CN116443217A

CN116443217A - Piling ship parking control method and device, piling ship and storage medium

Info

Publication number: CN116443217A
Application number: CN202310712459.3A
Authority: CN
Inventors: 徐彦东; 李立; 刘均良; 刘明; 高小东; 沈家海; 张京; 苏义如; 张宁; 刘国娜; 李健; 刘俊全; 夏冰
Original assignee: CCCC First Harbor Engineering Co Ltd; No 1 Engineering Co Ltd of CCCC First Harbor Engineering Co Ltd
Current assignee: CCCC First Harbor Engineering Co Ltd; No 1 Engineering Co Ltd of CCCC First Harbor Engineering Co Ltd
Priority date: 2023-06-16
Filing date: 2023-06-16
Publication date: 2023-07-18
Anticipated expiration: 2043-06-16
Also published as: CN116443217B

Abstract

The method comprises the steps of obtaining position information and environment information of a sea area where piling is located, wherein the position information comprises piling position information and current position information of the piling ship, controlling a propelling device to operate based on the position information and the environment information, controlling at least one ship moving winch and the propelling device to operate when the driving device enters a preset range, and determining the preset range according to the piling position information. The method and the device can enable the piling ship to be parked rapidly under the condition that the offshore environment is complex.

Description

Piling ship parking control method and device, piling ship and storage medium

Technical Field

The present disclosure relates to the field of ship positioning, and in particular, to a pile driving ship positioning control method and apparatus, a pile driving ship, and a storage medium.

Background

The piling ship is a special ship and is widely applied to the fields of offshore bridge construction and the like. At present, a piling ship is usually required to be pulled to move by a tug boat and is required to be moved to a piling position for parking, but due to the complex offshore environment, accurate parking is required to be continuously adjusted by manually moving the piling ship to the piling position through experience, so that the parking efficiency is low. Therefore, how to quickly park a pile driving vessel becomes a problem in cases where the offshore environment is complex.

Disclosure of Invention

In order to realize quick parking of the piling ship under the condition of complex offshore environment, the application provides a piling ship parking control method and device, a piling ship and a storage medium.

In a first aspect, the present application provides a pile driving ship parking control method, which adopts the following technical scheme:

a pile driving vessel positioning control method, comprising:

acquiring position information and environmental information of a sea area where piling is located, wherein the position information comprises piling position information and current position information of a piling ship;

controlling the operation of a propulsion device based on the position information and the environment information, wherein the propulsion device comprises a forward propulsion device and a side propulsion device;

and when the driving device enters a preset range, controlling at least one ship moving winch and the driving device to operate until the current position information of the piling ship is consistent with the piling position information, wherein the preset range is determined according to the piling position information.

By adopting the technical scheme, after the piling position information and the current position information of the piling ship are obtained, the piling ship can be controlled to drive to the piling position, and as the environmental information of the sea area where the piling is located is obtained, the propulsion device on the piling ship is controlled to operate according to the position information and the environmental information, the piling ship can rapidly drive to the piling position, the deviation condition in the driving process is reduced, when the piling ship enters the preset range of the piling position, the piling ship is required to be positioned more accurately, therefore, the operation of the main pushing device is not required to be controlled, and the position of the piling ship is only finely adjusted according to the ship moving winch and the side pushing device, so that the current position information of the piling ship coincides with and is consistent with the piling position information, the propulsion device is automatically controlled to operate according to the position information and the environmental information of the sea area where the piling is located, the piling ship can rapidly drive to the piling position, and the piling ship is accurately positioned through the side pushing device and the ship moving winch when the piling ship enters the preset range of the piling ship.

In another possible implementation manner, the environmental information includes at least one of wind speed information, wave height information, water flow speed and water temperature information, and the controlling the operation of the propulsion device based on the position information and the environmental information includes:

inputting the position information and the environment information into a trained three-dimensional digital model for control calculation to obtain a calculation result;

and controlling the propelling device to operate based on the calculation result.

By adopting the technical scheme, the position information and the environment information are input into the trained three-dimensional digital model for control calculation, the three-dimensional digital model can calculate the running state of the propulsion device in the most suitable current situation according to the position information and the environment information, namely, the calculation result, and after the calculation result is obtained, the running of the propulsion device is controlled according to the calculation result, so that the pile can quickly and accurately drive to the pile driving position.

In another possible implementation, the controlling operation of the at least one ship moving winch and the propulsion device includes:

acquiring wind direction information and orientation information of the piling ship, and controlling the lateral pushing device to operate based on the wind direction information and the orientation information until the orientation information of the piling ship is consistent with the orientation information;

And controlling the at least one ship moving winch to operate until the position information of the piling ship is consistent with the piling position information.

Through adopting above-mentioned technical scheme, according to the wind direction of pile position and the side thrust unit operation of pile ship's orientation control pile ship, thereby make pile ship's orientation unanimous with pile position's wind direction, and then reduce pile ship's windward area, make pile ship more stable at the during operation, reduce wind to pile ship's influence, after orientation unanimous with the wind direction, control moves ship winch operation, move the different traction forces to pile ship of pulling force of ship winch, thereby realize the fine setting to pile ship position, and then make pile ship's position and pile position coincidence and unanimous, improve the effect of parking.

In another possible implementation, the method further includes:

acquiring first wind speed information at an early warning boundary, first water flow speed at the early warning boundary, second wind speed information at the piling ship and second water flow speed at the piling ship, wherein the early warning boundary is determined according to the piling position information or the current position information of the piling ship;

determining a first difference value and a second difference value, wherein the first difference value is a difference value between the first wind speed information and the second wind speed information, and the second difference value is a difference value between the first water flow speed and the second water flow speed;

And controlling the operation of the at least one ship moving winch and/or the side pushing device based on the first difference value and the second difference value.

By adopting the technical scheme, after the first wind speed information at the early warning boundary and the second wind speed information at the piling ship are obtained, a first difference value is calculated, the first difference value can represent the difference condition between the wind speed at the early warning boundary and the wind speed at the piling ship, the second difference value is calculated after the first water flow speed at the early warning boundary and the second water flow speed at the piling ship are obtained, the second difference value can represent the difference condition between the water flow speed at the early warning boundary and the water flow speed at the piling ship, and the operation of a ship moving winch and/or a side pushing device is controlled in advance according to the first difference value and the second difference value, so that the position of the piling ship is not easy to move.

