Three-dimensional visual control method for operation of a roll-on / roll-off ship

Abstract

The application provides a three-dimensional visual control method for operation of a drum laying ship, and belongs to the technical field of visual control, and comprises the following steps: step 1, multi-source data acquisition for operation of the drum laying ship is performed; step 2, a control unit performs three-dimensional space modeling on the multi-source data for operation of the drum laying ship; and step 3, after the three-dimensional space modeling is performed by the control unit, three-dimensional visual presentation is performed. The application constructs a technical system of multi-source data real-time acquisition-space coordinate dynamic modeling-three-dimensional scene visual presentation for the pain points of operation of a 60m drum laying ship, and realizes laying whole-process monitoring, real-time trajectory display and construction accurate positioning.

Description

Technical Field

[0001] This invention belongs to the field of visualization control technology, specifically relating to a three-dimensional visualization control method for roller laying vessel operations. Background Technology

[0002] In coastal, sheltered, and nearshore water conservancy projects such as revetments and breakwaters, 60m roller laying vessels undertake the core task of laying concrete interlocking sections and sandbag-filled flexible sheets. The quality of their work directly determines the project's erosion and seepage prevention performance. However, current laying operations face three major technical deficiencies, severely restricting construction accuracy and efficiency:

[0003] (a) Large blind spots in the monitoring of the deployment process

[0004] The laying operation requires lowering a 59m wide and 300m long raft through a moon pool (62.4m × 8.1m) to a depth of 30m on the seabed. Underwater, the raft is subject to complex sea conditions, including an average current velocity of 1.25-1.75m / s (corresponding to a surface current velocity of 1.425-2.0m / s) and a 1.5m significant wave height, making it prone to deformation such as edge curling (single-sided offset of 0.8-1.2m) and central bulging (maximum bulge height of 0.5-0.8m). Current monitoring relies solely on a single-point camera on the ship's hull, which cannot visualize the spatial relationship between the raft, the seabed, and the ship. Workers must rely on experience to determine this, resulting in a laying deviation rate as high as 3%-5%, far exceeding the project's allowable error standard of 1%.

[0005] (ii) Insufficient construction positioning accuracy

[0006] The laying vessel employs a 6-point anchoring positioning system. During operation, an 800kN positioning winch is used to adjust the vessel's position to ensure that the laying direction deviates from the designed trajectory by ≤0.5m. However, the existing positioning system only relies on the vessel's coordinate data from DGPS and Beidou positioning instruments, without incorporating dynamic parameters such as the lowering length of the raft (maximum 300m) and the drum rotation speed (0-6m / min). When the vessel experiences a heel of ±0.4° due to wind, waves, and currents, the problem of "precise vessel position but raft deviation" can easily occur. After a single vessel movement (300m), the laying trajectory deviation can reach 1.2-1.5m.

[0007] (iii) Lack of data integration and visualization

[0008] The multi-source data generated during the operation (such as anchor rope tension 790-1324kN, raft tension ≤75kN / m, drum load 240t, and tilting plate pitch angle -34° to +3°) are scattered and stored in different equipment control systems without a unified integrated platform. Operators need to monitor multiple interfaces such as the winch instrument panel, GPS terminal, and pressure sensor at the same time, which makes data interpretation difficult and makes it impossible to grasp the overall rafting situation in real time. This results in an abnormal response delay of ≥30s, increasing the risk of raft tearing and anchor failure. Summary of the Invention

[0009] This invention addresses the pain points of 60m roller paving vessel operations by constructing a technical system that integrates real-time multi-source data acquisition, dynamic spatial coordinate modeling, and 3D scene visualization, enabling full-process monitoring of paving, real-time trajectory display, and precise construction positioning.

[0010] The present invention employs the following technical solution.

[0011] A three-dimensional visualization control method for roller laying vessel operations includes:

[0012] Step 1: Perform multi-source data acquisition for the roller laying vessel operation;

[0013] Step 2: The control unit performs 3D spatial modeling based on multi-source data from the roller laying vessel operation;

[0014] Step 3: After the control unit performs 3D spatial modeling, it executes 3D visualization.

