CN112018665B - Ultra-shallow water multi-ship combined submarine cable construction positioning method - Google Patents
Ultra-shallow water multi-ship combined submarine cable construction positioning method Download PDFInfo
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- CN112018665B CN112018665B CN202010945348.3A CN202010945348A CN112018665B CN 112018665 B CN112018665 B CN 112018665B CN 202010945348 A CN202010945348 A CN 202010945348A CN 112018665 B CN112018665 B CN 112018665B
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
- H02G1/06—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for laying cables, e.g. laying apparatus on vehicle
- H02G1/10—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for laying cables, e.g. laying apparatus on vehicle in or under water
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
- B63B35/28—Barges or lighters
Abstract
The technical problem to be solved by the invention is as follows: at present, in the construction process of the submarine cable combining multiple ultra-shallow water vessels, a set of method capable of realizing multi-vessel positioning in a full-automatic and real-time manner does not exist. In order to solve the technical problems, the invention provides a submarine cable construction positioning method for ultra-shallow water multi-ship combination. In the invention, DGPS is adopted for real-time differential positioning, so that the precision is improved, and the precision in a continental shelf area is less than 1 m; the invention uses the ultra-long-distance wireless local area network system to carry out networking on a plurality of ships, thereby ensuring that the plurality of ships can carry out reliable communication on the sea without mobile signal coverage; the software designed by the invention can display a plurality of moving objects on the same positioning software interface, the positioning and construction operations of a plurality of ships are relatively independent, and the barge can effectively monitor and send instructions for the positioning of the anchor throwing boat.
Description
Technical Field
The invention relates to a technology for submarine cable construction by combining multiple ships in ultra-shallow water, belonging to the technical field of submarine optical cable construction methods.
Background
Conventional submarine cable installations are typically operated independently from a single submarine cable construction vessel. In an ultra-shallow water operation environment, the traditional submarine cable construction ship cannot enter an ultra-shallow water area for construction due to the limitation of ship draught, so that the construction of the submarine cable in ultra-shallow water is usually completed by using a barge with shallow draught.
Barges are usually without the power of self-propulsion, so they are assisted by a jettisoning boat to achieve precise positioning and movement of the barge above the sea surface for the purpose of accurately locating cable routes without damaging the cables during construction.
The specific implementation method of barge movement is as follows:
1. barges are generally rectangular, with four anchor anchors at the four corners of the barge, and two tow anchors at the bow. In the cable construction process, the anchor throwing boat is responsible for throwing 4 positioning anchors on the barge to appointed seabed positions according to requirements.
2. Then, when the barge needs to move, the anchor throwing boat matched with construction runs to the side of the barge, the barge transfers the traction anchor to the anchor throwing boat, the anchor throwing boat carries the anchor and the anchor chain, the anchor throwing boat runs to the front sea surface, and the traction anchor is thrown to the seabed.
3. The anchor stirring machine on the barge recovers the anchor chains of the first and second traction anchors, and fixed-point movement of the barge is realized by recovering the two traction anchors with different lengths.
In the process of assisting construction of a traditional barge and a conventional flushboat, the barge and the flushboat are respectively positioned by two independent positioning systems. The position of the opposite ship cannot be automatically positioned on the ship, and a common method is that an interphone for the opposite ship informs the ship of the accurate position (longitude and latitude), and a positioning person of the ship manually marks the position of the opposite ship on a positioning system.
In addition, the traditional positioning method needs two sets of positioning personnel teams arranged on the barge and the flunker, and the demand on manpower resources is relatively large.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: at present, in the construction process of the submarine cable combining multiple ultra-shallow water vessels, a set of method capable of realizing multi-vessel positioning in a full-automatic and real-time manner does not exist.
In order to solve the technical problems, the technical scheme of the invention is to provide a submarine cable construction positioning method for multi-ship combination in ultra-shallow water, which is characterized by being suitable for an ultra-shallow water operation environment and comprising the following steps of:
step 1, respectively installing (N +1) sets of positioning systems on a barge and N anchor throwing boats, wherein N is more than or equal to 1, the (N +1) sets of positioning systems have respective independent coordinates and use respective independent differential positioning systems, and the (N +1) sets of positioning systems use positioning software of the same version, so that accurate synchronization in later communication is ensured;
step 2, networking the barge and the N anchor throwing boats by using an ultra-long-range wireless local area network system, and networking the barge and the anchor throwing boats by adopting a bridging method to realize reliable communication and synchronization between the barge and the N anchor throwing boats so that the positioning positions of the barge and the N anchor throwing boats can be checked on each set of positioning system;
step 3, during construction, the barge adopts an active mode, the flung boats adopt a passive mode, only the barge is provided with positioning personnel, and the N flung boats are not provided with the positioning personnel;
the barge can monitor the positioning of the N anchor handling vessels and at least the positioning anchor position and the hawse length on each anchor handling vessel and send out control instructions:
when the barge sends a control instruction for positioning the nth flung boat, the positioning system of the nth flung boat uses a differential positioning system to control the nth flung boat to move to the position indicated in the control instruction according to the received control instruction, and the barge monitors the position of the nth flung boat in real time in the moving process;
when the barge sends a control instruction to a positioning anchor position on the nth flung boat, the barge sends a path which needs to be moved by the positioning anchor to the nth flung boat, a positioning system of the nth flung boat uses a differential positioning system to control the nth flung boat to move the positioning anchor on the nth flung boat according to the received control instruction, and the barge monitors the position of the nth flung boat, the position of the positioning anchor on the nth flung boat and the length of an anchor chain in real time in the moving process;
when the barge sends a control instruction to the anchor chain length on the nth flung boat, the barge sends a path to the nth flung boat, which needs to be moved when the positioning anchor reaches a preset length, the positioning system of the nth flung boat controls the nth flung boat to move the positioning anchor on the nth flung boat by using the differential positioning system according to the received control instruction until the anchor chain length reaches the preset length in the control instruction, and in the moving process, the barge monitors the position of the nth flung boat, the position of the positioning anchor on the nth flung boat and the anchor chain length in real time.