In another possible implementation, the controlling the operation of the at least one ship moving winch and/or the side pushing device based on the first and second differences includes at least one of:

if the first wind speed information meets a first preset condition, determining the operating power of the at least one ship moving winch based on the first wind speed information, or determining the operating power of the side pushing device based on the first wind speed information, or determining the operating power of the at least one ship moving winch and the operating power of the side pushing device based on the first wind speed information;

If the first water flow speed meets a second preset condition, determining the operation power of the at least one ship moving winch based on the first water flow speed, or determining the operation power of the side pushing device based on the first water flow speed, or determining the operation power of the at least one ship moving winch and the operation power of the side pushing device based on the first water flow speed;

if the first wind speed information meets a first preset condition and the first water flow speed meets a second preset condition, determining the operation power of the at least one ship moving winch based on the first water flow speed, or determining the operation power of the side pushing device based on the first water flow speed, or determining the operation power of the at least one ship moving winch and the operation power of the side pushing device based on the first water flow speed;

the first preset condition includes:

the first wind speed information is larger than the second wind speed information, and the first difference value is larger than a preset wind speed difference value;

the second preset condition includes:

and the first wind speed information and the distance information determine a first arrival time, and the distance information is the distance information between the early warning boundary and the piling ship.

Through adopting above-mentioned technical scheme, when first wind speed information satisfies first default condition and/or first water velocity satisfies the second default condition, indicate that the pile ship is difficult to reply first wind speed information and first water velocity come the influence to the pile ship in time, need take measures in order to stabilize pile ship's position, because move ship winch and side thrust unit all can fight the wind that changes and the water velocity that changes, consequently, control at least one and move ship winch and/or side thrust unit operation all can stabilize pile ship's position of holding, thereby improve pile ship's stability when wind speed and water velocity change.

In another possible implementation, the second wind speed information and the second water flow speed are acquired in real time;

drawing a wind speed change line graph based on the second wind speed information, and determining a water flow speed change line graph based on the second water flow speed;

determining a first target folding line segment from a historical wind speed change folding line graph, and determining a second target folding line segment from the historical water flow speed change folding line graph, wherein the first target folding line segment is the folding line segment with the highest similarity with the wind speed change folding line graph, and the second target folding line segment is the folding line segment with the highest similarity with the water flow speed change folding line graph;

And controlling the operation of the at least one ship moving winch and/or the side pushing device based on the folding line segment after the first target folding line segment and the folding line segment after the second target folding line segment.

By adopting the technical scheme, the most similar folding line segment, namely the first target folding line segment, is found from the historical wind speed change folding line graph, and the most similar folding line segment, namely the second target folding line segment, is found from the historical water speed change folding line graph, so that the wind speed change corresponding to the folding line segment after the first target folding line segment and the wind speed change corresponding to the folding line segment after the second target folding line segment are more likely to reoccur in the later time, and at least one ship moving winch and a side pushing device are controlled to operate according to the folding line segment after the first target folding line segment and the folding line segment after the second target folding line segment, thereby improving the parking position stabilizing effect.

In another possible implementation, the method further includes:

calculating the similarity of the environmental information at the early warning boundary and the environmental information of the piling position;

and if the similarity does not reach a preset similarity threshold, determining the operating power of the at least one ship moving winch and/or the operating power of the side pushing device based on the environmental information at the early warning boundary.

By adopting the technical scheme, the similarity represents the consistent condition between the two environmental information, if the preset similarity threshold value is not reached, the difference between the two environmental information is larger, and if the environmental information at the early warning boundary is changed to the piling position, the current at least one ship moving winch and/or the self weight of the piling ship is possibly unstable, so that the running power of the at least one ship moving winch and/or the side pushing device is determined according to the environmental information at the early warning boundary, and the stable parking of the piling ship is more facilitated.

In a second aspect, the present application provides a pile driving ship parking control device, which adopts the following technical scheme:

a pile driving vessel positioning control device, comprising:

the first acquisition module is used for acquiring position information and environmental information of the sea area where the pile is located, wherein the position information comprises pile position information and current position information of a pile driving ship;

the first control module is used for controlling the running of the propelling device based on the position information and the environment information, and the propelling device comprises a forward pushing device and a side pushing device;

and the second control module is used for controlling at least one ship moving winch and the propelling device to operate when the ship enters a preset range until the current position information of the piling ship is consistent with the piling position information, and the preset range is determined according to the piling position information.

By adopting the technical proposal, the first acquisition module acquires the position information and the environmental information of the sea area where the pile is located, and after the pile position information and the current position information of the pile driving ship are obtained, the pile driving ship can be controlled to drive to the pile driving position, and the first control module controls the running of the propulsion device on the pile driving ship according to the position information and the environmental information, so that the pile driving ship can quickly drive to the pile driving position, reduce the deviation condition in the driving process, and when entering the preset range of the pile driving position, the first control module indicates that the pile driving ship needs to be positioned more accurately, therefore, the second control module only carries out fine adjustment on the position of the piling ship according to the ship moving winch and the side pushing device without controlling the operation of the main pushing device, so that the current position information of the piling ship is overlapped and consistent with the piling position information, the operation of the pushing device is automatically controlled according to the position information and the environmental information of the sea area where the piling is located, the piling ship can quickly drive into the piling position, and when the piling ship drives into the preset range of the piling position, the side pushing device and the ship moving winch are used for carrying out accurate positioning, and compared with manual control of the parking position of the piling ship by experience, the efficiency is higher and more accurate.

In another possible implementation manner, the environmental information includes at least one of wind speed information, wave height information, water flow speed and water temperature information, and the first control module is specifically configured to, when controlling the propulsion device to operate based on the position information and the environmental information:

In another possible implementation, the second control module is specifically configured to, when controlling the operation of the at least one ship moving winch and the propulsion device:

In another possible implementation, the apparatus further includes:

the second acquisition module is used for acquiring first wind speed information at an early warning boundary, first water flow speed at the early warning boundary, second wind speed information at the piling ship and second water flow speed at the piling ship, and the early warning boundary is determined according to the piling position information or the current position information of the piling ship;

The difference value determining module is used for determining a first difference value and a second difference value, wherein the first difference value is a difference value between the first wind speed information and the second wind speed information, and the second difference value is a difference value between the first water flow speed and the second water flow speed;

and the third control module is used for controlling the operation of the at least one ship moving winch and/or the side pushing device based on the first difference value and the second difference value.