[0015] Furthermore, in step 1, the multi-source data collected from the roller laying vessel operation includes:

[0016] The hull positioning data includes the three-dimensional coordinates (X,Y,Z) of the roller-laying vessel, the heel angle of the roller-laying vessel, and the trim angle of the roller-laying vessel, where X,Y, and Z represent the horizontal, vertical, and longitudinal coordinates of the hull, respectively.

[0017] The data on the status of the rafting body includes the lowering length L of the rafting body of the roller rafting vessel, the tension T of the rafting body, the rotational speed v of the rollers, and the pitch angle θ of the flaps.

[0018] Mooring and sea state data, including anchor line tension F and significant wave height. Flow rate Wind speed ;

[0019] The equipment operation data includes the hydraulic pressure P of the tilting cylinder of the roller laying vessel, the position (R, α) of the deck crane, and the displacement S of the baffle pipe, where R is the working radius of the deck crane and α is the rotation angle of the deck crane.

[0020] Furthermore, in step 1, the three-dimensional coordinates (X,Y,Z) of the hull are collected by the DGPS+BeiDou dual-mode positioning instrument and transmitted to the control unit, and the heel angle of the roller laying vessel and the pitch angle of the roller laying vessel are collected by the TRIM attitude sensor and transmitted to the control unit.

[0021] The lowering length L of the roller laying vessel, the tension T of the roller body, the roller speed v, and the tilt angle θ of the flap are collected and transmitted to the control unit through the roller encoder, tension sensor, speed sensor, and tilt angle sensor, respectively.

[0022] The lowering length L of the discharge body, the tension T of the discharge body, the rotational speed v of the drum and the pitch angle θ of the flap are collected and transmitted to the control unit through a tension sensor, a wave meter, a flow meter and an anemometer, respectively.

[0023] The pressure P of the flap cylinder, the position (R, α) of the deck crane, and the displacement S of the baffle pipe are collected and transmitted to the control unit through the hydraulic pressure sensor, the crane encoder, and the laser displacement sensor, respectively.

[0024] Furthermore, in step 1, the DGPS+BeiDou dual-mode positioning device, TRIM attitude sensor, hydraulic pressure sensor, crane encoder, laser displacement sensor, roller encoder, tension sensor, speed sensor, tilt sensor, tensile sensor, wave meter, flow meter, and anemometer are all connected to the control unit.

[0025] Furthermore, step 2 specifically includes:

[0026] Step 2-1: Define the coordinate system;

[0027] Step 2-2: Perform spatial position calculation for the row;

[0028] Steps 2-3: Collision detection and deviation warning.

[0029] Furthermore, step 2-1 specifically includes:

[0030] Define the global coordinate system: with the engineering design origin of the roller laying vessel operation as (0,0,0), the X-axis is parallel to the design laying direction, the Y-axis is perpendicular to the laying direction, and the Z-axis is perpendicular to the sea level;

[0031] Define the local coordinate system of the hull: with the center of the moon pool of the roller-laid ship as the origin. , The shaft is aligned with the longitudinal axis of the roller-laying vessel's hull. The shaft is aligned with the transverse axis of the roller-laying vessel's hull. Axis (perpendicular to the main deck of the roller-laying ship).

[0032] Furthermore, step 2-2 specifically includes:

[0033] After the conveyor belt is lowered from the roller, the global coordinates (X, Y, Z) of any point on it are calculated using the following formula to achieve dynamic modeling of the conveyor belt's shape:

[0034] X-coordinate of the length of the slab: In the formula: is the X-coordinate of the origin of the local coordinate system of the hull in the global coordinate system; L is the length of the hull lowering; The tilt angle of the flip panel; The angle between the hull of the roller laying vessel and the designed laying direction;

[0035] Y-coordinate of the width direction of the row: In the formula: y is the Y-coordinate of the origin of the local coordinate system of the hull in the global coordinate system; W is the distance of a point in the hull width direction from the center; The angle between the width direction of the row and the global Y-axis; the Z-coordinate of the row depth direction: In the formula: The operating water depth for roller laying vessels; The height to which the discharge body is lifted by the water flow.

