CN111780743B - Positioning system and positioning method of underwater trenching cable laying machine - Google Patents
Positioning system and positioning method of underwater trenching cable laying machine Download PDFInfo
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- CN111780743B CN111780743B CN202010505198.4A CN202010505198A CN111780743B CN 111780743 B CN111780743 B CN 111780743B CN 202010505198 A CN202010505198 A CN 202010505198A CN 111780743 B CN111780743 B CN 111780743B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F5/00—Dredgers or soil-shifting machines for special purposes
- E02F5/02—Dredgers or soil-shifting machines for special purposes for digging trenches or ditches
- E02F5/10—Dredgers or soil-shifting machines for special purposes for digging trenches or ditches with arrangements for reinforcing trenches or ditches; with arrangements for making or assembling conduits or for laying conduits or cables
- E02F5/104—Dredgers or soil-shifting machines for special purposes for digging trenches or ditches with arrangements for reinforcing trenches or ditches; with arrangements for making or assembling conduits or for laying conduits or cables for burying conduits or cables in trenches under water
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
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- General Engineering & Computer Science (AREA)
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- Mining & Mineral Resources (AREA)
- Computer Networks & Wireless Communication (AREA)
- Mechanical Engineering (AREA)
- Laying Of Electric Cables Or Lines Outside (AREA)
Abstract
One or more embodiments of the present disclosure provide a positioning system and a positioning method for an underwater trenching and cabling machine, where the positioning system includes a shipborne positioning subsystem, an underwater positioning subsystem, and a data fusion subsystem, where the shipborne positioning subsystem is in communication connection with the underwater positioning subsystem, the shipborne positioning subsystem is configured to acquire and process water surface data from a water surface to a preset water depth, the underwater positioning subsystem is configured to acquire and process underwater data below the preset water depth, the water surface data and the underwater data are both sent to the data fusion subsystem to generate path information of a cabling, and a path diagram of the cabling is drawn by the data fusion subsystem according to the path information. The invention can feed back the determined underwater position of the trenching cable laying machine in real time through the path diagram generated by data fusion, and analyzes the relevant parameters of each trenching cable laying on the laying path through the path diagram.
Description
Technical Field
One or more embodiments of the present disclosure relate to the field of marine operations, and in particular, to a positioning system and a positioning method for an underwater trenching and cable laying machine.
Background
GNSS (global navigation satellite system) generally refers to all satellite navigation systems including global, regional and enhanced, such as GPS (national positioning system), Glonass (national positioning system), Galileo (national positioning system) and beidou satellite navigation systems, and includes related enhanced systems, such as WAAS (wide area enhanced system), EGNOS (european geostationary navigation overlay system) and MSAS (multi-functional transportation satellite enhanced system), and also covers other satellite navigation systems under construction and to be built later.
In recent years, the domestic offshore wind power industry is rapidly developed, and offshore wind power plants are successively owned by provinces and cities along the sea. The installation of the offshore wind power plant mainly comprises the installation of a fan foundation, a tower, a cabin and blades. Compared with land, the construction difficulty of the sea is much higher, and special offshore wind power installation ships are needed to be provided for transporting equipment such as wind turbines to sites and ensuring the implementation of subsequent installation engineering. Offshore wind power generation can be utilized only after being boosted and conveyed to land, and cables between grid-connected arrays among all installed fans and cables conveyed to land need to be laid in the sea. In the traditional mode, the requirement on cable laying is not high, some cables are directly laid on the seabed, and some cables are buried in the easily damaged position by riprap. With the long-term development and reliability requirements of maritime workers, the higher the burying requirements of the cables between the arrays and the transmission cables are. By adopting a direct laying mode, the submarine cable is easily exposed on the seabed and is easily accidentally injured by ships, fishermen and the like. The problem of direct burying exists in adopting riprap burying, and the burying path can not be accurately recorded. Due to the influence of ocean currents, the submarine cable on the seabed is easy to displace, the path of the submarine cable is further changed, and the later maintenance is difficult. In order to enhance the protection of the cable, a plow type trencher is adopted to perform trenching and then burying, so that the submarine cable can be effectively protected. Plow trenchers are towed by a parent vessel to excavate the trench. In addition, a self-walking trencher can be adopted to dig a trench and lay a submarine cable, so as to protect the submarine cable. However, the plough type trencher is towed and dragged by a mother ship, and navigation and cable positioning of the plough type trencher are completed by the mother ship. The self-walking trencher is similar to an underwater robot, and needs a positioning system to position equipment, wherein the first can record the position of an underwater cable, and the second can perform trencher navigation. However, if the navigation positioning system of the underwater robot is adopted, the problems of complex system and higher cost exist. The self-walking trenching cabling robot is communicated with the mother ship through an umbilical cable and is provided with power supply by the mother ship. The underwater trenching cable laying machine works underwater, has a certain distance and direction with a mother ship, and cannot simply use positioning information measured by a GNSS system of the mother ship as reference. Because of the direction change and uncertainty between the underwater trenching cable laying machine and the mother ship, if the position of the underwater trenching cable laying machine is corrected by only using a ship-borne GNSS positioning system, a large error exists.
