Submarine optical cable curve burying ship position line planning method and system based on parameterization calculation

Abstract

The invention relates to the technical field of submarine optical cable burying, in particular to a submarine optical cable curve burying ship position line planning method and system based on parameterization calculation. The method comprises the following steps: setting a routing point and a steering point, determining the radius of an internally tangent turning circle, and enabling the internally tangent turning circle to be respectively tangent to the point; calculating the horizontal towing distance of the burying plough; respectively extending from the tangent points along the extension direction of the route to obtain the stern position at the beginning of steering and the stern position at the end of steering, and calculating the radius of the ship position circle; and calculating a ship head direction change angle arc length, a ship true course, a ship relative azimuth angle and a ship moving distance when the ship moves in the true azimuth angle each time when the ship moves each time, and finally completing the calculation of the embedded ship position when the ship steers. The technical problems that in the prior art, submarine optical cable steering and burying depend on visual observation and past experience of an operator, so that precision is poor, and the burden of the operator is heavy are effectively solved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of submarine cable burying, and in particular to a submarine cable curve burying ship position line planning method and system based on parameterized calculation. BACKGROUND

[0002] The submarine cable is a communication cable specially laid on the seabed. The internal conductor of the submarine cable is tightly wrapped with insulating material, and the outer layer is provided with a reinforcing layer and a corrosion protection layer, which can resist seawater corrosion, seabed pressure and biological attachment, thereby stably realizing transoceanic telecommunication transmission. As a core facility connecting global communication networks, the submarine cable not only supports international Internet data interaction and cross-border enterprise communication, but also provides key communication support for seabed resource exploration, ocean shipping and other scenarios.

[0003] At present, the burying of the submarine cable is mostly carried out by a professional cable laying ship dragging a burying plow, and the submarine cable is buried in the seabed along a pre-surveyed and designed route. In the actual burying process, when the ship dragging the burying plow encounters a route turning point, due to the inertia of the burying plow itself, if not intervened in advance, the trajectory will be deviated. Therefore, it is necessary to calculate and design the ship position line in advance in combination with the water depth, the turning angle and the burying depth, and at the same time, relying on the position sensor of the burying plow and the ship dynamic positioning system, the plow position deviation is captured in real time, and the ship position is dynamically adjusted, so as to correct the moving trajectory of the burying plow, and ensure that the submarine cable always adheres to the designed route, avoiding the exposure or insufficient burying of the submarine cable due to the turning inertia.

[0004] At present, when the submarine cable is buried at the turning point, the ship position is usually adjusted and the burying plow trajectory is controlled by relying on the visual observation of the operator and the accumulated experience, which has a large subjective error, and the turning arc radius and arc length of the burying plow cannot be accurately controlled, which directly leads to the inability to guarantee the burying precision of the curve segment; at the same time, due to the complexity of the underwater environment, the position signal of the burying plow may be disturbed or even lost, and when the position signal of the burying plow cannot be obtained, the operator cannot accurately judge the current burying plow motion situation, which further magnifies the subjective error; in addition, the arc segment turning operation itself has very high requirements for the operator, and the operator needs to integrate multiple groups of sensor data such as ship position, water depth and plow body posture to dynamically plan the ship position, and under long-term high-intensity concentration, the energy consumption and operation burden of the personnel are significantly increased. SUMMARY

[0005] The present application provides a submarine cable curve burying ship position line planning method based on parameterized calculation, to solve the technical problems in the prior art that the submarine cable turning burying relies on the visual observation of the operator and the accumulated experience, resulting in poor precision and heavy burden on the operator; the purpose of the present application is also to provide a submarine cable curve burying ship position line planning system based on parameterized calculation.