[0036] Furthermore, steps 2-3 specifically include:

[0037] Collision warning is achieved by calculating the minimum distance between the hull and the seabed and the ship's hull structure.

[0038] Distance between the liner and the seabed ,when A bottoming-out warning message is triggered when the depth is less than 0.5m. It is the vertical height coordinate of any point on the seabed surface within the laying operation area in the global coordinate system;

[0039] Distance between the slab and the moon pool ,when When the minimum value in the middle is less than 1m, an offset warning message is triggered, and its edge Y coordinate is... Calculation based on the transformation relationship between the ship's local coordinate system and global coordinate system: ;

[0040] Trajectory deviation ,when A trajectory correction command is triggered when the distance exceeds 0.5m. The coordinates of the hull length direction for the pre-designed roller laying vessel operation. The coordinates of the width direction of the hull for the pre-designed roller laying vessel operation.

[0041] Furthermore, step 3 specifically includes:

[0042] The visualization interface is built on the Unity3D engine and consists of three modules: a global monitoring view, a local detail view, and a data panel, providing operators with an intuitive graphical interface.

[0043] Furthermore, in step 3, the global monitoring view includes:

[0044] Presentation scope: A three-dimensional scene with a radius of 500m centered on the ship hull, including the ship hull, the rafts being lowered, the seabed topography, and the mooring system;

[0045] Key indicators: Use different colors to mark the layout status, use dashed lines to show the design layout trajectory, and use solid lines to show the actual trajectory;

[0046] Partial detail views include:

[0047] Moon pool operation view: magnified display of the dynamic movements of the roller, guide beam, and flap, including flap pitch angle, roller speed, and stop tube position;

[0048] Underwater raft view: By overlaying underwater camera footage with a 3D model, the fit between the raft and the seabed is displayed;

[0049] Data panel:

[0050] Real-time parameter area: Displays core parameters in numerical and trend chart form, with an update frequency consistent with the data acquisition frequency;

[0051] Warning notification area: Using sound, light and pop-up windows, warning information is displayed according to priority, and preliminary handling suggestions are provided.

[0052] The beneficial effects of the present invention are as follows, compared with the prior art:

[0053] (i) Significantly improved paving accuracy

[0054] Through 3D visualization and precise positioning, the deviation of the paving trajectory has been reduced from the traditional 1.2-1.5m to ≤0.5m, meeting the 1% error requirement of the project; the occurrence rate of defects such as curling edges and protrusions in the paving body has been reduced from 25% to less than 5%, reducing the amount of paving body rework and improving the construction efficiency of a single project by 30%.

[0055] (ii) Operational safety has been greatly improved

[0056] The multi-source data real-time integration and early warning system reduces the anomaly response time from 30s to ≤10s, effectively avoiding risks such as liner tearing (tension exceeding threshold warning) and anchor failure (tension exceeding 1324kN warning); the underwater visualization function reduces the number of times divers need to explore, reducing operational safety hazards.

[0057] (III) Ease of Operation and Intelligent Upgrades

[0058] A unified 3D visualization interface replaces traditional multi-device monitoring, shortening the training cycle for operators from one month to two weeks; the automatic data storage and analysis function can generate paving quality reports (including trajectory deviation and tension change curves), providing data support for subsequent engineering optimization and promoting the transformation of paving operations from "experience-driven" to "data-driven".

[0059] (iv) Highly adaptable and easily scalable

[0060] This solution is designed based on the parameters of a 60m roller laying vessel (such as a laying width of 59m, a water depth of 30m, and an anchoring force of 800kN). At the same time, it reserves a parameter adjustment interface, which can be adapted to other specifications of laying vessels (such as 40m and 80m roller laying vessels) by modifying the model parameters (such as the width of the laying body and the diameter of the rollers). It has broad prospects for promotion and application. Attached Figure Description

[0061] Figure 1 This is a flowchart of the three-dimensional visualization control method for roller laying vessel operation in this invention. Detailed Implementation

[0062] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of this invention. The embodiments described in this application are merely some embodiments of this invention, and not all embodiments. Based on the spirit of this invention, other embodiments obtained by those skilled in the art without creative effort are all within the protection scope of this invention.