Disclosure of Invention
In view of this, the purpose of one or more embodiments of the present disclosure is to provide a positioning system for an underwater trenching cable laying machine, so as to solve the problems of poor positioning accuracy and inconvenient post-maintenance during trenching cable laying.
Based on the above purpose, one or more embodiments of the present disclosure provide a positioning system of an underwater trenching cable laying machine, including a shipborne positioning subsystem, an underwater positioning subsystem, and a data fusion subsystem, where the shipborne positioning subsystem is in communication connection with the underwater positioning subsystem, the shipborne positioning subsystem is configured to acquire and process water surface data from a water surface to a preset water depth, the underwater positioning subsystem is configured to acquire and process underwater data below the preset water depth, the water surface data and the underwater data are both sent to the data fusion subsystem to generate path information of a laid cable, and a path diagram of the laid cable is drawn by the data fusion subsystem according to the path information.
In another possible implementation manner of the embodiment of the present invention, the shipborne positioning subsystem includes a plurality of surface processors and a surface signal recombiner, where the surface processors are configured to acquire positioning data corresponding to the surface processors, and the surface signal recombiner is configured to convert the positioning data and transmit the converted positioning data to the data fusion subsystem.
In another possible implementation manner of the embodiment of the present invention, in combination with the above description, the underwater positioning subsystem includes a plurality of underwater sensors, and each of the underwater sensors is respectively used for acquiring underwater data below a preset water depth.
In another possible implementation manner of the embodiment of the present invention, in combination with the above description, the underwater positioning subsystem further includes an underwater controller and an underwater signal combiner, the underwater controller and the underwater signal combiner are in communication connection with each of the underwater sensors of the underwater positioning subsystem, the underwater controller is configured to adjust a height of a positioning sensor included in the underwater positioning subsystem according to the underwater data, and the underwater signal combiner is in communication connection with each of the underwater sensors and the shipborne positioning subsystem.
With reference to the above description, in another possible implementation manner of the embodiment of the present invention, the data fusion subsystem obtains the water surface data and the underwater data through an ethernet communication protocol, and performs two-dimensional plane drawing on the water surface data and the underwater data by taking a time unit as a horizontal axis.
In another possible implementation manner of the embodiment of the present invention, the shipborne positioning subsystem includes a water surface GNSS device, an ultra-short baseline processor, a cable detection system processor, and a trenching cable applicator water surface controller, and the underwater positioning subsystem includes an underwater airborne GNSS device, an ultra-short baseline beacon, a cable detection probe, and an underwater controller, where the water surface GNSS device and the underwater airborne GNSS device are in communication connection, the ultra-short baseline processor and the ultra-short baseline beacon are in communication connection, the cable detection processor and the cable detection probe are in communication connection, and the trenching cable applicator water surface controller and the underwater controller are in communication connection.
In another possible implementation manner of the embodiment of the present invention, in combination with the above description, the trenching and cable laying machine water surface controller monitors each of the underwater sensors and sends the underwater data collected by each of the underwater sensors to the data fusion subsystem, and the trenching and cable laying machine water surface controller is further configured to receive positioning information fused by the underwater trenching and cable laying machine generated by the positioning data fusion subsystem, so as to automatically navigate and control a path of the trenching and cable laying machine.
In another possible implementation manner of the embodiment of the present invention, in combination with the above description, the apparatus further includes: and the alarm unit is used for alarming when the data fusion subsystem is improper to bury the cable based on the collected state information of the underwater trenching cable laying machine.
In a second aspect, an embodiment of the present invention further provides a method for positioning an underwater trenching cable laying machine, where the method includes:
acquiring water surface data and underwater data acquired in the process of ditching and cabling, and sending the water surface data and the underwater data to a data fusion subsystem for fusion;
receiving the cable three-dimensional positioning data generated by the data fusion subsystem, and fitting positioning curves of all laid cables by combining cable laying time;
and correcting, calculating, inquiring and printing the recorded cable three-dimensional positioning data based on the positioning curve.
