A submarine cable curve burying ship position line planning method and system based on parameterized calculation

Abstract

This invention relates to the field of submarine optical cable laying technology, and particularly to a method and system for planning the berth line of submarine optical cable curved laying based on parametric calculation. The method includes: setting a route and turning point; determining the radius of the inscribed turning circle, with the inscribed turning circle tangent to points A and B respectively; calculating the horizontal towing distance of the laying plow; extending from the tangent point along the extension direction of the route A and B respectively to obtain the stern position at the start of the turn and the stern position at the end of the turn, and calculating the radius of the berth circle; calculating the arc length of the ship's heading change angle, the ship's true course, the ship's relative bearing angle, and the distance the ship moves with each movement, ultimately completing the calculation of the berth position during the ship's turn. This invention effectively solves the technical problem in the prior art where submarine optical cable turning and laying relies on the operator's visual observation and past experience, resulting in poor accuracy and a heavy operator burden.

Description

Technical Field

[0001] This invention relates to the field of submarine optical cable laying technology, and in particular to a method and system for planning the berth line of submarine optical cable curve laying based on parametric calculation. Background Technology

[0002] Submarine optical cables are communication cables specifically laid on the seabed. Their internal conductors are tightly wrapped with insulating material, and the outer layers include reinforcing and anti-corrosion protective layers, enabling them to withstand seawater corrosion, seabed pressure, and biological adhesion, thus ensuring stable transoceanic telecommunications transmission. As a core infrastructure connecting global communication networks, submarine optical cables not only support international internet data exchange and multinational corporate communications, but also provide critical communication guarantees for scenarios such as seabed resource exploration and ocean shipping.

[0003] Currently, submarine optical cables are mostly laid using specialized cable-laying vessels towing burial plows, burying the cables into the seabed along a pre-surveyed and designed route. During actual installation, when the vessel towing the burial plow encounters a turning point, the plow's own inertia can cause trajectory deviations if not intervened in advance. Therefore, it is necessary to calculate the designed vessel position line in advance, taking into account water depth, turning angle, and burial depth. Simultaneously, relying on the burial plow's built-in position sensors and the vessel's dynamic positioning system, the plow's position deviation is captured in real time, and the vessel's position is dynamically adjusted to correct the plow's trajectory, ensuring the optical cable always conforms to the designed route and avoiding cable exposure or insufficient burial depth due to turning inertia.

[0004] Currently, when laying submarine optical cables at turning points, operators typically rely on visual observation and accumulated experience to judge and adjust the vessel's position and control the trajectory of the laying shovel. This method is prone to significant subjective errors and cannot accurately control the turning radius and arc length of the shovel, directly leading to a lack of accuracy in laying curved sections. Furthermore, due to the complexity of the underwater environment, the position signal of the shovel may be interfered with or even lost. When the position signal is unavailable, operators struggle to accurately assess the current movement of the shovel, further amplifying subjective errors. In addition, the turning operation on curved sections places extremely high demands on operators. They need to integrate data from multiple sensors, including vessel position, water depth, and shovel attitude, to dynamically plan the vessel's position. This prolonged, high-intensity focus significantly increases the energy expenditure and operational burden on personnel. Summary of the Invention

[0005] This invention provides a method for planning the berth of submarine optical cables for curved burial based on parametric calculation, in order to solve the technical problem that the burial of submarine optical cables for turning depends on the operator's visual observation and past experience, resulting in poor accuracy and heavy operator burden. The purpose of this invention is also to provide a system for planning the berth of submarine optical cables for curved burial based on parametric calculation.

[0006] To address the aforementioned problems, the present invention provides a method for planning the berth of submarine optical cables based on parametric calculations, employing the following technical solution:

[0007] A method for planning the berth of submarine optical cable burial curves based on parametric calculation includes the following steps:

[0008] Step 1: Design the turning path for burying the plow;

[0009] 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;

[0010] Step 2: Horizontal towing distance;

[0011] 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. 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.

[0012] Step 3: Determine the planned vessel position line;

[0013] 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 ;

[0014] Step 4: Distributed movement plan;

[0015] Set ship experience The next step is to complete along the arc. The movement;

[0016] No. During the next movement, From 1 to A positive integer, 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, , .

[0017] The beneficial effects of the submarine optical cable curve burial site planning method based on parametric calculation provided by this invention are:

[0018] 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.

[0019] 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.

[0020] 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.

[0021] 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.

[0022] Furthermore, the radius of the ship's position circle The calculation formula is: .