In another possible implementation, the third control module is specifically configured to control the operation of the at least one ship moving winch and/or the side pushing device based on the first and second differences, and is specifically configured to at least one of:

the first preset condition includes:

the second preset condition includes:

In another possible implementation, the apparatus further includes:

the real-time acquisition module is used for acquiring second wind speed information and second water flow speed in real time;

the drawing module is used for drawing a wind speed change line graph based on the second wind speed information and determining a water flow speed change line graph based on the second water flow speed;

the system comprises a folding line segment determining module, a water flow speed change folding line segment determining module and a water flow speed change folding line segment determining module, wherein the folding line segment determining module is used for determining a first target folding line segment from a historical wind speed change folding line graph and determining a second target folding line segment from the historical water flow speed change folding line graph, the first target folding line segment is the folding line segment with the highest similarity with the wind speed change folding line graph, and the second target folding line segment is the folding line segment with the highest similarity with the water flow speed change folding line graph;

And the fourth control module is used for controlling the operation of the at least one ship moving winch and/or the side pushing device based on the folding line segment after the first target folding line segment and the folding line segment after the second target folding line segment.

In another possible implementation, the apparatus further includes:

the similarity calculation module is used for calculating the similarity of the environmental information at the early warning boundary and the environmental information of the piling position;

and the power determining module is used for determining the operation power of the at least one ship moving winch and/or the operation power of the side pushing device based on the environmental information at the early warning boundary when the similarity does not reach the preset similarity threshold.

In a third aspect, the present application provides a piling ship, which adopts the following technical scheme:

a piling ship, the piling ship comprising:

at least one processor;

a memory;

at least one application, wherein the at least one application is stored in the memory and configured to be executed by the at least one processor, the at least one processor configured to: a method of pile driving vessel positioning control according to any one of the possible implementations of the first aspect is performed.

In a fourth aspect, the present application provides a computer readable storage medium, which adopts the following technical scheme:

A computer readable storage medium, which when executed in a computer causes the computer to perform a piling ship berthing control method as defined in any one of the first aspects.

In summary, the present application includes at least one of the following beneficial technical effects:

1. after the piling position information and the current position information of the piling ship are obtained, the piling ship can be controlled to drive to the piling position, and as the environmental information of the sea area where the piling is located is obtained, the propulsion device on the piling ship is controlled to operate according to the position information and the environmental information, so that the piling ship can rapidly drive to the piling position, the deviation condition in the driving process is reduced, when the piling ship enters the preset range of the piling position, the piling ship is required to be positioned more accurately, and therefore, the operation of the main pushing device is not required to be controlled, the position of the piling ship is only finely adjusted according to the ship moving winch and the side pushing device, so that the current position information of the piling ship coincides with and is consistent with the piling position information, the propulsion device is automatically controlled to operate according to the position information and the environmental information of the sea area where the piling is located, the piling ship can rapidly drive to the piling position, and the piling ship is accurately positioned through the side pushing device and the ship moving winch when the piling ship is driven to the preset range of the piling ship, and the piling ship is controlled to the piling position more accurately and the piling ship by means of manual experience;

2. The position information and the environment information are input into a trained three-dimensional digital model for control calculation, the three-dimensional digital model can calculate the running state of the propulsion device which is most suitable for the current situation according to the position information and the environment information, namely a calculation result, and after the calculation result is obtained, the running of the propulsion device is controlled according to the calculation result, so that the pile can be quickly and accurately driven to the pile driving position.

Drawings

Fig. 1 is a flow chart of a pile driving vessel positioning control method according to an embodiment of the present application.

Fig. 2 is a schematic structural view of a pile driving vessel parking control device according to an embodiment of the present application.

Fig. 3 is a schematic structural view of a pile driving vessel according to an embodiment of the present application.

Reference numerals: 20. a pile driving ship parking control device; 201. a first acquisition module; 202. a first control module; 203. a second control module; 3. piling ship; 31. a hull; 32. a propulsion device; 321. a main pushing device; 322. a side pushing device; 33. a ship moving winch; 301. a processor; 302. a bus; 303. a memory; 304. a transceiver.

Detailed Description

The present application is described in further detail below with reference to the accompanying drawings.

Modifications of the embodiments which do not creatively contribute to the invention may be made by those skilled in the art after reading the present specification, but are protected by patent laws only within the scope of claims of the present application.

For the purposes of making the objects, technical solutions and advantages of the embodiments of the present application more clear, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which can be made by one of ordinary skill in the art based on the embodiments herein without making any inventive effort, are intended to be within the scope of the present application.

In addition, the term "and/or" herein is merely an association relationship describing an association object, and means that three relationships may exist, for example, a and/or B may mean: a exists alone, A and B exist together, and B exists alone. In this context, unless otherwise specified, the term "/" generally indicates that the associated object is an "or" relationship.

Embodiments of the present application are described in further detail below with reference to the drawings attached hereto.

The embodiment of the application provides a pile driving ship parking position control method, which is executed by a pile driving ship, as shown in fig. 1, and comprises a step S101, a step S102 and a step S103, wherein,

S101, acquiring position information and environmental information of the sea area where the pile is located.

Wherein the location information comprises pile driving location information and current location information of the pile driving vessel.

For the embodiment of the application, the GPS positioning devices can be respectively arranged at the bow and the stern of the piling ship, so that the position information of the bow and the stern is obtained, the position information of the middle position of the piling ship can be determined after the position information of the bow and the stern is obtained, and the position information can represent the position information of the piling ship. The GPS positioning devices can be respectively arranged on two sides of the middle position of the ship body, so that the position information of the middle position of the piling ship can be determined after the position information of the two sides of the ship body is obtained, and the position information can represent the position information of the piling ship. The GPS positioning device can be directly arranged at the middle position of the piling ship, and the obtained position information is determined as the position information of the piling ship. The piling ship is connected with the GPS device in a wired or wireless way, so that the current position information of the piling ship, acquired by the GPS positioning device, is acquired. Pile driving position information can be determined by workers after field investigation, for example, longitude and latitude coordinate information of the pile driving position is determined. Staff inputs longitude and latitude coordinate information of the piling position into the piling ship through input devices such as a mouse, a keyboard and a touch screen, so that the piling ship obtains the piling position information. The environmental information of the sea area can be obtained by a piling ship through a cloud server or the Internet, and also can be obtained through a data interface of a weather bureau or a maritime bureau.