[0063] like Figure 1 As shown, a three-dimensional visualization control method for roller laying vessel operations includes:

[0064] Step 1: Perform multi-source data acquisition for the roller laying vessel operation;

[0065] In a preferred but non-limiting embodiment of the present invention, in step 1, key parameters of the entire laying operation process are collected by deploying high-precision sensors and connected control units (industrial control computers or industrial servers) to provide data support for 3D modeling. The multi-source data collected from the roller laying vessel operation includes:

[0066] The hull positioning data includes the three-dimensional coordinates (X,Y,Z) of the roller-laying vessel, the heel angle of the roller-laying vessel, and the trim angle of the roller-laying vessel, where X,Y, and Z represent the horizontal, vertical, and longitudinal coordinates of the hull, respectively.

[0067] The data on the status of the rafting body includes the lowering length L of the rafting body of the roller rafting vessel, the tension T of the rafting body, the rotational speed v of the rollers, and the pitch angle θ of the flaps.

[0068] Mooring and sea state data, including anchor line tension F and significant wave height. Flow rate Wind speed ;

[0069] The equipment operation data includes the hydraulic cylinder pressure P of the tilting plate on the roller laying vessel, the position (R, α) of the deck crane, and the displacement S of the retaining pipe (support frame). R is the working radius of the deck crane, which is the straight-line distance from the crane's rotation center to the horizontal projection point of the hook. α is the rotation angle of the deck crane, which is the angle between the crane boom and the ship's preset reference direction (usually the longitudinal direction of the hull). The angle between the axes.

[0070] In a preferred but non-limiting embodiment of the present invention, in step 1, the three-dimensional coordinates (X,Y,Z) of the hull are collected by a DGPS+BeiDou dual-mode positioning instrument and transmitted to the control unit, and the heel angle of the roller laying vessel and the pitch angle of the roller laying vessel are collected by a TRIM attitude sensor and transmitted to the control unit.

[0071] The lowering length L of the roller laying vessel, the tension T of the roller, the rotational speed v of the roller and the pitch angle θ of the tipper are collected and transmitted to the control unit by the roller encoder (resolution 0.1m), the tension sensor (range 0-100kN / m), the rotational speed sensor and the tilt angle sensor, respectively.

[0072] The lowering length L of the discharge body, the tension T of the discharge body, the rotational speed v of the drum and the pitch angle θ of the flap are collected and transmitted to the control unit through a tension sensor (range 0-2000kN), a wave meter, a flow meter and an anemometer, respectively.

[0073] The pressure P of the flap cylinder, the position (R, α) of the deck crane, and the displacement S of the baffle (support frame) are collected and transmitted to the control unit by a hydraulic pressure sensor (range 0-30MPa), a crane encoder, and a laser displacement sensor, respectively.

[0074] The DGPS+BeiDou dual-mode positioning device, TRIM attitude sensor, hydraulic pressure sensor (range 0-30MPa), crane encoder, laser displacement sensor, roller encoder (resolution 0.1m), tension sensor (range 0-100kN / m), speed sensor, tilt sensor, tensile force sensor (range 0-2000kN), wave meter, flow meter, and anemometer are all connected to the control unit (industrial computer or industrial server).

[0075] Step 2: The control unit performs 3D spatial modeling based on multi-source data from the roller laying vessel operation;

[0076] In a preferred but non-limiting embodiment of the present invention, step 2 specifically includes:

[0077] Based on the collected multi-source data, a dynamic coordinate system is established for the hull, raft, and seabed environment. Through coordinate transformation and coupled calculation, real-time mapping of the spatial positions of each object is achieved. The core model and formulas are as follows:

[0078] Step 2-1: Define the coordinate system;

[0079] In a preferred but non-limiting embodiment of the present invention, step 2-1 specifically includes:

[0080] Define a global coordinate system (geocentric coordinate system): with the engineering design origin of the roller laying vessel operation as (0,0,0), the X-axis parallel to the design laying direction, the Y-axis perpendicular to the laying direction, and the Z-axis perpendicular to the sea level (Z=0 is the sea level, and negative values ​​are water depth).