With reference to the above description, in another possible implementation manner of the embodiment of the present invention, before acquiring the water surface data and the underwater data collected in the trenching and cabling process, and sending the water surface data and the underwater data to the data fusion subsystem for fusion, the method further includes:
the method comprises the steps of setting a ship-borne positioning subsystem, an underwater positioning subsystem and a data fusion subsystem, wherein the ship-borne positioning subsystem is in communication connection with the underwater positioning subsystem, the ship-borne positioning subsystem is used for collecting and processing water surface data between a water surface and a preset water depth, the underwater positioning subsystem is used for collecting and processing underwater data below the preset water depth, the water surface data and the underwater data are both sent to the data fusion subsystem to generate path information for laying cables, and a path diagram for laying the cables is drawn through the data fusion subsystem according to the path information.
As can be seen from the above, the positioning system and the positioning method for underwater trenching and cable laying provided in one or more embodiments of the present disclosure adopt two positioning modes, namely, underwater positioning and water surface positioning, and are suitable for positioning requirements of different water depths, and when positioning data redundancy is realized in an ultra-shallow water area to improve system reliability, each subsystem can be made independent without affecting the reliability of other subsystems through data fusion, and a generated path diagram can feed back a determined underwater position of the trenching and cable laying machine in real time, and a laid path is analyzed through the path diagram to realize timely correction of a path error.
Drawings
In order to more clearly illustrate one or more embodiments or prior art solutions of the present specification, the drawings that are needed in the description of the embodiments or prior art will be briefly described below, and it is obvious that the drawings in the following description are only one or more embodiments of the present specification, and that other drawings may be obtained by those skilled in the art without inventive effort from these drawings.
FIG. 1 is a schematic illustration of a positioning system of an underwater trenching and cabling machine in accordance with one or more embodiments of the present disclosure;
FIG. 2 is a schematic structural diagram of an on-board positioning subsystem according to one or more embodiments of the present disclosure;
FIG. 3 is a schematic structural diagram of an underwater positioning subsystem in accordance with one or more embodiments of the present disclosure;
FIG. 4 is a schematic diagram of an adjustment process of the underwater positioning subsystem in adjusting dispatch according to one or more embodiments of the present disclosure;
FIG. 5 is a schematic path diagram of one or more embodiments of the present disclosure;
FIG. 6 is a schematic diagram of the overall system architecture of one or more embodiments of the present disclosure;
fig. 7 is a flow diagram illustrating a positioning method according to one or more embodiments of the present disclosure.
Detailed Description
For the purpose of promoting a better understanding of the objects, aspects and advantages of the present disclosure, reference is made to the following detailed description taken in conjunction with the accompanying drawings.
It is to be noted that unless otherwise defined, technical or scientific terms used in one or more embodiments of the present specification should have the ordinary meaning as understood by those of ordinary skill in the art to which this disclosure belongs. The use of "first," "second," and similar terms in one or more embodiments of the specification is not intended to indicate any order, quantity, or importance, but rather is used to distinguish one element from another. The word "comprising" or "comprises", and the like, means that the element or item listed before the word covers the element or item listed after the word and its equivalents, but does not exclude other elements or items. The terms "connected" or "coupled" and the like are not restricted to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "upper", "lower", "left", "right", and the like are used merely to indicate relative positional relationships, and when the absolute position of the object being described is changed, the relative positional relationships may also be changed accordingly.
The invention relates to a positioning system and a positioning method of an underwater trenching cable laying machine, which are mainly applied to the underwater operation scene of ships for trenching and laying cables on the sea surface or the seabed, and the basic idea is as follows: the method comprises the steps of establishing a shipborne positioning subsystem, an underwater positioning subsystem and a data fusion subsystem, wherein the shipborne positioning subsystem, the underwater positioning subsystem and the data fusion subsystem are respectively used for processing water surface data above a preset water depth and underwater data below the preset water depth, generating path information of a laid cable through the data fusion subsystem so as to draw a path diagram of the laid cable, judging whether an error occurs in the path of the laid cable through the path diagram, and correcting the laid path in time according to the error.
Referring to fig. 1, there is shown a schematic structural view of a positioning system of an underwater trenching and cabling machine of the present invention, the system mainly comprises a shipborne positioning subsystem, an underwater positioning subsystem and a data fusion subsystem, wherein the shipborne positioning subsystem and the underwater positioning subsystem can establish communication connection through an umbilical cable, the umbilical cable is generally a power and optical fiber composite cable, used for connecting the power of the water surface, controlling cable-controlled underwater equipment such as underwater trenching robots, ROVs (remote operated vehicles) and the like, the data fusion subsystem may be in communication connection with the shipborne positioning subsystem, and is generally disposed on a ship.