S102, controlling the operation of the propulsion device based on the position information and the environment information.

The propelling device comprises a forward pushing device and a side pushing device.

For the embodiment of the application, after the pile driving ship obtains the position information and the environment information, the driving device on the pile driving ship can be automatically controlled to operate, so that the pile driving ship drives to the pile driving position. Specifically, the propelling device comprises a main propelling device and a side propelling device, the main propelling device controls the piling ship to move forward, and the side propelling device is controlled to operate according to the environmental information because the environmental information is acquired, so that the side propelling device resists water flow in the driving process of the piling ship, the course of the piling ship is not easy to deviate, and the main propelling device and the side propelling device operate together to enable the piling ship to move to a piling position rapidly and accurately.

And S103, when the driving device enters a preset range, controlling at least one ship moving winch and the driving device to operate until the current position information of the piling ship is consistent with the piling position information.

Wherein the preset range is determined according to pile driving position information.

For the embodiment of the application, the preset range may be determined according to the pile driving position, for example, after obtaining the longitude and latitude coordinates of the pile driving position, the circle range is determined to be the preset range by taking the longitude and latitude coordinates as the circle center. Specifically, the radius of the preset range can be adaptively set by a person according to actual conditions. When the driving of the driving ship into the preset range is detected, the driving ship is relatively close to the driving position, and accurate positioning is required. The operation of the at least one ship moving winch and the side pushing device is thus controlled such that the current position of the piling ship coincides with and corresponds to the piling position information. The side pushing device is operated to enable the piling ship to rotate in a displacement mode by taking the vertical direction of the stern as an axis, and therefore the position of the piling ship is finely adjusted.

Specifically, the number of the ship moving and stranding trolleys can be 8, the ship moving and stranding trolleys are distributed at each position of the piling ship, an anchor is fixedly connected to a traction rope of each ship moving winch, the anchor plays a role in stabilizing the piling ship in water, the ship moving and stranding trolleys are controlled to tighten, and accordingly the pulling force of the steel wire rope on the piling ship is adjusted, and accordingly the position of the piling ship is changed and fine-tuned. The side pushing device and the at least one ship moving winch are operated until the position of the piling ship is coincident with the set piling position, so that the piling ship is parked, and compared with manual operation by means of experience and dragging of the piling ship by using a tugboat, the efficiency is improved and the piling ship is more accurate.

In one possible implementation manner of the embodiment of the present application, the environmental information includes at least one of wind speed information, wave height information, water flow speed, and water temperature information, and the operation of the propulsion device is controlled based on the position information and the environmental information in step S102, specifically includes step S1021 (not shown in the figure) and step S1022 (not shown in the figure), where,

s1021, inputting the position information and the environment information into the trained three-dimensional digital model for control calculation, and obtaining a calculation result.

And S1022, controlling the operation of the propulsion device based on the calculation result.

For the embodiments of the present application, the three-dimensional digital model may be a neural network model, or may be another type of network model, or an algorithm model. The three-dimensional digital model is combined with the environmental information and the position information to control and calculate, so that a calculation result which is more suitable for the current situation is calculated, the piling ship generates a control signal according to the calculation result and sends the control signal to the propulsion device to control the operation of the propulsion device, and the piling ship can drive to a piling position more quickly and accurately.

In the embodiment of the present application, the three-dimensional digital model may be trained by using a supervised training manner, and the three-dimensional digital model is assumed to be a neural network model, where the neural network model may be a convolutional neural network or a cyclic neural network, and the types of the network models are not limited herein. Assuming that the three-dimensional digital model is a convolutional neural network model, the convolutional neural network model can realize various functions and perform various calculations as a mature network model. Before training and learning the initial neural network model, determining a corresponding training sample set, wherein the training sample set comprises a plurality of samples, each sample comprises position information and environment information, and the training sample set also comprises the state of a corresponding propelling device under the position information and the environment information. For example, one of the training samples is "pile position x1 ° E, x2 ° N; pile driving ship position x3 deg.E, x4 deg.N; environmental information: wind speed 5m/s, wave height 1m, water flow 3m/s and water temperature 15 ℃; the state of the propulsion device is as follows: the rotating speed of the main pushing device is 550r/min, and the pushing angle is 5.6 degrees; the rotation speed of the side pushing device is 80r/min, the pushing angle is 9 degrees, and the training sample set is input into the initial neural network model for training and learning to obtain a trained neural network model, namely a trained three-dimensional digital model.

And inputting the longitude and latitude of the piling position, the longitude and latitude of the current piling ship and the environmental information of the current sea area into a trained three-dimensional digital model for control calculation, wherein the calculation result output by the three-dimensional digital model is the running state required to be achieved by the propulsion device. For example, the longitude and latitude of the piling location is "piling location x5 ° E, x6 ° N", and the longitude and latitude of the current piling vessel is "piling vessel location x7 ° E, x8 ° N", environmental information: wind speed 4.5m/s, wave height 1.5m, water flow 4m/s and water temperature 16 ℃. Outputting the state of the corresponding propelling device by the trained three-dimensional digital model to be the rotating speed of the main propelling device of 500r/min and the propelling angle of 5 degrees; the rotation speed of the side pushing device is 100r/min, and the pushing angle is 8 degrees.

In one possible implementation manner of the embodiment of the present application, the operation of at least one ship moving winch and propulsion device is controlled in step S103, specifically including step S1031 (not shown in the figure) and step S1032 (not shown in the figure), where,

s1031, wind direction information and orientation information of the piling ship are acquired, and the lateral pushing device is controlled to operate based on the wind direction information and the orientation information until the orientation information of the piling ship is consistent with the orientation information.

S1032, controlling at least one ship moving winch to operate until the position information of the piling ship is consistent with the piling position information.