[0006] To solve the above problems, the submarine cable curve burying ship position line planning method based on parameterized calculation provided by the application adopts the following technical scheme: A submarine cable curve burying ship position line planning method based on parameterized calculation, comprising the following steps: Step 1: Design the turning path of the burying plow Set the initial route of the burying plow and the route after turning , set the intersection P of and as the turning point, determine the radius of the inscribed turning circle according to the construction requirements , so that the inscribed turning circle is tangent to the points , respectively, and the arc on the inscribed turning circle is the planned turning path of the burying plow ; Step 2: Horizontal towing distance According to the formula , calculate the horizontal towing distance of the burying plow, wherein represents the horizontal towing distance of the burying plow, represents the water depth of the work area, represents the designed towing angle between the ship stern and the burying plow, so as to obtain the distance difference between the burying plow running route and the ship running route in the horizontal direction ; Step 3: Calculate the planned ship position line , extend the horizontal towing distance from the tangent point in the extension direction of the route to obtain the ship stern position when the ship starts to turn , extend the horizontal towing distance from the tangent point in the extension direction of the route to obtain the ship stern position when the ship ends to turn , calculate the radius of the ship position circle according to the horizontal towing distance and the inscribed turning circle radius , draw a circle with as the radius, and the arc on the circle is the designed ship position line of the ship stern , and the included angle between is ; Step 4: Distribution movement plan Set the ship to complete the movement along the arc times ; First During the next move ( From 1 to (positive integers), setting the initial course of the ship as Calculate the angle of change in the ship's heading , Corresponding arc length True course of the ship Relative bearing of the ship and the ship's true bearing Calculate the distance the ship moves during each movement. ,in, , , , , When the ship turns to starboard, , When the ship turns to left, , .

[0007] The beneficial effects of the submarine optical cable curve burial site planning method based on parametric calculation provided by this invention are: 1. By quantifying parameters such as the horizontal towing distance of the burial plow and the stern position line, the turning route of the ship and the burial plow can be determined, replacing the traditional turning operation based on the operator's experience. This enables precise control of the turning radius and arc length, avoiding subjective errors of the operators, thus avoiding situations such as inward deviation or trajectory misalignment caused by subjective errors, ensuring that the burial plow fits the designed route, and improving the accuracy of curve burial. 2. Using a curved path instead of a straight one, the ship's journey is set. The next step is to complete along the arc. The movement of the ship can be obtained in the first place. During the next move ( From 1 to The initial course of the ship (a positive integer) , The angle of change of the ship's heading , Corresponding arc length True course of the ship Relative bearing of the ship and the ship's true bearing This allows us to calculate the distance the ship travels each time it moves. This allows ships to fit an arc through controllable linear motion, reducing the difficulty of ship turning operations, making it easier for operators to grasp and control the ship's navigation trajectory, reducing operational risks during the fiber optic cable laying process, and effectively reducing the operator's operational burden. 3. By pre-planning the ship's position line, the reliance on real-time sensor data during the fiber optic cable laying process is reduced. Even if sensor data is lost, the ship can still complete the turning operation according to the pre-calculated route, reducing the risk of laying interruption due to sensor failure.

[0008] In summary, the present invention effectively solves the technical problem in the prior art that the relocation and burial of submarine optical cables relies on the operator's visual observation and past experience, resulting in poor accuracy and a heavy burden on the operator.

[0009] Furthermore, the radius of the ship's position circle The calculation formula is: .

[0010] Furthermore, step S3 also includes an internal bias compensation step: S31: Calculate the internal offset of the internally tangent turning circle trajectory. , ; S32: When the included angle Larger or inscribed circle turning radius Larger internal bias When the construction exceeds the specified limits, the burial plow should be offset to the outside of the route both before and after the turn. The offset is ,routing The offset is Then the total offset vector The calculation formula is: ; S33: By turning point Set the route with the origin as the origin. The normal vector is ,routing The normal vector is The vector of the center position of the inscribed turning circle is ,but .

[0011] Beneficial effects: By compensating for internal offset based on the designed ship position line, the internal offset error can be offset, causing the thicker turning arc trajectory to shift to the outside of the included angle, precisely connecting with the straight segment of the designed route at the preset turning point, thus achieving a better fit to the turning point of the designed route. Furthermore, the unit vector consistent with the inward bias direction is set as... ,arc Bury the plow to the route The maximum offset of the design point is ,but ; Set the buried plow to deviate from the route The maximum distance is , .