In an implementation scenario of an exemplary embodiment of the present invention, the onboard positioning subsystem is in communication connection with the underwater positioning subsystem, the onboard positioning subsystem is configured to collect and process water surface data from a water surface to a preset water depth, the preset water depth may be 10 meters, and the preset water depth may be set differently according to actual operation requirements, and as shown in fig. 2, the onboard positioning subsystem according to the exemplary embodiment of the present invention is a schematic configuration diagram of the onboard positioning subsystem according to the exemplary embodiment of the present invention, and the onboard positioning subsystem according to the exemplary embodiment of the present invention may include a plurality of water surface processors and a water surface signal recombiner, the plurality of water surface processors are configured to collect positioning data corresponding to the respective water surface processors, and the water surface signal recombiner is configured to convert and transmit the positioning data to the data fusion subsystem, specifically, each of the water surface processors include:
the onboard GNSS water surface processor is used for processing the transmission information of an onboard GNSS probe (a sensor of a GNSS positioning system), calculating the real-time global positioning information of the onboard GNSS and transmitting the positioning information of the onboard GNSS probe to the data fusion subsystem;
the ultra-short baseline water surface processor is used for triggering an underwater ultra-short baseline beacon (which is an ultra-short baseline positioning system and generally comprises a transmitting transducer, a transponder, a receiving matrix and the like), determining the positions of the parent ship ultra-short baseline transducer and the underwater ultra-short baseline, is provided with a GNSS interface, receiving shipborne GNSS positioning information, correcting to obtain the global positioning position of the underwater ultra-short baseline beacon, and transmitting the information to the data fusion subsystem;
and the cable detection water surface processor is used for processing the data of the underwater cable detection probe, decomposing the data to obtain the relative position of the cable and the underwater cable probe and the information of the burying depth of the cable, and transmitting the information to the data fusion subsystem.
The water surface controller of the trenching cable laying machine is a control processing system of the trenching cable laying machine, is used for controlling the action of the underwater trenching cable laying machine, needs to monitor information of underwater sensors, such as height, depth, information of each hydraulic unit and state of an electromagnetic valve, sends positioning related data (the depth, the height and the attitude information of the underwater trenching cable laying machine) to a data fusion subsystem for data fusion, and simultaneously receives positioning information fused by the underwater trenching cable laying machine of the data fusion subsystem so as to carry out automatic navigation control according to the positioning information.
The shipborne GNSS is a GPS, Beidou and other positioning systems carried on a mother ship, and can output the global positioning information of the mother ship in real time. When the airborne GNSS probe is not in use, the global positioning information of the underwater trenching cable laying machine can be provided together with the ultra-short baseline system.
The underwater positioning subsystem is used for acquiring and processing underwater data below a preset water depth, the water surface data and the underwater data are both sent to the data fusion subsystem to generate path information of a laid cable, and a path diagram of the laid cable is drawn through the data fusion subsystem according to the path information, specifically, in an implementation manner of an exemplary embodiment of the present invention, each underwater positioning subsystem includes a plurality of underwater sensors, each underwater sensor is respectively used for acquiring the underwater data below the preset water depth, and a schematic diagram of a configuration of the underwater positioning subsystem according to the exemplary embodiment of the present invention is shown in fig. 3, specifically:
the underwater positioning subsystem may include: the system comprises an airborne GNSS probe, a folding telescopic rod, an underwater signal combiner, an ultra-short baseline beacon, a cable detection system, an underwater controller, an underwater sensor (comprising a depth sensor, a height meter, an attitude sensor and the like), a hydraulic detection and valve detection module and the like.
In an implementation scenario of an exemplary embodiment of the present invention, the depth of the onboard GNSS probe in water is adjustable, for example, depth adjustment is achieved by installing the onboard GNSS probe at one end of a folding telescopic rod, as shown in fig. 4, a schematic structural diagram of the onboard GNSS probe is adjusted for the folding telescopic rod, the underwater controller is configured to adjust the height of a positioning sensor included in the underwater positioning subsystem according to the underwater data, and the underwater signal combiner is communicatively connected to each of the underwater sensors and the onboard positioning subsystem, specifically:
adjust folding telescopic link through the underwater control ware, the at least electric connection of underwater control ware or communication connection depth sensor, the altimeter, hydraulic pressure detection and valve control module, be used for signal acquisition and control under water, and through signal recombiner under water and the mutual information of surface of water ditching machine cable laying treater, the underwater control ware obtains depth of water information (use the horizontal plane as depth of water measuring reference datum plane) through detecting depth sensor, and through to hydraulic pressure detection and valve control module to folding telescopic link hydraulic valve control, detect the length of folding telescopic link executor again, compare with depth of water information, adjust the length of folding telescopic link in real time, make and keep airborne GNSS probe to keep at the surface of water in the allowed working range.