For the embodiment of the application, after the piling ship is driven into the preset position, the orientation of the piling ship is firstly adjusted so that the orientation of the piling ship is consistent with the wind direction. Specifically, a wind direction sensor can be arranged on the piling ship to collect wind direction of the piling position. The orientation of the pile driving vessel may be provided by navigation equipment on the pile driving vessel, for example a compass or the like. The piling ship operates according to the wind direction of the piling site and the orientation control side thrust device of the piling ship, so that the orientation of the piling ship gradually tends to the wind direction. When the orientation of the piling ship is consistent with the wind direction, the operation of the side pushing device is stopped, the windward area of the piling ship is minimum, and the influence of wind at the piling position is minimum.

When the direction of the piling ship is consistent with the wind direction, at least one ship moving winch is controlled to run, and when the ship moving winch tightens, the traction force of the piling ship is increased, so that the piling ship is displaced, and the position of the piling ship is finely adjusted until the position information of the piling ship is consistent with the piling position information, and thus the parking is completed.

One possible implementation manner of the embodiment of the present application, the method further includes step S104 (not shown in the figure), step S105 (not shown in the figure), and step S106 (not shown in the figure), where step S104 may be performed after step S103, where,

S104, acquiring first wind speed information at an early warning boundary, first water flow speed at the early warning boundary, second wind speed information at a piling ship and second water flow speed at the piling ship.

The early warning boundary is determined according to piling position information or current position information of a piling ship.

For the embodiments of the present application, relevant sensors, such as a wind speed sensor, and a water flow speed sensor, may be provided at the pre-warning boundary. The pre-warning boundary may be a boundary warning other vessels to come and go too close to the piling vessel. An alert float may be provided at the boundary to alert other vessels to and from. The wind speed sensor and the water flow speed sensor are arranged on the warning buoy, so that the wind speed and the water flow speed at the early warning boundary are collected. The piling ship is connected with the wind speed sensor and the water flow speed sensor on the warning buoy through wires or wirelessly, so that first wind speed information and first water flow speed at the warning boundary are obtained. The pile-driving vessel is also provided with a wind speed sensor and a water flow speed sensor to collect second wind speed information and second water flow speed at the pile-driving vessel.

S105, determining a first difference value and a second difference value.

The first difference value is a difference value between the first wind speed information and the second wind speed information, and the second difference value is a difference value between the first water flow speed and the second water flow speed.

And S106, controlling at least one ship moving winch and/or a side pushing device to operate based on the first difference value and the second difference value.

After the piling ship acquires the first wind speed information and the second wind speed information, calculating the difference value between the first wind speed information and the second wind speed information, namely, a first difference value. After the piling ship obtains the first water flow speed and the second water flow speed, calculating a difference value between the first water flow speed and the second water flow speed, namely a second difference value. And controlling at least one ship moving winch and/or a side pushing device to operate according to the first difference value and the second difference value, so that the stability of the piling ship in position is improved.

In other embodiments, the piling vessel may also calculate distance information based on the location of the pre-warning boundary and the location of the piling vessel. If the first wind speed information is greater than the second wind speed information and the first difference is greater than the preset wind speed difference, determining a first arrival time based on the first wind speed information and the distance information. If the first water flow speed is greater than the second water flow speed and the second difference is greater than the preset water flow speed difference, determining the second arrival time based on the first water flow speed and the distance information. The piling ship controls a display device such as a display screen to display the first arrival time and the second arrival time, so that a worker can more intuitively know the time when the wind speed and the water flow speed reach the piling ship.

In one possible implementation manner of this embodiment of the present application, in step S106, the operation of the at least one ship moving winch and/or the side pushing device is controlled based on the first difference and the second difference, which specifically includes at least one of step Sa (not shown in the figure), step Sb (not shown in the figure), and step Sc (not shown in the figure):

if the first wind speed information meets the first preset condition, determining the operation power of at least one ship moving winch based on the first wind speed information, or determining the operation power of the side pushing device based on the first wind speed information, or determining the operation power of at least one ship moving winch and the operation power of the side pushing device based on the first wind speed information.

The first preset condition comprises:

the first wind speed information is greater than the second wind speed information, and the first difference is greater than a preset wind speed difference.

For the embodiment of the application, assuming that the preset wind speed difference is 5 meters per second (m/s), if the first wind speed information is greater than the second wind speed information, it is indicated that the wind speed is greater and the stability of the piling ship is about to be affected. If the first difference value does not reach the preset wind speed difference value, the traction force of at least one ship moving winch of the current piling ship or the self weight of the piling ship can cope with wind after the upcoming enlargement, and if the first difference value reaches the preset wind speed difference value, the operation of at least one ship moving winch and/or a side pushing device is required to cope with the upcoming enlargement. The piling ship can store the corresponding relation between the first difference value and the running power of at least one ship moving winch, and the running power of the ship moving winch can be determined according to the corresponding relation after the first difference value is determined. In other embodiments, the piling vessel may also have stored therein a relationship for calculating the operating power. Substituting the first difference value into the relational expression to calculate the operation power of at least one ship moving winch.

Similarly, the corresponding relation between the first difference and the operation power of the side pushing device can be stored in the piling ship, and the operation power of the side pushing device can be determined according to the corresponding relation after the first difference is determined. In other embodiments, the piling vessel may also have stored therein a relationship that calculates the operating power of the side thrust devices. Substituting the first difference value into the relational expression can calculate the operation power of the side pushing device.

Further, the piling vessel may also determine the operating power of at least one of the transfer winches and the operating power of the side thrust device simultaneously according to the above-described manner in step Sa.

And Sb, if the first water flow speed meets the second preset condition, determining the operation power of at least one ship moving winch based on the first water flow speed, or determining the operation power of a side pushing device based on the first water flow speed, or determining the operation power of at least one ship moving winch and the operation power of the side pushing device based on the first water flow speed.

Wherein the second preset condition includes:

the first arrival time is determined by the first wind speed information and the distance information, and the distance information is the distance information between the pre-warning boundary and the piling ship.