[0081] Define the local coordinate system of the hull: with the center of the moon pool of the roller-laid ship as the origin. , The X-axis (the local coordinate system of the hull) is aligned with the longitudinal axis of the roller-laying vessel. The Y-axis (in the local coordinate system of the hull) is aligned with the transverse axis of the roller-layout vessel. The Z-axis (the local coordinate system of the hull) is perpendicular to the main deck of the roller-layout vessel and is associated with the global coordinate system through the hull attitude parameters (HEEL, TRIM).

[0082] Step 2-2: Perform spatial position calculation for the laying hull; the roller laying vessel can be a 60m roller laying vessel.

[0083] In a preferred but non-limiting embodiment of the present invention, step 2-2 specifically includes:

[0084] After the conveyor belt is lowered from the roller, the global coordinates (X, Y, Z) of any point on it are calculated using the following formula to achieve dynamic modeling of the conveyor belt's shape:

[0085] X-coordinate of the length of the slab: In the formula: L is the X-coordinate (m) of the origin of the local coordinate system of the hull in the global coordinate system; L is the length of the hull lowering (m). The tilt angle of the flap (°, downward tilt is negative, upward tilt is positive); The angle (°) between the hull of the roller laying vessel and the designed laying direction;

[0086] Y-coordinate of the width direction of the row: In the formula: W is the Y-coordinate (m) of the origin of the local coordinate system of the hull in the global coordinate system; W is the distance (m) of a point in the width direction of the hull from the center, ranging from -29.5m to +29.5m, corresponding to a 59m paving width. The angle (°) between the width direction of the discharge body and the global Y-axis is corrected by water flow impact. (k is a correction factor, calibrated on-site to be 0.8°·s / m), the Z-coordinate of the discharge depth direction: In the formula: The operating water depth (m, 15m or 30m) for roller laying vessel operations. The height (m) of the discharge body due to water flow. (Derived from empirical formulas in fluid mechanics).

[0087] Steps 2-3: Collision detection and deviation warning.

[0088] In a preferred but non-limiting embodiment of the present invention, steps 2-3 specifically include:

[0089] Collision warning is achieved by calculating the minimum distances between the hull and the seabed (based on a preset seabed elevation model) and the ship's hull structure.

[0090] Distance between the liner and the seabed ,when A bottoming-out warning message is triggered when the depth is less than 0.5m. It represents the vertical height coordinates of any point on the seabed surface within the laying operation area in the global coordinate system. Data can be collected using a multibeam echo sounder before the operation;

[0091] Distance between the slab and the moon pool ,when A deviation warning message is triggered when the minimum value in the middle is less than 1m. The structural parameters of the moon pool are fixed (62.4m × 8.1m), and its edge Y coordinate is... Calculation based on the transformation relationship between the ship's local coordinate system and global coordinate system: (HEEL corrects the lateral offset of the moon pool edge to ensure accuracy);

[0092] Trajectory deviation ,when A trajectory correction command is triggered when the distance exceeds 0.5m. The coordinates of the hull length direction for the pre-designed roller laying vessel operation. The coordinates of the width direction of the hull for the pre-designed roller laying vessel operation.

[0093] Step 3: After the control unit performs 3D spatial modeling, it executes 3D visualization.

[0094] In a preferred but non-limiting embodiment of the present invention, step 3 specifically includes:

[0095] The visualization interface is built on the Unity3D engine and consists of three modules: a global monitoring view, a local detail view, and a data panel, providing operators with an intuitive graphical interface.