When needs airborne GNSS probe during operation, the folding telescopic link of hydrovalve drive stretches out the surface of water with airborne GNSS probe, according to the depth of water, adjust folding telescopic link length, keep airborne GNSS probe at the surface of water, airborne GNSS probe just can receive global real-time positioning like this, accurate positional information is provided, the length of folding telescopic link has decided the depth of water that can work of the airborne GNSS probe of underwater trenching and cable laying machine, because ocean current's atress problem, folding thick stick length is limited, but it can set up within 100 meters according to the depth of water. After the trenching and cable laying machine drives from the ultra-shallow water area to the ultra-hectometer shallow water area, namely after exceeding the length of the folding telescopic rod of the airborne GNSS probe, the underwater controller shrinks the folding telescopic rod and fixes the folding telescopic rod on the trenching and cable laying machine body, and the airborne GNSS probe does not work any more at the moment, but depends on the shell and the watertight connector of the trenching and cable laying machine body, and still can work at the designed water depth of the trenching and cable laying machine.
The hydraulic detection and valve detection module is mainly used for controlling and driving an underwater hydraulic mechanism of the underwater trenching cable laying machine and detecting the states of all parts of a hydraulic component.
The underwater sensor is mainly used for detecting underwater conditions by an underwater trenching and cable laying machine, the positioning system mainly relates to a depth sensor and an altimeter, the depth sensor is used for feeding back water depth information, the depth sensor is used for feeding back the water depth information when a user does not have an ultra-short baseline, the positioning system is used for controlling a folding telescopic rod, the altimeter is used for correcting the position of an underwater cable detection probe, the attitude sensor is used for feeding back the state of the underwater trenching and cable laying machine, and the attitude sensor can be used for correcting the position of a cable by combining with an obtained path diagram.
The underwater controller and the underwater signal combiner can be packaged in the protective shell and are electrically and/or communicatively connected with the airborne GNSS probe, the underwater ultrashort baseline beacon, the cable detection probe and the underwater sensor through the watertight cable.
The underwater signal recombiner and the water surface signal recombiner realize two-way communication through optical fibers, the water surface signal recombiner converts data of a plurality of paths of water surface sensors through a communication interface and then communicates with related underwater sensors of an underwater positioning subsystem through the optical fibers, the underwater signal recombiner restores the data into a plurality of paths of independent communication interfaces in real time, and communication between an underwater airborne GNSS system and a water surface GNSS system water surface processor, communication between an ultra-short baseline processor and an ultra-short baseline beacon, communication between a cable detection system processor and a cable detection probe, and communication between a trenching cable laying machine water surface controller and an underwater controller can be realized respectively.
In an implementation manner of the exemplary embodiment of the present invention, the data fusion subsystem obtains the water surface data and the underwater data through an ethernet communication protocol, and performs two-dimensional plane drawing on the water surface data and the underwater data by taking a time unit as a horizontal axis, specifically including:
referring to fig. 5, which is a schematic diagram of a path according to an exemplary embodiment of the present invention, the data fusion subsystem is a water surface processing system for collecting and processing data related to positioning of the underwater trenching and cabling machine, and is configured to collect and process global positioning information, cable laying information, and status information of the underwater trenching and cabling machine to form information of laying paths of cables and cable laying, and to alarm an area where the cables are not properly laid, and to determine whether an area where the cables are not properly laid is present by determining whether a curve of the path diagram is abnormal, for example, when an angle between a cable laying curve and a previous curve exceeds a certain threshold, such as 30 degrees, it is determined that the laying path at that time is not proper, the cables are laid in the improper area, and alarm processing is performed by the ship-mounted positioning subsystem.
The data fusion subsystem is composed of computer hardware and data fusion software.
The data fusion subsystem hardware can be connected with the ultra-short baseline processor, the airborne GNSS water surface processor, the cable detection water surface processor and the water surface controller through an Ethernet bus, the positioning data fusion software acquires data of the Ethernet bus, the ultra-short baseline processor, the airborne GNSS water surface processor, the cable detection water surface processor and the water surface controller through an Ethernet protocol, the data is displayed through a single page, and meanwhile, the data can be selectively output and stored, namely, a user selects interested data to store in real time, and the positioning data fusion software is used for data curve drawing, namely, drawing and displaying according to the acquired data as a longitudinal axis and time as a transverse axis; and displaying the cable positioning routing data in a three-dimensional mode, namely, calibrating the two-dimensional position of the cable by using the global positioning longitude and latitude information as points, displaying the two-dimensional position by using numbers, and displaying the cable laying depth information at the same time.
The calculation method of the cabling routing curve of the exemplary embodiment of the present invention is as follows:
in the process of laying the cable, recording global positioning information of laying the cable at each recording moment from a laying starting point, simultaneously recording the length of the cable between each recording point and the starting point, and fitting out a global positioning curve of all laid cables, namely a routing curve of the laid cables, namely a path diagram of the laid cables.