[0012] Further, according to the inscribed circle radius and The angle between Calculate the burying plow distance , , The calculation formula is .

[0013] Further, set the arc The corresponding original design route length is , ; Set the arc The corresponding actual burying length of the burying plow is , ; Set the change amount of the actual burying cable length compared with the original design as , ; Set the correction correlation vector of the original route normal vector as The modified distance of the burying plow to the turning point , , .

[0014] To solve the above problems, the submarine cable curve burying ship position line planning system based on parameterized calculation provided by the application adopts the following technical scheme: The submarine cable curve burying ship position line planning system based on parameterized calculation includes a processor and a memory, and the memory stores computer program instructions, which realize the submarine cable curve burying ship position line planning method based on parameterized calculation when the computer program instructions are executed by the processor. The method includes the following steps: Step 1: Design the turning path of the burying plow; Set the initial route And the route after turning Of the burying plow, set the intersection P of And As a turning point, determine the radius Of the inscribed turning circle according to the construction requirements, so that the inscribed turning circle is tangent to the points And Respectively, , Then the arc On the inscribed turning circle is the planned turning path of the burying plow; Step 2: Horizontal towing distance; According to the formula Calculate the horizontal towing distance of the burying plow, wherein Indicates the horizontal towing distance of the burying plow, Indicates the water depth of the work area, The design towing angle between the stern of the ship and the burial plow is used to obtain the horizontal distance difference between the burial plow's travel route and the ship's travel route. Step 3: Determine the planned vessel position line; From the point of tangency Along the route The extension direction extends the horizontal towing distance. To obtain the stern position when the ship begins to turn. From the point of tangency Along the route The extension direction extends the horizontal towing distance. To obtain the stern position when the ship finishes turning. Based on horizontal towing distance and the radius of the inscribed turning circle Calculate the radius of the ship's position circle ,by Draw a circle with a radius of 1, and the arc on that circle The design position line for the stern, and The included angle between them is ; Step 4: Distributed movement plan; Setting ship experience The next step is to complete along the arc. The movement; No. During the next move ( From 1 to (positive integers), setting the initial course of the ship as Calculate the angle of change in the ship's heading , Corresponding arc length True course of the ship Relative bearing of the ship and the ship's true bearing Calculate the distance the ship moves during each movement. ,in, , , , , When the ship turns to starboard, , When the ship turns to left, , .

[0015] The beneficial effects of the submarine cable curve burying ship position line planning system based on parameterized calculation provided by the application are as follows: by adopting the above technical scheme, the submarine cable curve burying ship position line planning method based on parameterized calculation is generated into a computer program and stored in a memory to be loaded and executed by a processor, so that a terminal device is manufactured according to the memory and the processor, the ship is conveniently controlled to perform a turning operation, subjective errors caused by the traditional dependence on visual observation and past experience of operators can be avoided, the turning precision is improved, and the operation burden of the operators is reduced.

[0016] In summary, the application effectively solves the technical problems in the prior art that the submarine cable turning burying depends on visual observation and past experience of operators, resulting in poor precision and heavy burden of operators.

[0017] Further, the radius of the ship position circle is calculated according to the following formula . .

[0018] Further, the step S3 further includes an inner deviation compensation step: S31: calculating an inner deviation amount of the inscribed turning circle track , ; S32: when the included angle is large or the inscribed circle turning radius is large, causing the inner deviation amount to exceed a construction limited range, the burying plow is offset to the outside of the route before and after turning, the offset amount of the route is , the offset amount of the route is , and the calculation formula of the total offset vector is ; S33: taking the turning point as the origin, setting the normal vector of the route as , the normal vector of the route as , and the center position vector of the inscribed turning circle as , .