[0023] Furthermore, step three also includes an internal bias compensation step:

[0024] S31: Calculate the internal offset of the internally tangent turning circle trajectory. , ;

[0025] S32: When the included angle Larger or inscribed 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: ;

[0026] 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 .

[0027] 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.

[0028] Furthermore, the unit vector consistent with the inward bias direction is set as... ,arc Bury the plow to the route The maximum internal bias of the design point is ,but ; Set the buried plow to deviate from the route The maximum distance is , .

[0029] Furthermore, based on the radius of the inscribed turning circle and and The angle between Calculate the burying plow advance distance , The calculation formula is: .

[0030] Furthermore, 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 ; Set the corrected correlation vector of the original route normal vector as Bury the plow to the turning point The corrected advance distance is ,but .

[0031] To address the aforementioned problems, the submarine optical cable curve burial site planning system based on parametric calculation provided by this invention adopts the following technical solution:

[0032] A submarine optical cable curve burial site planning system based on parametric calculation includes a processor and a memory. The memory stores computer program instructions. When the computer program instructions are executed by the processor, the submarine optical cable curve burial site planning method based on parametric calculation is implemented. The method includes the following steps:

[0033] Step 1: Design the turning path for burying the plow;

[0034] 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;

[0035] Step 2: Horizontal towing distance;

[0036] 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. 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.

[0037] Step 3: Determine the planned vessel position line;

[0038] 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 ;

[0039] Step 4: Distributed movement plan;

[0040] Set ship experience The next step is to complete along the arc. The movement;

[0041] No. During the next movement, From 1 to A positive integer, 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, , .

[0042] The beneficial effects of the submarine optical cable curve burial vessel positioning planning system based on parametric calculation provided by this invention are as follows: By adopting the above technical solution, the above-mentioned submarine optical cable curve burial vessel positioning planning method based on parametric calculation is generated into a computer program and stored in a memory so that it can be loaded and executed by a processor. In this way, a terminal device can be made based on the memory and the processor, which facilitates the control of the ship to perform turning operations. This not only avoids the subjective errors caused by the traditional reliance on the operator's visual observation and past experience, thus improving the turning accuracy, but also reduces the operator's operating burden.

[0043] 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.

[0044] Furthermore, the radius of the ship's position circle The calculation formula is: .

[0045] Furthermore, step three also includes an internal bias compensation step:

[0046] S31: Calculate the internal offset of the internally tangent turning circle trajectory. , ;

[0047] S32: When the included angle Larger or inscribed 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: ;

[0048] 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 .

[0049] Furthermore, the unit vector consistent with the inward bias direction is set as... ,arc Bury the plow to the route The maximum internal bias of the design point is ,but ; Set the buried plow to deviate from the route The maximum distance is , . Attached Figure Description

[0050] 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:

[0051] Figure 1 A flowchart of the submarine optical cable curve burial position planning method based on parametric calculation provided by the present invention;

[0052] Figure 2 A schematic diagram of the plow-turn path in the submarine optical cable curve burial position line planning method based on parametric calculation provided by the present invention.

[0053] 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.

[0054] 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.

[0055] 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.

[0056] 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 vessel positioning line planning method based on parametric calculation provided by the present invention.

[0057] 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 ;

[0058] 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

[0059] The principles and spirit of the present invention will be explained in detail below with reference to several representative embodiments.

[0060] An embodiment of the submarine optical cable curve burial position planning method based on parametric calculation provided by this invention:

[0061] 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:

[0062] Step 1: Design the turning path for burying the plow;

[0063] 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;

[0064] Step 2: Horizontal towing distance;

[0065] 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. 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.

[0066] Step 3: Determine the planned vessel position line;

[0067] 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 ;

[0068] Step 4: Distributed movement plan;

[0069] Set ship experience The next step is to complete along the arc. The movement;

[0070] No. During the next movement, From 1 to A positive integer, 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, , .

[0071] 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.

[0072] 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.

[0073] like Figure 3As 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.

[0074] 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. .

[0075] 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: .

[0076] 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 .

[0077] 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:

[0078] S31: Calculate the internal offset of the internally tangent turning circle trajectory. , ;

[0079] S32: When the included angle Larger or inscribed 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: ;

[0080] 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 .

[0081] 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.

[0082] 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. .

[0083] Next, the unit vector consistent with the inward bias direction is set as... ,arc Bury the plow to the route The maximum internal bias of the design point is Then it can be based on The maximum internal bias is calculated to be The value; setting the deviation of the buried plow from the route The maximum distance is ,but .