For the present embodiment, assuming that the preset water flow rate difference is 3 meters per second (m/s), if the first water flow rate is greater than the second water flow rate, it is indicated that the wind speed is getting greater and the stability of the piling ship is about to be affected. If the second difference value does not reach the preset water flow speed difference value, the fact that the traction force of at least one ship moving winch of the current piling ship or the self weight of the piling ship can cope with the water flow with the larger flow speed is indicated, and if the second difference value reaches the preset water flow speed difference value, the fact that at least one ship moving winch and/or a side pushing device is required to operate so as to cope with the water flow with the larger flow speed is indicated. The piling ship can store the corresponding relation between the second difference value and the running power of at least one ship moving winch, and the running power of the ship moving winch can be determined according to the corresponding relation after the second difference value is determined. In other embodiments, the piling vessel may also have stored therein a relationship for calculating the operating power. And substituting the second difference value into the relational expression to calculate the operation power of at least one ship moving winch.

Similarly, the corresponding relation between the second difference and the operating power of the side pushing device can be stored in the piling ship, and the operating power of the side pushing device can be determined according to the corresponding relation after the second difference is determined. In other embodiments, the piling vessel may also have stored therein a relationship that calculates the operating power of the side thrust devices. Substituting the second difference value into the relational expression to calculate the operation power of the side pushing device.

Further, the piling ship may also determine the operating power of at least one of the ship moving winches and the operating power of the side pushing device simultaneously according to the above-described manner in step Sb.

Sc, if the first wind speed information meets a first preset condition and the first water flow speed meets a second preset condition, determining the operation power of at least one ship moving winch based on the first water flow speed, or determining the operation power of a side pushing device based on the first water flow speed, or determining the operation power of at least one ship moving winch and the operation power of the side pushing device based on the first water flow speed;

for the embodiment of the application, if the first wind speed information meets the first preset condition and the first water flow speed meets the second preset condition, at least one ship moving winch and/or side pushing device is required to operate. The operation power of at least one ship moving winch is calculated according to the corresponding relation or the relational expression corresponding to the first difference value, or the operation power of the side pushing device is calculated according to the corresponding relation or the relational expression corresponding to the second difference value, and the operation power of at least one ship moving winch and the operation power of the side pushing device can be calculated simultaneously.

One possible implementation manner of the embodiment of the present application, the method further includes step S107 (not shown in the figure), step S108 (not shown in the figure), step S109 (not shown in the figure), and step S110 (not shown in the figure), where step S107 may be performed after step S103, where,

and S107, acquiring second wind speed information and second water flow speed in real time.

For the embodiment of the application, the piling ship can acquire the second wind speed information and the second water flow speed in real time by the wind speed sensor and the water flow speed sensor which are arranged on the piling ship.

S108, drawing a wind speed change line graph based on the second wind speed information, and determining a water flow speed change line graph based on the second water flow speed.

For the embodiment of the application, after the piling ship acquires the second wind speed information, scattered points of the wind speed information are drawn in a time-wind speed coordinate axis, and the scattered points are sequentially connected to obtain a wind speed change line graph. After the piling ship obtains the second water flow speed, scattered points of the water flow speed are drawn in the time-water flow speed coordinate axis, and the scattered points are sequentially connected to obtain a water flow speed change line graph.

S109, determining a first target folding line segment from the historical wind speed change folding line graph, and determining a second target folding line segment from the historical water flow speed change folding line graph.

The first target folding line segment is the folding line segment with the highest similarity with the wind speed change folding line graph, and the second target folding line segment is the folding line segment with the highest similarity with the water flow speed change folding line graph.

For the embodiment of the application, after the wind speed change line graph is obtained, the piling ship slides in the historical wind speed change line graph according to the time axis according to the wind speed change line graph, so that the similarity between the wind speed change line graph and each line segment in the historical wind speed change line graph is calculated, and the first target line segment with the highest similarity is obtained. After the water flow speed change line graph is obtained, the piling ship slides in the historical water flow speed change line graph according to the time axis according to the water flow speed change line graph, so that the similarity of each line segment in the water flow speed change line graph and the historical water flow speed change line graph is calculated, and a second target line segment with the highest similarity is obtained.

In particular, the computed similarity may be computed by a structural similarity measure (SSIM). The similarity of the two line graphs may also be represented as a vector by cosine similarity calculation, where the cosine distance between the vectors is calculated to characterize the similarity of the two line graphs, the first similarity may also be calculated by histogram, or the first similarity may also be calculated by other means, which is not limited herein.

S110, controlling at least one ship moving winch and/or a side pushing device to operate based on the folding line segment after the first target folding line segment and the folding line segment after the second target folding line segment.

For the embodiment of the application, the wind speed change of the first target folding line segment is similar to the wind speed change of the current pile driving boat position, namely the wind speed change represented by the folding line segment after the first target folding line segment is more likely to be similar to the upcoming wind speed change of the current pile driving boat position. Similarly, the wind speed change of the first target folding line segment is similar to the wind speed change of the current position of the piling ship, namely the water flow speed change represented by the folding line segment behind the second target folding line segment is more likely to be similar to the water flow speed change which will occur at the current position of the piling ship. Therefore, the operation power of at least one ship moving winch and/or side pushing device can be calculated in advance according to the broken line segment behind the first target broken line segment and the broken line segment behind the second target broken line segment, and the operation of at least one ship moving winch and/or side pushing device is controlled according to the operation power calculated in advance, so that the stability of the piling ship when the wind speed and the water flow speed change is improved.

According to one possible implementation manner of the embodiment of the application, a worker can write the duration of the piling operation into the piling ship through input devices such as a mouse, a keyboard and a touch screen, or the piling ship calculates the average duration of the piling operation according to the duration of each piling operation in the history. After obtaining the real-time second wind speed information and the second water flow speed, the piling ship determines a wind speed change trend according to the second wind speed information, determines a water flow speed change trend according to the second water flow speed, and calculates whether the wind speed and the water flow speed during piling fluctuate too much according to the duration of piling operation.

One possible implementation manner of the embodiment of the present application, the method further includes step S111 (not shown in the figure) and step S112 (not shown in the figure), where step S111 may be performed after step S103, where,

and S111, calculating the similarity of the environmental information at the early warning boundary and the environmental information of the piling position.

Specifically, the piling ship can input the environmental information at the early warning boundary and the environmental information at the piling position into a trained network model for similarity calculation, so that the similarity between the two environmental information is obtained, and the network model can be a convolution network model, a circulation network model or other types of network models, and is not limited herein.

And S112, if the similarity does not reach the preset similarity threshold, determining the operating power of at least one ship moving winch and/or the operating power of the side pushing device based on the environmental information at the early warning boundary.