[0019] Further, the unit vector in the same direction as the inner deviation direction is set as , the maximum offset amount of the burying plow to the route design point on the arc is , , ; and the maximum distance of the burying plow from the route is , . Attached Figure Description

[0020] The above and other objects, features, and advantages of exemplary embodiments of the present invention will become readily apparent upon reading the following detailed description with reference to the accompanying drawings. In the drawings, several embodiments of the invention are illustrated by way of example and not limitation, and like or corresponding reference numerals denote like or corresponding parts, wherein: Figure 1 A flowchart of the submarine optical cable curve burial position planning method based on parametric calculation provided by the present invention; Figure 2 A schematic diagram of the plow-turn path in the submarine optical cable curve burial positioning line planning method based on parametric calculation provided by the present invention. Figure 3 A schematic diagram of the horizontal towing distance in the submarine optical cable curve burial vessel positioning line planning method based on parametric calculation provided by the present invention. Figure 4 This is a schematic diagram of the planned vessel position line in the submarine optical cable curve burial vessel position line planning method based on parametric calculation provided by the present invention. Figure 5 This is a schematic diagram of the trajectory deviation in the submarine optical cable curve burial vessel positioning line planning method based on parametric calculation provided by the present invention. Figure 6 This is a schematic diagram of the trajectory external deviation fitting route and the original route in the submarine optical cable curve burial position line planning method based on parametric calculation provided by the present invention. Figure 7 This invention provides a schematic diagram of the ship position distribution movement in the parametric calculation-based method for planning the burial position of submarine optical cables. Figure 1 ; Figure 8 This invention provides a schematic diagram of the ship position distribution movement in the parametric calculation-based method for planning the burial position of submarine optical cables. Figure 2 . Detailed Implementation

[0021] The principles and spirit of the present invention will be explained in detail below with reference to several representative embodiments.

[0022] An embodiment of the submarine optical cable curve burial position planning method based on parametric calculation provided by this invention: like Figure 1 As shown, the method for planning the berth line of submarine optical cable burial curves based on parametric calculation includes the following steps: Step 1: Design the turning path for burying the plow; Set the initial route for the burial plow and the route after the turn ,set up and The intersection point P is the turning point. The radius of the internal turning circle is determined according to construction requirements. Make the inscribed turning circle and the route and Tangent at points respectively , Then the arc on the inscribed turning circle The planned turning path for burying the plow; Step 2: Horizontal towing distance; According to the formula Calculate the horizontal drag distance of the burying plow, where, This refers to the horizontal drag distance of the burial plow. This refers to the water depth in the work area. The design towing angle between the stern of the ship and the burial plow is used to obtain the horizontal distance difference between the burial plow's travel route and the ship's travel route. Step 3: Determine the planned vessel position line; From the point of tangency Along the route The extension direction extends the horizontal towing distance. To obtain the stern position when the ship begins to turn. From the point of tangency Along the route The extension direction extends the horizontal towing distance. To obtain the stern position when the ship finishes turning. Based on horizontal towing distance and the radius of the inscribed turning circle Calculate the radius of the ship's position circle ,by Draw a circle with a radius of 1, and the arc on that circle The design position line for the stern, and The included angle between them is ; Step 4: Distributed movement plan; Set ship experience The next step is to complete along the arc. The movement; No. During the next move ( From 1 to (positive integers), setting the initial course of the ship as Calculate the angle of change in the ship's heading , Corresponding arc length True course of the ship Relative bearing of the ship and the ship's true bearing Calculate the distance the ship moves during each movement. ,in, , , , , When the ship turns to starboard, , When the ship turns to left, , .

[0023] It should be noted that "routing" is a professional term in the engineering field, which means the designed trajectory of the optical cable; "ship position line" is a professional term in the engineering field, which means the planned trajectory of a specific point on the ship. In this application, "ship position line" refers to the planned trajectory of the stern; "ship position circle" means a reference circle designed for planning the turning path of the ship. During the turning process, the ship travels along the ship position circle.

[0024] In this embodiment, as Figure 2 As shown, the path for burying the plowshare is... Buried to After the point, along the arc Continue laying to the point Then along the route Continue laying the burial.