[0084] 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 .

[0085] Among them, the burying plow advance distance The calculation formula is: .like Figure 4 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.

[0086] 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.

[0087] 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.

[0088] like Figure 8 As shown, along the arc of the ship During the movement, the first During the next movement, From 1 to A positive integer, 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, , .

[0089] It should be noted that the method for planning the ship position line for submarine optical cable curve burial based on parametric calculation provided by this invention first designs the turning path of the burial plow, then calculates the horizontal towing distance of the burial plow based on the water depth and the designed towing angle, then calculates the ship position line based on parameters such as the turning path of the burial plow and the horizontal towing distance, and finally calculates the ship position line during the cable curve burial according to the ship route and the ship distribution and movement plan.

[0090] An embodiment of the submarine optical cable curve burial position planning system based on parametric calculation provided by this invention:

[0091] The submarine optical cable curve burial site planning system based on parametric calculation includes a processor and a memory. The memory stores computer program instructions. When the computer program instructions are executed by the processor, the submarine optical cable curve burial site planning method based on parametric calculation provided by this invention is implemented. The method includes the following steps:

[0092] Step 1: Design the turning path for burying the plow;

[0093] 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;

[0094] Step 2: Horizontal towing distance;

[0095] 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. 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.

[0096] Step 3: Determine the planned vessel position line;

[0097] 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 ;

[0098] Step 4: Distributed movement plan;

[0099] Set ship experience The next step is to complete along the arc. The movement;

[0100] No. During the next movement, From 1 to A positive integer, 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, , .

[0101] Among them, the radius of the ship's position circle The calculation formula is: .

[0102] In addition, step three also includes an internal bias compensation step:

[0103] S31: Calculate the internal offset of the internally tangent turning circle trajectory. , ;

[0104] S32: When the included angle Larger or inscribed 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: ;

[0105] 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 .

[0106] Set the unit vector consistent with the inward bias direction as ,arc Bury the plow to the route The maximum internal bias of the design point is ,but ; Set the buried plow to deviate from the route The maximum distance is , .

[0107] 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.

[0108] In addition, in the description of this specification, "multiple" means at least two, such as two, three or more, etc., unless otherwise expressly and specifically defined.

Claims

1. A method for planning the berth of submarine optical cable culverts based on parametric calculation, characterized in that, 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. 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; Setting ship experience The next step is to complete along the arc. The movement; No. During the next movement, From 1 to A positive integer, setting the ship's initial heading 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, , .

2. The method for planning the berthing position of submarine optical cables based on parametric calculation according to claim 1, characterized in that, The radius of the ship's position circle The calculation formula is: .

3. The method for planning the berthing position of submarine optical cables based on parametric calculation according to claim 1 or 2, characterized in that, Step three 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 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 .

4. The method for planning the berthing position of submarine optical cables based on parametric calculation according to claim 3, characterized in that, Set the unit vector consistent with the inward bias direction as ,arc Bury the plow to the route The maximum internal bias of the design point is ,but ; Setting up the burial plow to deviate from the route The maximum distance is , .

5. The method for planning the berthing position of submarine optical cables based on parametric calculation according to claim 4, characterized in that, Based on the radius of the inscribed turning circle and and The angle between Calculate the advance distance of the burial plow , The calculation formula is: .

6. The method for planning the berthing position of submarine optical cables based on parametric calculation according to claim 5, characterized in that, Setting 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 ; Set the corrected correlation vector of the original route normal vector as Bury the plow to the turning point The corrected advance distance is ,but .

7. A submarine optical cable curve burial positioning system based on parametric calculation, characterized in that, The system includes a processor and a memory. The memory stores computer program instructions. When the computer program instructions are executed by the processor, a method for planning the berthing line of submarine optical cables based on parametric calculations is implemented. This method 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. 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; Setting ship experience The next step is to complete along the arc. The movement; No. During the next movement, From 1 to A positive integer, setting the ship's initial heading 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, , .

8. The submarine optical cable curve burial positioning system based on parametric calculation according to claim 7, characterized in that, The radius of the ship's position circle The calculation formula is: .

9. The submarine optical cable curve burial positioning system based on parametric calculation according to claim 7 or 8, characterized in that, Step three 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 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 .

10. The submarine optical cable curve burial positioning system based on parametric calculation according to claim 9, characterized in that, Set the unit vector consistent with the inward bias direction as ,arc Bury the plow to the route The maximum internal bias of the design point is ,but ; Setting up the burial plow to deviate from the route The maximum distance is , .

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