[0096] In a preferred but non-limiting embodiment of the present invention, in step 3, the global monitoring view (main interface) includes:

[0097] Presentation scope: A 3D scene with a radius of 500m centered on the ship hull, including the ship hull (105m×32m×6m), the hull being lowered (dynamically displaying length and shape), the seabed topography (modeled according to engineering survey data), and the anchoring system (real-time display of anchor rope tension and length).

[0098] Key markings: Different colors are used to indicate the laying status (green: normal tension ≤75kN / m; yellow: tension 75-85kN / m; red: tension >85kN / m), dashed lines show the designed laying trajectory, solid lines show the actual trajectory, and deviations are marked in real time;

[0099] The detailed view (switchable) includes:

[0100] Moon Pool Operation View: Enlarged view showing the dynamic movements of the roller (60m×2m), guide beam (pear-shaped structure, length ≥60m), and flap (60m×6.3m), including flap pitch angle, roller speed, and position of the stop pipe (30t stop pipe trolley traction);

[0101] Underwater raft view: The underwater camera footage is overlaid with a 3D model to show the degree of fit between the raft and the seabed (represented by a color gradient: blue: fit ≥95%; orange: fit 90%-95%; red: fit <90%).

[0102] Data panel (customizable):

[0103] Real-time parameter area: Displays core parameters (such as anchor rope tension, slab tension, and drum speed) in numerical and trend chart form, with an update frequency consistent with the data acquisition frequency;

[0104] Warning notification area: Using sound and light and pop-up windows, warning information is displayed in priority (red: emergency, such as hull tear; yellow: warning, such as trajectory deviation; blue: reminder, such as insufficient fuel) and preliminary handling suggestions are provided (such as "trajectory deviation 0.8m, it is recommended to use the port side anchor winch to pull up the rope for 5m").

[0105] Examples of the present invention are shown below:

[0106] (a) Hardware deployment

[0107] Sensor installation:

[0108] Encoders and tension sensors are installed at both ends of the roller to ensure full coverage of the entire width of the drum.

[0109] Tension sensors were installed at the anchor rope outlets of the six positioning winches. The model selected was the S-type tension sensor with a range of 2000kN.

[0110] Three attitude sensors were installed in the middle and at the bow and stern of the hull, evenly distributed to improve the accuracy of attitude measurement.

[0111] Two underwater high-definition cameras (4K resolution, night vision function) were installed on both sides of the moon pool to cover the area where the raft was lowered.

[0112] Data processing and display equipment:

[0113] Deploy an industrial server (CPU: Intel Xeon E5-2690, memory: 32GB, hard disk: 1TB SSD) to run data acquisition and modeling software;

[0114] The operation control room is equipped with three 27-inch high-definition monitors (2560×1440 resolution), which display a global monitoring view, a local detail view, and a data panel, respectively.

[0115] Equipped with an emergency operation terminal (tablet computer, supporting 4G / 5G network connectivity) for on-site personnel to view data in real time.

[0116] (II) Software Implementation

[0117] Data acquisition software: developed based on LabVIEW, supports multi-device drivers (such as GPS, sensors, winch control systems), and realizes data parsing, filtering (using Kalman filtering to eliminate noise) and storage (backing up in 1-minute segments, retaining 1 year of data).

[0118] 3D modeling software: Developed based on Unity3D 2022.3, its core functions include:

[0119] Model import: Import the CAD models of the hull, hull, and anchorage (format: FBX) and perform lightweight processing (surface count ≤ 1 million).

[0120] Real-time rendering: Employs PBR (Physically Based Rendering) technology to simulate seawater, waves, and lighting effects, ensuring scene realism;

[0121] Interactive controls: Supports dragging and rotating the view with the mouse, zooming with the scroll wheel, and switching views using shortcut keys (e.g., F1: global view, F2: moon pool view).

[0122] Early warning and control linkage: The software and the rafting vessel control system (such as the winch PLC and the tilting hydraulic system) are linked via the Modbus TCP protocol. When an emergency warning is triggered (such as the raft tension > 85kN / m), a signal is automatically sent to the winch control system to reduce the drum speed (from 6m / min to 2m / min). At the same time, a manual confirmation window pops up to avoid misoperation.