For the embodiment of the application, after the similarity is determined, the preset similarity threshold value is assumed to be 90%, if the similarity does not reach 90%, the situation that the difference between the environmental information at the early warning boundary and the environmental information at the piling position is larger is indicated, when the environmental information at the early warning boundary is changed to the piling position, the dead weight of the piling ship and the traction force of at least one ship moving winch are insufficient to deal with the changed environmental information, so that the operating power of at least one ship moving winch and/or the operating power of a side pushing device are determined according to the environmental information at the early warning boundary, control information is generated according to the determined operating power, and the control information is sent to at least one ship moving winch and/or the side pushing device, and the environmental information which is about to change is better dealt with.

The foregoing embodiments describe a pile driving boat positioning control method from the viewpoint of a method flow, and the following embodiments describe a pile driving boat positioning control device from the viewpoint of a virtual module or a virtual unit, and specifically the following embodiments are described below.

The embodiment of the present application provides a pile driving boat parking control device 20, as shown in fig. 2, where the pile driving boat parking control device 20 may specifically include:

a first obtaining module 201, configured to obtain location information and environmental information of a sea area where piling is located, where the location information includes piling location information and current location information of a piling ship;

a first control module 202, configured to control operation of the propulsion device based on the location information and the environmental information, where the propulsion device includes a forward propulsion device and a side propulsion device;

and the second control module 203 is configured to control the at least one ship moving winch and the propulsion device to operate when the preset range is entered, until the current position information of the piling ship is consistent with the piling position information, where the preset range is determined according to the piling position information.

The embodiment of the present application provides a pile driving ship position control device 20, wherein, the first acquisition module 201 acquires the position information and the environmental information of the sea area where the pile driving ship is located, after acquiring the pile driving position information and the current position information of the pile driving ship, the pile driving ship can be controlled to drive to the pile driving position, because the first control module 202 controls the operation of the propulsion device on the pile driving ship according to the position information and the environmental information, the pile driving ship can quickly drive to the pile driving position, and reduces the offset condition in the driving process, when entering the preset range of the pile driving position, the pile driving ship is required to be positioned more accurately, therefore, the second control module 203 only finely adjusts the pile driving ship position according to the ship moving winch and the side pushing device, so that the current position information of the pile driving ship coincides with the pile driving position information, and is consistent, the pile driving ship can quickly drive to the pile driving position according to the position information and the preset range of the pile driving position, and the pile driving ship can be controlled more accurately and more empirically by means of the side pushing device and the winch when entering the preset range of the pile driving position.

In one possible implementation manner of this embodiment of the present application, the environmental information includes at least one of wind speed information, wave height information, water flow speed, and water temperature information, and the first control module 202 is specifically configured to:

and controlling the running of the propulsion device based on the calculation result.

In one possible implementation manner of the embodiment of the present application, the second control module 203 is specifically configured to, when controlling the operation of the at least one ship moving winch and the propulsion device:

and controlling at least one ship moving winch to operate until the position information of the piling ship is consistent with the piling position information.

In one possible implementation manner of the embodiment of the present application, the pile driving ship parking position control device 20 further includes:

the second acquisition module is used for acquiring first wind speed information at an early warning boundary, first water flow speed at the early warning boundary, second wind speed information at the piling ship and second water flow speed at the piling ship, and the early warning boundary is determined according to piling position information or current position information of the piling ship;

The difference determining module is used for determining a first difference and a second difference, wherein the first difference is a difference between the first wind speed information and the second wind speed information, and the second difference is a difference between the first water flow speed and the second water flow speed;

and the third control module is used for controlling the operation of at least one ship moving winch and/or the side pushing device based on the first difference value and the second difference value.

In one possible implementation manner of the embodiment of the present application, the third control module is specifically configured to, when controlling the operation of the at least one ship moving winch and/or the side pushing device based on the first difference value and the second difference value, at least one of the following:

if the first wind speed information meets a first preset condition, determining the operation power of at least one ship moving winch based on the first wind speed information, or determining the operation power of a side pushing device based on the first wind speed information, or determining the operation power of at least one ship moving winch and the operation power of the side pushing device based on the first wind speed information;

if the first water flow speed meets the second preset condition, determining the operation power of at least one ship moving winch based on the first water flow speed, or determining the operation power of a side pushing device based on the first water flow speed, or determining the operation power of at least one ship moving winch and the operation power of the side pushing device based on the first water flow speed;

If the first wind speed information meets a first preset condition and the first water flow speed meets a second preset condition, determining the operation power of at least one ship moving winch based on the first water flow speed, or determining the operation power of a side pushing device based on the first water flow speed, or determining the operation power of at least one ship moving winch and the operation power of the side pushing device based on the first water flow speed;

the first preset condition includes:

the second preset condition includes:

the fold line segment determining module is used for determining a first target fold line segment from the historical wind speed change fold line graph, determining a second target fold line segment from the historical water flow speed change fold line graph, wherein the first target fold line segment is the fold line segment with the highest similarity with the wind speed change fold line graph, and the second target fold line segment is the fold line segment with the highest similarity with the water flow speed change fold line graph;

And the fourth control module is used for controlling the operation of at least one ship moving winch and/or the side pushing device based on the broken line section after the first target broken line section and the broken line section after the second target broken line section.

and the power determining module is used for determining the operating power of at least one ship moving winch and/or the operating power of the side pushing device based on the environmental information at the early warning boundary when the similarity does not reach the preset similarity threshold.

It will be clear to those skilled in the art that, for convenience and brevity of description, the specific working process of the pile driving boat positioning control device 20 described above may refer to the corresponding process in the foregoing method embodiment, and will not be described herein again.

In this embodiment, a piling ship is provided, as shown in fig. 3, the piling ship 3 shown in fig. 3 includes a hull 31, a propulsion device 32 fixedly connected to the hull 31, and at least one ship moving winch 33 fixedly connected to the hull 31.