In an implementation manner of the exemplary embodiment of the present invention, the data fusion subsystem can further perform a point data correction function, and when a point of the trenching and cabling robot is found to be incorrect, the point positioning information can be corrected again, and a new cable routing curve is generated, and at this time, only the position of the point can be manually corrected, and the position of the fitting point of the data fusion computer is not corrected, so that a path diagram error caused by human factors can also be avoided.
In one implementation of the exemplary embodiment of the present invention, the length of the cabling can also be obtained according to the path diagram, and the process includes: and calculating the cable kilometer number L (O, B) of an arbitrary input point, wherein the longitude and latitude information is (Ea, Na) of the arbitrary input point A, firstly, judging that the arbitrary input point A is within a cable routing allowable range, calculating a point B with the minimum distance Dmin from the point A on a cable route, namely Dmin is | AB |, and calculating the cable kilometer number L (O, B) between the point B and a set electric starting point O (Eo, No) according to the longitude and latitude information (Eb, Nb) of the point B and route record.
In an implementation manner of the exemplary embodiment of the present invention, the data fusion subsystem may further query historical data, and query the data fusion subsystem to record data through a time period; and a function of printing a cabling process data report is provided, and a user can selectively output and print required data.
Referring to fig. 6, which is a schematic view of an overall system according to an exemplary embodiment of the present invention, the onboard positioning subsystem includes a water surface GNSS device, an ultra-short baseline processor, a cable detection system processor, and a trenching cable applicator water surface controller, the underwater positioning subsystem includes an underwater vehicle-mounted GNSS device, an ultra-short baseline beacon, a cable detection probe, and an underwater controller, the water surface GNSS device is in communication with the underwater vehicle-mounted GNSS device, the ultra-short baseline processor is in communication with the ultra-short baseline beacon, the cable detection processor is in communication with the cable detection probe, the trenching cable applicator water surface controller is in communication with the underwater controller, the trenching cable applicator water surface controller monitors the underwater sensors and sends underwater data acquired by the underwater sensors to the data fusion subsystem, and the trenching cable applicator water surface controller is further configured to receive underwater trenching cable applicator fusion generated by the positioning data fusion subsystem And the combined positioning information is used for automatically navigating and controlling the path of the trenching cable laying machine.
The water surface ultra-short baseline processor is connected with the underwater ultra-short baseline beacon through the water surface signal recombiner and the underwater signal recombiner, so that point-to-point communication between the water surface ultra-short baseline processor and the underwater ultra-short baseline is realized. And the point-to-point communication between the airborne GNSS water surface processor and the airborne GNSS underwater probe, the point-to-point communication between the water surface cable detection system processor and the underwater cable detection probe and the point-to-point communication between the water surface controller and the underwater controller are also respectively realized.
As shown in the figure, this embodiment may be based on the above embodiments, and provides a positioning method for an underwater trenching and cabling machine, where a shipborne positioning subsystem, an underwater positioning subsystem, and a data fusion subsystem are provided, the shipborne positioning subsystem is in communication connection with the underwater positioning subsystem, the shipborne positioning subsystem is used to acquire and process water surface data from a water surface to a preset water depth, the underwater positioning subsystem is used to acquire and process underwater data below the preset water depth, the water surface data and the underwater data are both sent to the data fusion subsystem to generate path information for cabling, and a path diagram for cabling is drawn by the data fusion subsystem according to the path information, in combination with a basic flow diagram of the positioning method shown in fig. 7, the method mainly comprises the following steps:
in step 110, acquiring water surface data and underwater data acquired in the process of ditching and cabling, and sending the water surface data and the underwater data to a data fusion subsystem for fusion;
in step 120, receiving the cable three-dimensional positioning data generated by the data fusion subsystem, and fitting a positioning curve of all the laid cables by combining cable laying time;
in step 130, the recorded cable three-dimensional positioning data is corrected, calculated, queried and printed based on the positioning curve.
The method provided in the above embodiment is implemented based on the positioning system provided in any embodiment of the present invention, and has functional modules and advantageous effects corresponding to the execution of the positioning system, and reference may be made to the positioning system of the underwater trenching and cable laying machine provided in any embodiment of the present invention without detailed technical details described in the above embodiment.
The technology carrier referred to in the embodiments of the present specification may include, for example, Near Field Communication (NFC), WIFI, 3G/4G/5G, POS machine card swiping technology, two-dimensional code scanning technology, barcode scanning technology, bluetooth, infrared, Short Message Service (SMS), Multimedia Message Service (MMS), and the like.