[0025] like Figure 3 As shown, based on the water depth of the work area The horizontal distance of the buried plow can be obtained. It should be noted that here... This refers to the designed towing angle between the stern and the burial plow, not the vertical angle of the towing cable.

[0026] like Figure 4 As shown, in this embodiment, from the tangent point Along the route The extension direction extends the horizontal towing distance. To obtain the stern position when the ship begins to turn. From the point of tangency Along the route The extension direction extends the horizontal towing distance. To obtain the stern position when the ship finishes turning. .

[0027] Based on horizontal towing distance and the radius of the inscribed turning circle Calculate the radius of the ship's position circle ,exist Figure 4 middle, Refers to line segment OB. Given line segment OD and triangle OBD, which are right triangles with ∠OBD being a right angle, the radius of the ship's position circle can be obtained by the Pythagorean theorem. The calculation formula is: .

[0028] Then, using the center of the inscribed turning circle... With the center as the center, Draw a circle with a radius of 1, and the arc on that circle To design the ship's position line, and The included angle between them is .

[0029] like Figure 5 As shown, in actual burial operations, the burial plow is towed by a ship. Due to inertia, towing lag, or water flow resistance, its trajectory cannot perfectly conform to the ideal inscribed circle and will be closer to the inside of the included angle than the designed trajectory. Therefore, it is necessary to perform internal offset compensation on the burial plow trajectory. Internal offset compensation includes the following steps: S31: Calculate the internal offset of the internally tangent turning circle trajectory. , ; S32: When the included angle Larger or inscribed circle turning radius Larger internal bias When the construction exceeds the specified limits, the burial plow should be offset to the outside of the route both before and after the turn. The offset is ,routing The offset is Then the total offset vector The calculation formula is: ; S33: By turning point Set the route with the origin as the origin. The normal vector is ,routing The normal vector is The vector of the center position of the inscribed turning circle is ,but .

[0030] In step S32, the burial plow is offset outward by a certain distance before and after the turn. The internal offset error is offset by a preset external offset amount, so that the turning arc trajectory of the external offset is shifted to the outside of the included angle, and it connects with the straight line segment of the design route at the preset turning point, so as to better fit the turning point of the design route. At the same time, since the fundamental reason for the reduction in the length of the optical cable is that the actual turning radius is reduced due to the internal offset, that is, when the inscribed circle is offset inward, the actual turning radius of the burial plow is smaller than the design turning radius, and the corresponding turning arc length will be significantly shortened. This creates a difference with the straight line extension length corresponding to the design route, resulting in the reduction of the optical cable length. After the preset external offset amount, the actual turning radius is "expanded" to be close to the design value, and the arc length increases accordingly. The difference between the actual arc length and the design arc length decreases, thereby reducing the reduction in the length of the buried optical cable and avoiding abnormal connection tension or trajectory breakage due to insufficient optical cable length.

[0031] like Figure 6 As shown, after the offset, the maximum distance between the burial plow and the original route may be three points: the starting point of the arc, the ending point of the arc, and the intersection of the line connecting the turning point and the center of the circle with the arc (i.e., Based on this, in step S33, the turning point is set. Using the origin as the reference point, based on the route... The normal vector is ,routing The normal vector is This allows us to obtain the center position vector of the inscribed turning circle. .

[0032] Next, the unit vector consistent with the inward bias direction is set as... ,arc Bury the plow to the route The maximum offset of the design point is Then it can be based on The calculated maximum offset is The value; setting the deviation of the buried plow from the route The maximum distance is ,but .

[0033] Then, set the arc. The corresponding original design route length is , ; Set arc The corresponding actual burial length of the burial plow is , The actual change in the buried optical cable length compared to the original design is set as follows: ,but ,when When the value is positive, it indicates that the actual buried length is greater than the design value. A negative value indicates that the actual burial length is less than the design value; the corrected correlation vector of the original route normal vector is set as... Bury the plow to the turning point The corrected advance distance is ,but .