[0123] (III) On-site commissioning and calibration

[0124] Static calibration: In the dock, the hull is simulated and lowered to a fixed height (e.g., 5m). The position of the hull displayed in the 3D model is compared with the actual measured value (using a laser rangefinder). The coordinate system transformation error is corrected to ensure that the position accuracy is ≤0.1m.

[0125] Dynamic testing: Trial laying was carried out in calm sea areas (significant wave height <0.5m, current velocity <0.5m / s), and the trajectory deviation was recorded at different drum speeds (2m / min, 4m / min, 6m / min). The water flow correction coefficient k was calibrated (finally determined to be 0.8°·s / m).

[0126] Joint debugging and verification: Simulate extreme working conditions (such as anchor rope tension of 1324kN and flow velocity of 1.75m / s) to test the software's early warning response time (required to be ≤10s) and data stability (no data loss after 24 hours of continuous operation).

[0127] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that modifications or equivalent substitutions can still be made to the specific implementation of the present invention without departing from the spirit and scope of the present invention. Any modifications or equivalent substitutions should be covered within the scope of protection of the claims of the present invention.

Claims

1. A three-dimensional visualization control method for roller laying vessel operations, characterized in that, include: Step 1: Perform multi-source data acquisition for the roller laying vessel operation; Step 2: The control unit performs 3D spatial modeling based on multi-source data from the roller laying vessel operation; Step 3: After the control unit performs 3D spatial modeling, it executes 3D visualization.

2. The three-dimensional visualization control method for roller laying vessel operations according to claim 1, characterized in that, In step 1, the multi-source data collected from the roller laying vessel operation includes: The hull positioning data includes the three-dimensional coordinates (X,Y,Z) of the roller-laying vessel, the heel angle of the roller-laying vessel, and the trim angle of the roller-laying vessel, where X,Y, and Z represent the horizontal, vertical, and longitudinal coordinates of the hull, respectively. The data on the status of the rafting body includes the lowering length L of the rafting body of the roller rafting vessel, the tension T of the rafting body, the rotational speed v of the rollers, and the pitch angle θ of the flaps. Mooring and sea state data, including anchor line tension F and significant wave height. Flow rate Wind speed ; The equipment operation data includes the hydraulic pressure P of the tilting cylinder of the roller laying vessel, the position (R, α) of the deck crane, and the displacement S of the baffle pipe, where R is the working radius of the deck crane and α is the rotation angle of the deck crane.

3. The three-dimensional visualization control method for roller laying vessel operations according to claim 2, characterized in that, In step 1, the three-dimensional coordinates (X,Y,Z) of the hull are collected by the DGPS+BeiDou dual-mode positioning instrument and transmitted to the control unit. The heel angle of the roller laying vessel and the pitch angle of the roller laying vessel are collected by the TRIM attitude sensor and transmitted to the control unit. The lowering length L of the roller laying vessel, the tension T of the roller body, the roller speed v, and the tilt angle θ of the flap are collected and transmitted to the control unit through the roller encoder, tension sensor, speed sensor, and tilt angle sensor, respectively. The lowering length L of the discharge body, the tension T of the discharge body, the rotational speed v of the drum and the pitch angle θ of the flap are collected and transmitted to the control unit through a tension sensor, a wave meter, a flow meter and an anemometer, respectively. The pressure P of the flap cylinder, the position (R, α) of the deck crane, and the displacement S of the baffle pipe are collected and transmitted to the control unit through the hydraulic pressure sensor, the crane encoder, and the laser displacement sensor, respectively.

4. The three-dimensional visualization control method for roller laying vessel operations according to claim 3, characterized in that, In step 1, the DGPS+BeiDou dual-mode positioning device, TRIM attitude sensor, hydraulic pressure sensor, crane encoder, laser displacement sensor, roller encoder, tension sensor, speed sensor, tilt sensor, tensile sensor, wave meter, flow meter, and anemometer are all connected to the control unit.