The pushing device 32 includes a main pushing device 321 and a side pushing device 322. The main pushing device 321 may be a propeller, and the number of the propellers may be one, two, or other numbers. The main pushing device 321 is arranged at the tail of the hull 31 and at the bottom of the hull 31 (not shown in the figures). The side pushing device 322 may be a propeller, and the number of the propellers may be one, two, or other numbers. The side pushing device 322 is disposed at the head of the hull 31 and located at the bottom (not shown) of the hull 31, and when the side pushing device 322 is a propeller, the axis of the propeller is perpendicular to the side of the hull 31, and the propeller is rotated forward or backward to control the hull 31 to move in different directions.

The number of the ship moving winches 33 can be 8, the 8 ship moving winches 33 are distributed at different positions of the ship body 31, a traction rope is fixed on each ship moving winch 33, the traction rope is wound on the ship moving winch 33, an anchor is fixedly connected to the traction rope, and when the anchor is placed in water, the traction force of the ship moving winch 33 is controlled, so that the stability and displacement of the ship body 31 are controlled.

The piling ship 3 shown in fig. 3 further comprises: a processor 301 and a memory 303. Wherein the processor 301 is coupled to the memory 303, such as via a bus 302. Optionally, the piling ship 3 may further comprise a transceiver 304. It should be noted that, in practice, the transceiver 304 is not limited to one, and the structure of the piling ship 3 is not limited to the embodiment of the present application.

The processor 301 may be a CPU (Central Processing Unit ), general purpose processor, DSP (Digital Signal Processor, data signal processor), ASIC (Application Specific Integrated Circuit ), FPGA (Field Programmable Gate Array, field programmable gate array) or other programmable logic device, transistor logic device, hardware components, or any combination thereof. Which may implement or perform the various exemplary logic blocks, modules, and circuits described in connection with this disclosure. Processor 301 may also be a combination that implements computing functionality, e.g., comprising one or more microprocessor combinations, a combination of a DSP and a microprocessor, etc.

Bus 302 may include a path to transfer information between the components. Bus 302 may be a PCI (Peripheral Component Interconnect, peripheral component interconnect Standard) bus or an EISA (Extended Industry Standard Architecture ) bus, or the like. Bus 302 may be divided into an address bus, a data bus, a control bus, and the like. For ease of illustration, only one thick line is shown in fig. 3, but not only one bus or type of bus.

The Memory 303 may be, but is not limited to, a ROM (Read Only Memory) or other type of static storage device that can store static information and instructions, a RAM (Random Access Memory ) or other type of dynamic storage device that can store information and instructions, an EEPROM (Electrically Erasable Programmable Read Only Memory ), a CD-ROM (Compact Disc Read Only Memory, compact disc Read Only Memory) or other optical disk storage, optical disk storage (including compact discs, laser discs, optical discs, digital versatile discs, blu-ray discs, etc.), magnetic disk storage media or other magnetic storage devices, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and that can be accessed by a computer.

The memory 303 is used for storing application program codes for executing the present application and is controlled to be executed by the processor 301. The processor 301 is configured to execute the application code stored in the memory 303 to implement what is shown in the foregoing method embodiments.

The piling ship shown in fig. 3 is only an example and should not be construed as limiting the functionality and scope of use of the embodiments of the present application.

The present application provides a computer readable storage medium having a computer program stored thereon, which when run on a computer, causes the computer to perform the corresponding method embodiments described above. Compared with the prior art, in the embodiment of the application, after the piling position information and the current position information of the piling ship are obtained, the piling ship can be controlled to drive to the piling position, and the driving device on the piling ship is controlled to operate according to the position information and the environment information because the environment information of the sea area where the piling is located is obtained, so that the piling ship can rapidly drive to the piling position, the deviation condition in the driving process is reduced, when the piling ship enters the preset range of the piling position, the piling ship is required to be positioned more accurately, therefore, the driving device is not required to be controlled to operate, and the position of the piling ship is only finely adjusted according to the ship moving winch and the side pushing device, so that the current position information of the piling ship coincides with the piling position information, the driving device is automatically controlled to operate according to the position information and the environment information of the sea area where the piling is located, the piling ship can rapidly drive to the piling position, and the side pushing device are used for accurately positioning when the piling ship enters the preset range of the piling ship, and compared with manual experience, the positioning efficiency of the piling ship is higher and more accurate.

It should be understood that, although the steps in the flowcharts of the figures are shown in order as indicated by the arrows, these steps are not necessarily performed in order as indicated by the arrows. The steps are not strictly limited in order and may be performed in other orders, unless explicitly stated herein. Moreover, at least some of the steps in the flowcharts of the figures may include a plurality of sub-steps or stages that are not necessarily performed at the same time, but may be performed at different times, the order of their execution not necessarily being sequential, but may be performed in turn or alternately with other steps or at least a portion of the other steps or stages.

The foregoing is only a partial embodiment of the present application, and it should be noted that, for a person skilled in the art, several improvements and modifications can be made without departing from the principle of the present application, and these improvements and modifications should also be considered as the protection scope of the present application.

Claims

1. A pile driving vessel positioning control method, comprising:

2. A piling ship berthing control method according to claim 1, wherein the environmental information includes at least one of wind speed information, wave height information, water flow velocity, and water temperature information, the controlling propulsion device operation based on the position information and environmental information includes:

3. A piling vessel parking control method according to claim 1, wherein the controlling operation of the at least one transfer winch and the propulsion device includes:

4. A piling ship berthing control method according to claim 1, further comprising:

5. A piling vessel berthing control method according to claim 4, wherein the controlling the operation of the at least one vessel winch and/or the side thrust device based on the first and second difference values includes at least one of:

The first preset condition includes:

the second preset condition includes:

6. A piling ship berthing control method according to claim 1, further comprising:

acquiring second wind speed information and second water flow speed in real time;

7. A piling ship berthing control method according to claim 1, further comprising:

8. A pile driving vessel positioning control device, comprising:

9. A piling ship, characterized in that it comprises: the device comprises a ship body, a propelling device arranged on the ship body, at least one ship moving winch arranged on the ship body, at least one processor, a memory and at least one application program;

the propulsion device comprises a main propulsion device arranged at the tail of the ship body and a side propulsion device arranged at the head of the ship body;

the at least one application is stored in the memory and configured to be executed by the at least one processor, the at least one application: for performing a piling ship berthing control method according to any one of claims 1-7.

10. A computer readable storage medium having stored thereon a computer program, characterized in that the computer program, when executed in a computer, causes the computer to perform a piling vessel parking control method according to any one of claims 1-7.