It should be noted that the method of one or more embodiments of the present disclosure may be performed by a single device, such as a computer or server. The method of the embodiment can also be applied to a distributed scene and completed by the mutual cooperation of a plurality of devices. In such a distributed scenario, one of the devices may perform only one or more steps of the method of one or more embodiments of the present disclosure, and the devices may interact with each other to complete the method.
The foregoing description has been directed to specific embodiments of this disclosure. Other embodiments are within the scope of the following claims. In some cases, the actions or steps recited in the claims may be performed in a different order than in the embodiments and still achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. In some embodiments, multitasking and parallel processing may also be possible or may be advantageous.
The invention relates to a trenching cable laying machine, which generally refers to a multi-structure machine integrating trenching and cable laying functions, in particular to a machine capable of being used for underwater operation, and comprises a driving machine base, a cutter chain type ditcher, a balance turntable driving bearing, two lifting turntable driving bearings, a backfiller, a cable conveying guide wheel and the like, wherein the specific structure of the trenching cable laying machine relates to mechanical-electrical-hydraulic integration and standardization, the system of the invention is the control work of the trenching and cable laying machine during the underwater operation, generally, the control, adjustment and maintenance of the trenching and cable laying process in an ultra-shallow water area (10 meters of water depth, the horizontal plane is taken as a reference standard) and a non-ultra-shallow water area (more than 10 meters of water depth).
Those of ordinary skill in the art will understand that: the discussion of any embodiment above is meant to be exemplary only, and is not intended to intimate that the scope of the disclosure, including the claims, is limited to these examples; within the spirit of the present disclosure, features from the above embodiments or from different embodiments may also be combined, steps may be implemented in any order, and there are many other variations of different aspects of one or more embodiments of the present description as described above, which are not provided in detail for the sake of brevity.
In addition, well-known power/ground connections to Integrated Circuit (IC) chips and other components may or may not be shown in the provided figures, for simplicity of illustration and discussion, and so as not to obscure one or more embodiments of the disclosure. Furthermore, devices may be shown in block diagram form in order to avoid obscuring the understanding of one or more embodiments of the present description, and this also takes into account the fact that specifics with respect to implementation of such block diagram devices are highly dependent upon the platform within which the one or more embodiments of the present description are to be implemented (i.e., specifics should be well within purview of one skilled in the art). Where specific details (e.g., circuits) are set forth in order to describe example embodiments of the disclosure, it should be apparent to one skilled in the art that one or more embodiments of the disclosure can be practiced without, or with variation of, these specific details. Accordingly, the description is to be regarded as illustrative instead of restrictive.
While the present disclosure has been described in conjunction with specific embodiments thereof, many alternatives, modifications, and variations of these embodiments will be apparent to those of ordinary skill in the art in light of the foregoing description. For example, other memory architectures (e.g., dynamic ram (dram)) may use the discussed embodiments.
It is intended that the one or more embodiments of the present specification embrace all such alternatives, modifications and variations as fall within the broad scope of the appended claims. Therefore, any omissions, modifications, substitutions, improvements, and the like that may be made without departing from the spirit and principles of one or more embodiments of the present disclosure are intended to be included within the scope of the present disclosure.
Claims (9)
1. A positioning system of an underwater trenching cable laying machine is characterized by comprising a shipborne positioning subsystem, an underwater positioning subsystem and a data fusion subsystem, wherein the shipborne positioning subsystem is in communication connection with the underwater positioning subsystem, the shipborne positioning subsystem is used for collecting and processing water surface data between a water surface and a preset water depth, the underwater positioning subsystem is used for collecting and processing underwater data below the preset water depth, the water surface data and the underwater data are both sent to the data fusion subsystem to generate path information of laying cables, and a path diagram of the laying cables is drawn through the data fusion subsystem according to the path information;
the shipborne positioning subsystem and the underwater positioning subsystem are in communication connection through an electric power and optical fiber composite cable so as to control underwater equipment included in the underwater positioning subsystem.
2. The system of claim 1, wherein the onboard positioning subsystem comprises a plurality of surface processors and a surface signal recombiner, the surface processors are configured to collect positioning data corresponding to each surface processor, and the surface signal recombiner is configured to convert each positioning data and transmit the converted positioning data to the data fusion subsystem.
3. The system of claim 1, wherein the underwater positioning subsystem comprises a plurality of underwater sensors, each of the underwater sensors being configured to collect underwater data below a predetermined water depth.
4. The system of claim 3, wherein the underwater positioning subsystem further comprises an underwater controller and an underwater signal recombiner, the underwater controller and the underwater signal recombiner are in communication connection with each of the underwater sensors of the underwater positioning subsystem, the underwater controller is configured to adjust the height of the positioning sensor included in the underwater positioning subsystem according to the underwater data, and the underwater signal recombiner is in communication connection with each of the underwater sensors and the shipborne positioning subsystem.