5. The three-dimensional visualization control method for roller laying vessel operations according to claim 4, characterized in that, Step 2 specifically includes: Step 2-1: Define the coordinate system; Step 2-2: Perform spatial position calculation for the row; Steps 2-3: Collision detection and deviation warning.

6. The three-dimensional visualization control method for roller laying vessel operations according to claim 5, characterized in that, Step 2-1 specifically includes: Define the global coordinate system: with the engineering design origin of the roller laying vessel operation as (0,0,0), the X-axis is parallel to the design laying direction, the Y-axis is perpendicular to the laying direction, and the Z-axis is perpendicular to the sea level; Define the local coordinate system of the hull: with the center of the moon pool of the roller-laid ship as the origin. , The shaft is aligned with the longitudinal axis of the roller-laying vessel's hull. The shaft is aligned with the transverse axis of the hull of the roller-laying vessel. Axis (perpendicular to the main deck of the roller-laying ship).

7. The three-dimensional visualization control method for roller laying vessel operations according to claim 6, characterized in that, Step 2-2 specifically includes: After the conveyor belt is lowered from the roller, the global coordinates (X, Y, Z) of any point on it are calculated using the following formula to achieve dynamic modeling of the conveyor belt's shape: X-coordinate of the length of the slab: In the formula: is the X-coordinate of the origin of the local coordinate system of the hull in the global coordinate system; L is the length of the hull lowering; The tilt angle of the flip panel; The angle between the hull of the roller laying vessel and the designed laying direction; Y-coordinate of the width direction of the row: In the formula: y is the Y-coordinate of the origin of the local coordinate system of the hull in the global coordinate system; W is the distance of a point in the hull width direction from the center; The angle between the width direction of the row and the global Y-axis; the Z-coordinate of the row depth direction: In the formula: The operating water depth for roller laying vessels; The height to which the discharge body is lifted by the water flow.

8. The three-dimensional visualization control method for roller laying vessel operations according to claim 7, characterized in that, Steps 2-3 specifically include: Collision warning is achieved by calculating the minimum distance between the hull and the seabed and the ship's hull structure. Distance between the raft and the seabed ,when A bottoming-out warning message is triggered when the depth is less than 0.5m. It is the vertical height coordinate of any point on the seabed surface within the laying operation area in the global coordinate system; Distance between the slab and the moon pool ,when When the minimum value is less than 1m, an offset warning message is triggered, and the edge Y coordinate is used. Calculation based on the transformation relationship between the ship's local coordinate system and global coordinate system: ; Trajectory deviation ,when A trajectory correction command is triggered when the distance exceeds 0.5m. The coordinates of the hull length direction for the pre-designed roller laying vessel operation. The coordinates of the width direction of the hull for the pre-designed roller laying vessel operation.

9. The three-dimensional visualization control method for roller laying vessel operations according to claim 8, characterized in that, Step 3 specifically includes: The visualization interface is built on the Unity3D engine and consists of three modules: a global monitoring view, a local detail view, and a data panel, providing operators with an intuitive graphical interface.

10. The three-dimensional visualization control method for roller laying vessel operations according to claim 9, characterized in that, In step 3, the global monitoring view includes: Presentation scope: A three-dimensional scene with a radius of 500m centered on the ship hull, including the ship hull, the rafts being lowered, the seabed topography, and the mooring system; Key indicators: Use different colors to mark the layout status, use dashed lines to show the design layout trajectory, and use solid lines to show the actual trajectory; Partial detail views include: Moon pool operation view: magnified display of the dynamic movements of the roller, guide beam, and flap, including flap pitch angle, roller speed, and stop tube position; Underwater raft view: By overlaying underwater camera footage with a 3D model, the fit between the raft and the seabed is displayed; Data panel: Real-time parameter area: Displays core parameters in numerical and trend chart form, with an update frequency consistent with the data acquisition frequency; Warning notification area: Using sound, light and pop-up windows, warning information is displayed according to priority, and preliminary handling suggestions are provided.

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