[0034] Among them, the burying plow advance distance The calculation formula is: .like Figure 3 As shown in the figure, , For the optimized route after pre-deviation, i.e., the ship route, then the ship self-routing... Enter, when the ship's position moves to The point, that is, the burial plow moved to At the designated point, the ship begins to turn, and at this time, the burial plow reaches the turning point on the original route. The distance from the burial plow to the turning point Corrected lead distance During the ship's movement, maintain the ship's heading aligned with the line connecting the buried plow, and keep the ship's position along the arc. During movement, as the ship moves, the planned route for laying the plowshare along the arc is... Move, when the stern moves to At the designated time, the burial plow moves to... At this point, the ship and the burial plow complete their turn, and then the ship and the burial plow proceed along the route. sports.

[0035] However, in the actual burial process, on the one hand, the ship is affected by external forces in the underwater environment such as water flow and waves. The real-time adjustment of the propeller is difficult to completely offset these dynamic disturbances and can easily lead to trajectory deviation. On the other hand, the ship also needs to tow the burial plow. The friction between the plow body and the seabed and the tension of the towed optical cable will further disrupt the ship's force balance, making it difficult for the propeller to accurately maintain the stable power output required for the characteristic arc. All of these factors make it difficult to directly move the ship along a specific arc.

[0036] Therefore, such as Figure 7 As shown, in this embodiment, the ship's experience is set. The next step is to complete along the arc. The movement, to guide the ship along the arc The motion is transformed into along For a ship moving in a straight line, it only needs to ensure that it moves according to the calculated bearing, distance, and next heading each time. The route of each movement is a straight line, which is consistent with the maneuvering characteristics of a dynamically positioned ship.

[0037] like Figure 8 As shown, along the arc of the ship During the movement, the first Subsequent movement time (n=1, 2, 3, …) Set the initial heading of the ship as , calculate the ship's heading change angle , , Corresponding arc length , true course of the ship , relative bearing of the ship and true bearing of the ship , calculate the moving distance of the ship at each time , wherein, , , , , ; when the ship turns right, , ; when the ship turns left, , .

[0038] It should be noted that the ship position line planning method for laying submarine cable curve provided by the present application based on parameterized calculation, first designs the turning path of the laying plow, then calculates the horizontal towing distance of the laying plow according to the water depth and the designed towing angle, then calculates the ship position line of the ship according to the turning path of the laying plow, the horizontal towing distance and other parameters, and finally specifies the distribution movement plan of the ship according to the ship route, and finally completes the ship position calculation when the ship lays the submarine cable curve.

[0039] Embodiments of the ship position line planning system for laying submarine cable curve provided by the present application based on parameterized calculation: The ship position line planning system for laying submarine cable curve based on parameterized calculation comprises a processor and a memory, and the memory stores computer program instructions, when the computer program instructions are executed by the processor, the ship position line planning method for laying submarine cable curve based on parameterized calculation provided by the present application is realized, and the method comprises the following steps: Step 1: design the turning path of the laying plow; Set the initial route of the laying plow and the route after turning , set the intersection P of and as the turning point, determine the radius of the inscribed turning circle according to the construction requirements, so that the inscribed turning circle is tangent to the points and respectively, then the arc on the inscribed turning circle is the planned turning path of the laying plow; ​​Step two: horizontal tow distance; According to the formula Calculate the horizontal tow distance of the burying plow, wherein, denotes the horizontal tow distance of the burying plow, denotes the water depth of the operation area, denotes the design tow angle between the ship stern and the burying plow, so as to obtain the distance difference between the horizontal direction of the burying plow driving route and the ship driving route; Step three: plan the ship position line; extend the horizontal tow distance from the tangent point along the extension direction of the route to obtain the ship stern position when the ship starts to turn, extend the horizontal tow distance from the tangent point along the extension direction of the route to obtain the ship stern position when the ship ends to turn; calculate the radius of the ship position circle according to the horizontal tow distance and the inscribed turning circle radius , draw a circle with as the radius, the arc on the circle is the design ship position line of the ship stern, and the included angle between and ; Step four: distribute the movement plan; set the ship to experience times to complete the movement along the arc ; In the th movement (n is a positive integer from 1 to ), set the initial heading of the ship as , calculate the ship heading change angle , , the corresponding arc length , the ship true heading , the ship relative bearing , and the ship true bearing , calculate the movement distance of the ship in each movement , wherein, , , , , , ; when the ship turns right, , ; when the ship turns left, , .