5. The system of claim 1, wherein the data fusion subsystem obtains the surface data and the underwater data via an ethernet communication protocol, and performs two-dimensional planar rendering on the surface data and the underwater data with a horizontal axis of time units and a vertical axis of the collected surface data and underwater data.
6. The system of any one of claims 3 or 4, wherein the onboard positioning subsystem comprises a surface GNSS device, an ultra-short baseline processor, a cable detection system processor and a trenching and cabler surface controller, and the underwater positioning subsystem comprises an onboard underwater GNSS device, an ultra-short baseline beacon, a cable detection probe and an underwater controller, wherein the surface GNSS device is in communication connection with the onboard underwater GNSS device, the ultra-short baseline processor is in communication connection with the ultra-short baseline beacon, the cable detection processor is in communication connection with the cable detection probe, and the trenching and cabler surface controller is in communication connection with the underwater controller.
7. The system of claim 6, wherein the trenching and cabling machine surface controller monitors each of the underwater sensors and transmits the underwater data collected by each of the underwater sensors to the data fusion subsystem, and wherein the trenching and cabling machine surface controller is further configured to receive underwater trenching and cabling machine fused positioning information generated by the positioning data fusion subsystem for automatically navigating and controlling the path of the trenching and cabling machine.
8. The system of claim 1, further comprising: and the alarm unit is used for alarming when the data fusion subsystem is improper to bury the cable based on the collected state information of the underwater trenching cable laying machine.
9. A method of positioning an underwater trenching and cabling machine, the method comprising:
acquiring water surface data and underwater data acquired in the process of ditching and cabling, and sending the water surface data and the underwater data to a data fusion subsystem for fusion;
receiving the cable three-dimensional positioning data generated by the data fusion subsystem, and fitting positioning curves of all laid cables by combining cable laying time;
correcting, calculating, inquiring and printing the recorded cable three-dimensional positioning data based on the positioning curve;
before acquiring the water surface data and the underwater data acquired in the process of ditching and cabling and sending the water surface data and the underwater data to the data fusion subsystem for fusion, the method further comprises the following steps:
the method comprises the steps that a ship-borne positioning subsystem, an underwater positioning subsystem and a data fusion subsystem are arranged, wherein the ship-borne positioning subsystem is in communication connection with the underwater positioning subsystem, the ship-borne positioning subsystem is used for collecting and processing water surface data from a water surface to a preset water depth, the underwater positioning subsystem is used for collecting and processing underwater data below the preset water depth, the water surface data and the underwater data are both sent to the data fusion subsystem to generate path information for laying cables, and a path diagram for laying the cables is drawn through the data fusion subsystem according to the path information;
the shipborne positioning subsystem and the underwater positioning subsystem are in communication connection through an electric power and optical fiber composite cable so as to control underwater equipment included in the underwater positioning subsystem.
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| JP3604320B2 (en) * | 2000-05-09 | 2004-12-22 | 古河電気工業株式会社 | Water entry angle measuring device for underwater laid long body and laid state monitoring device |
| WO2002018716A1 (en) * | 2000-08-28 | 2002-03-07 | Hollandsche Beton Groep N.V. | Device for making a trench in the bottom of a water area, provided with linked spray arms |
| EP2712802B1 (en) * | 2012-09-27 | 2014-12-10 | Sercel | An underwater cable deployment system and method |
| CN204030461U (en) * | 2014-08-22 | 2014-12-17 | 上海电力设计院有限公司 | Automatic positioning distance measuring cable drum carriage |
| CN106526598A (en) * | 2016-12-30 | 2017-03-22 | 上海达华测绘有限公司 | Side-scan sonar underwater high-precision positioning system and method |
| CN106842469A (en) * | 2017-04-05 | 2017-06-13 | 合肥酷睿网络科技有限公司 | A kind of submarine optical fiber cable laying method |
| CN108045531A (en) * | 2017-12-04 | 2018-05-18 | 国网山东省电力公司电力科学研究院 | For the underwater robot control system and method for submarine cable inspection |
| CN108512134B (en) * | 2018-03-27 | 2020-05-19 | 江苏华西村海洋工程服务有限公司 | Shallow water area branch cable laying process |
| CN109577406A (en) * | 2018-12-13 | 2019-04-05 | 国网山东省电力公司电力科学研究院 | Seabed is without ditch formula cable burial device and its application method |
| CN110618462B (en) * | 2019-09-29 | 2021-07-30 | 上海中车艾森迪海洋装备有限公司 | Method and device for detecting submarine cable |
| CN110986927B (en) * | 2019-12-19 | 2024-03-19 | 大连海事大学 | Double-layer logic guidance-based cabling boat navigation path and speed establishment method |
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