude coordinates of the aquaculture vessel are continuously monitored and analyzed; If the dynamic positioning requirement is within the critical dynamic positioning capability parameter and the aquaculture vessel is located in the outer area of the aquaculture ranch area, the dynamic positioning system is activated to enable the aquaculture vessel to navigate into the central area.

2. The method according to claim 1, wherein The step of determining the breeding pasture area includes: Determine the central location of the breeding pasture; Determining the range of the breeding pasture area and the central area of the breeding pasture area according to the simulation results of the breeding vessel model and the turning radius of the breeding vessel; A breeding ranch coordinate system is established with the center position of the breeding ranch as the center.

3. The method according to claim 2, wherein The step of collecting the position information and external environment parameters of the aquaculture vessel includes: Obtaining the latitude and longitude coordinates, heading, draft depth and external environmental parameters of the aquaculture vessel through sensors carried by the aquaculture vessel; Converting the latitude and longitude coordinates into coordinates in the breeding ranch coordinate system; Determining a critical dynamic positioning capability parameter table based on the dynamic positioning capability analysis report of the aquaculture vessel, wherein internal elements of the critical dynamic positioning capability parameter table are composed of the magnitude and direction of the resultant external interference force applied to the aquaculture vessel under critical conditions; According to the dynamic positioning assisted anchoring positioning capability analysis report of the aquaculture vessel, a table of anchoring critical dynamic positioning capability parameters is determined.

4. The method according to claim 1, wherein Before the position determination step, the method further includes: Determining the type of task currently being performed by the aquaculture vessel; wherein the task type includes at least aquaculture tasks, water exchange tasks, and migration tasks; If the aquaculture vessel is currently in the aquaculture task, continue the aquaculture task and execute the position determination step; If the aquaculture vessel is currently in the water exchange task, wait until the water exchange task is completed before executing the position determination step; If the aquaculture vessel is currently in the migration mission, it continues to execute the migration mission and outputs the alarm information; wherein, the alarm information is used to prompt the aquaculture vessel that it encounters bad weather and / or bad sea conditions, and the aquaculture vessel is difficult to maintain its position and needs to migrate and evacuate the aquaculture ranch area.

5. The method according to claim 1, wherein The step of determining the location of the aquaculture vessel comprises: Calculating a first distance between the aquaculture vessel and the central area within the preset time period based on the longitude and latitude coordinates and the midpoint coordinates of the central area collected within the preset time period; If the first distance is less than or equal to the radius of the central area, the aquaculture vessel is located in the central area; If the first distance is greater than the radius of the central area, the aquaculture vessel is located in the peripheral area.

6. The method according to claim 3, wherein After the position determination step, the method further includes: Using the direction of the resultant external interference force as an index, searching in the critical dynamic positioning capability parameter table and the anchoring critical dynamic positioning capability parameter table to obtain the critical dynamic positioning capability parameter and the anchoring critical dynamic positioning capability parameter of the corresponding direction; The dynamic positioning demand is compared with the critical dynamic positioning capability parameter and the anchoring critical dynamic positioning capability parameter of the corresponding direction.

7. A dynamic positioning control device for a floating aquaculture cage-type work vessel, characterized in that: The device comprises: The breeding pasture area module is used to determine the breeding pasture area; A position acquisition module collects the position information and external environment parameters of the aquaculture vessel; wherein the position information includes latitude and longitude coordinates, heading and draft depth; An interference calculation module is used to calculate the resultant external interference force on the aquaculture vessel according to the external environmental parameters, and obtain a dynamic positioning requirement based on the resultant external interference force; A command detection module is used to detect whether a position trend judgment command has been received; A position determination module is used for the position determination step: upon receiving a position trend determination instruction, determining the position of the aquaculture vessel based on the longitude and latitude coordinates collected within a preset time period before the current time point; a judgment execution module, configured to output an alarm message if the dynamic positioning demand exceeds a critical dynamic positioning capability parameter for anchoring; The judgment execution module is further configured to switch to an anchoring task if the dynamic positioning requirement is between a critical dynamic positioning capability parameter and an anchoring critical dynamic positioning capability parameter, start the anchoring system, and start the dynamic positioning system to assist in anchoring positioning, so that the aquaculture vessel maintains positioning capability in severe sea conditions; The judgment execution module is further configured to, if the dynamic positioning requirement is within the critical dynamic positioning capability parameter and the aquaculture vessel is located in the central area of the aquaculture ranch area, continue to allow the aquaculture vessel to perform floating aquaculture, and continuously monitor and analyze the longitude and latitude coordinates of the aquaculture vessel; The judgment execution module is also used to start the dynamic positioning system if the dynamic positioning requirement is within the critical dynamic positioning capability parameter and the breeding vessel is located in the peripheral area of the breeding ranch area, so as to enable the breeding vessel to navigate into the central area.

8. A dynamic positioning control device for a floating aquaculture cage-type work vessel, characterized in that: The device includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program is configured to implement the steps of the dynamic positioning control method for a floating aquaculture cage-type work vessel according to any one of claims 1 to 6.

9. A storage medium, characterized in that: The storage medium is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by a processor, the steps of dynamic positioning control of the floating aquaculture cage-type work vessel according to any one of claims 1 to 6 are implemented.

10. A computer program product, characterized in that The computer program product includes a computer program, and when the computer program is executed by a processor, the steps of dynamic positioning control of the floating aquaculture cage-type work vessel according to any one of claims 1 to 6 are implemented.

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