[0040] Among them, the radius of the ship's position circle The calculation formula is: .

[0041] In addition, step S3 also includes an internal bias compensation step: S31: Calculate the internal offset of the internally tangent turning circle trajectory. , ; S32: When the included angle Larger or inscribed circle turning radius Larger internal bias When the construction exceeds the specified limits, the burial plow should be offset to the outside of the route both before and after the turn. The offset is ,routing The offset is Then the total offset vector The calculation formula is: ; S33: By turning point Set the route with the origin as the origin. The normal vector is ,routing The normal vector is The vector of the center position of the inscribed turning circle is ,but .

[0042] Set the unit vector consistent with the inward bias direction as ,arc Bury the plow to the route The maximum offset of the design point is ,but ; Set the buried plow to deviate from the route The maximum distance is , .

[0043] Based on the above description in this specification, those skilled in the art will also understand that the following terms, such as "upper," "lower," "front," "rear," "left," "right," "width," "horizontal," "top," "bottom," "inner," and "outer," which indicate orientation or positional relationships, are based on the orientation or positional relationships shown in the accompanying drawings of this specification. They are only for the purpose of facilitating the explanation of the present invention and simplifying the description, and do not explicitly or implicitly suggest that the device or element involved must have the specific orientation, or be constructed and operated in a specific orientation. Therefore, the above-mentioned orientation or positional relationship terms should not be understood or interpreted as limitations on the present invention.

[0044] Also in the description of the specification, the meaning of "a plurality of" is at least two, for example, two, three or more, etc., unless explicitly and specifically defined otherwise.

Claims

1. A method for planning a position line of a curve-laying ship for a submarine optical cable based on parametric computation, characterized in that, The method comprises the following steps: Step 1: design a turning path of a burying plough; Setting initial route of burying plough and turning route , setting the intersection P of as turning point, determining the radius of the inscribed turning circle according to construction requirements , making the inscribed turning circle tangent to the route and at points , , then the arc on the inscribed turning circle is the planned turning path of the burying plough; Step 2: determine a horizontal towing distance; According to the formula calculating the horizontal trail distance of the burying plough, wherein, denotes the horizontal trail distance of the burying plough, denotes the water depth of the working area, denotes the designed trail angle between the ship stern and the burying plough, so as to obtain the distance difference between the horizontal directions of the burying plough running route and the ship running route; Step 3: calculate a planned ship position line; from the tangent point along the extension of the route the horizontal towing distance is extended to obtain the stern position when the ship starts turning from the tangent point along the extension of the route the horizontal towing distance is extended to obtain the stern position when the ship ends turning ; the radius of the ship position circle is calculated according to the horizontal towing distance and the inscribed turning circle radius , and a circle with the radius is drawn, the arc on the circle is the designed ship position line of the stern, and the included angle between and is ; Step 4: distribute a moving plan; Setting a ship to experience Subsequent completion of arc of movement; The first , , the positive integer is 1 to 4, set the initial heading of the ship as , , calculate the change angle of the ship's heading , , the corresponding arc length , the true course of the ship , the relative bearing of the ship , and the true bearing of the ship , calculate the moving distance of the ship at each time , , , , , , , , , , ; when the ship turns right, , , ; when the ship turns left, , , .

2. The parametrically calculated submarine cable curve burial vessel track line planning method of claim 1, wherein, The radius of the position circle The formula for calculating the radius of the position circle is .

3. The parametrically computed submarine cable curve burial vessel track line planning method of claim 1 or 2, wherein, The step S3 further comprises an inner deviation compensation step: S31: Calculate the inner deviation of the inscribed turning circle trajectory , ; S32: When the included angle The larger or the inscribed circle turning radius The larger, resulting in the inner deviation When the inner deviation exceeds the construction limit, the burying plow is offset to the outside of the road before and after turning, and the offset of the road is The offset of the road The offset of the road The offset of the road The total offset vector The calculation formula of the total offset vector ; S33: set the turning point as the origin of the route , the normal vector of the route , the normal vector of the route , the normal vector of the route , the normal vector of the route , the center position vector of the tangent turning circle , then .

4. The parametrically calculated subsea cable curve burial vessel track planning method of claim 3, wherein, A unit vector in the same direction as the inner bias direction is set as , the arc is buried to the route design point maximum offset is , then ; Setting a maximum distance for the burying plough to deviate from the route , .​ 5. The parametrically computed based subsea cable curve burial vessel track line planning method of claim 4, wherein, The angle between the inner tangent circle radius and and The calculation formula of the burying ploughing distance is , .​​ 6. The parametrically calculated subsea cable curve burial vessel track planning method of claim 5, wherein, Set arc The original design route length is , ; Set arc The actual burying length of the corresponding burying plow is , ; The change amount of the actual buried optical cable length compared to the original design is set as Then The correction associated vector of the original routing method vector is set as The modified forward distance of the burying plow to the turning point is Then .

7. A parametrically computed based subsea cable curve burial vessel track planning system, characterized by, The method comprises the following steps: Step 1: design a turning path of a burying plough; Setting initial route of burying plough and turning route , setting the intersection P of as turning point, determining the radius of the inscribed turning circle according to construction requirements , making the inscribed turning circle tangent to the route and at points , , then the arc on the inscribed turning circle is the planned turning path of the burying plough; Step 2: determine a horizontal towing distance; According to the formula calculating the horizontal tow distance of the burying plough, wherein, denotes the horizontal tow distance of the burying plough, denotes the water depth of the working area, denotes the designed tow angle between the ship stern and the burying plough, so as to obtain the horizontal distance difference between the burying plough running route and the ship running route. Step 3: calculate a planned ship position line; from the tangent point along the extension of the route the horizontal tow distance is extended to obtain the stern position at the beginning of the turning of the ship from the tangent point along the extension of the route the horizontal tow distance is extended to obtain the stern position at the end of the turning of the ship ; the radius of the ship position circle is calculated according to the horizontal tow distance and the inscribed turning circle radius , and a circle is drawn with the radius , the arc on the circle is the designed ship position line of the stern, and the included angle between and is ; Step 4: distribute a moving plan; Setting a ship to experience Subsequent completion of arc of movement; The first time of moving (the second time of moving ), set the initial heading of the ship as , calculate the change angle of the ship's heading , , , the corresponding arc length , the true course of the ship , the relative bearing of the ship and the true bearing of the ship , calculate the moving distance of the ship each time , wherein , , , , ; when the ship turns right, , ; when the ship turns left, , .

8. The parametrically computed based subsea cable curve burial vessel track planning system of claim 7, wherein, The radius of the position circle The formula for calculating the radius of the position circle is .

9. The parametrically computed based subsea cable curve burial vessel track planning system of claim 7 or 8, wherein, The step S3 further comprises an inner deviation compensation step: S31: Calculate the inner deviation of the inscribed turning circle trajectory , ; S32: When the included angle The larger or the inscribed circle turning radius The larger, resulting in the inner deviation When the deviation exceeds the construction limit, the burying plow is offset to the outside of the road before and after turning, and the offset of the road is The offset of the road The offset of the road The offset of the road The total offset vector The calculation formula of the total offset vector ; S33: set the turning point as the origin of the route .​​​​​​ 10. The parametrically computed based subsea cable curve burial vessel track planning system of claim 9, wherein, A unit vector in the same direction as the inner bias direction is set as , the arc is buried to the route The maximum offset of the design point is , then ; Setting a maximum distance for a buried plow to deviate from a route , .​

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