Preferably, in step 1, (N +1) sets of said positioning systems are independently installed on said barge and N of said anchor handling vessels, respectively.
Preferably, after the step 2 and before the step 3, the method further comprises: after the barge and the N anchor throwing boats are networked, automatically positioning and debugging the multiple boats.
Preferably, the navigation map of the positioning system adopts a WGS-84 coordinate system and takes a chart datum plane as an elevation datum.
In the invention, DGPS is adopted for real-time differential positioning, so that the precision is improved, and the precision in a continental shelf area is less than 1 m; the invention uses the ultra-long-distance wireless local area network system to carry out networking on a plurality of ships, thereby ensuring that the plurality of ships can carry out reliable communication on the sea without mobile signal coverage; the software designed by the invention can display a plurality of moving objects on the same positioning software interface, the positioning and construction operations of a plurality of ships are relatively independent, and the barge can effectively monitor and send instructions for the positioning of the anchor throwing boat.
In conclusion, the invention has the advantages that: the submarine cable construction positioning method capable of effectively realizing multi-ship combination during ultra-shallow water operation is provided. The positioning is accurate in real time. In addition, the anchor throwing boat does not need to be equipped with positioning personnel, so that the manpower resource is effectively saved.
Drawings
FIG. 1 is a schematic diagram of a system in an embodiment of the invention;
fig. 2 is a communication topology diagram in an embodiment of the present invention.
Detailed Description
The invention will be further illustrated with reference to the following specific examples. It should be understood that these examples are for illustrative purposes only and are not intended to limit the scope of the present invention. Further, it should be understood that various changes or modifications of the present invention may be made by those skilled in the art after reading the teaching of the present invention, and such equivalents may fall within the scope of the present invention as defined in the appended claims.
As shown in fig. 1, the method for positioning the submarine cable construction in combination with multiple ultra-shallow water vessels, provided by the invention, is suitable for the operation environment in ultra-shallow water, and needs to upgrade the existing vessel positioning system, so that the display and control of multiple moving objects (vessels) can be simultaneously realized on one interface of the vessel positioning system, and the method comprises the following steps:
step 1, respectively installing positioning systems on one barge and two anchor throwing boats. When the positioning system is installed, the positioning system can be completely independently installed. Each set of positioning system uses a separate differential positioning system. The positioning systems installed on barges and jettisoning boats integrate, in addition to the traditional positioning function, the modules of the cable construction, able to display and control the real-time speed, tension and residual of the cable.
The barge and two yachts are shown in the plan of one system, but are three relatively independent positioning systems. The barge and the flunker use positioning systems with respective independent coordinates, can set independent cable routes and ship action routes respectively, can set independent operation modules and input ports respectively, and can independently control and manage parameters such as tension of cables, counters and the like, positions of positioning anchors, anchor chain lengths and the like.
The positioning system utilizes a differential global positioning system to carry out real-time differential positioning on the submarine cable ship so as to control the submarine cable ship to move according to the positioning direction, and the navigation map adopts a WGS-84 coordinate system and takes a reference surface of the submarine map as an elevation reference.
It should be noted that in the present embodiment, the three sets of positioning systems used by the barge and the two anchor throwing boats need to use the same version of positioning software, so as to ensure accurate synchronization during later communication.
And 3, completing communication and synchronization of the barge and the anchor throwing boat. Because no 4G or 5G signal of a mobile network exists during offshore construction, how to carry out real-time effective communication is the key point of realizing multi-ship full-automatic and real-time positioning. The communication between the barge and the anchor throwing boat adopts an ultra-long distance wireless local area network connection system, and an ultra-high power receiving antenna is selected for networking. In the embodiment, AirMax products manufactured by ' youquaniti ' (ubiqijii) ' in the united kingdom are adopted, and the maximum effective communication distance can reach 58 kilometers. The ultra-long-range wireless local area network system can carry out networking communication on the barge and the anchor throwing boat in a long-distance range. And the barges and the anchor throwing boats are networked by adopting a bridging method to realize communication and synchronization.
And 4, after the barge and the anchor throwing boat are networked, debugging the automatic positioning of the multiple ships.
And 5, after the barge and the anchor throwing boat are networked, debugging the automatic positioning of the multiple ships. During construction, the barge is in an active mode, the anchor throwing boat is in a passive mode, only the barge is provided with positioning personnel, and the anchor throwing boat is not provided with the positioning personnel.
The barge can monitor the position of the anchor handling vessel and other associated ports (anchor position, hawse length, etc.) and issue control commands. For example:
when the barge sends a control instruction for positioning the nth flung boat, wherein n is 1,2, the positioning system of the nth flung boat controls the nth flung boat to move to the position indicated in the control instruction by using a differential positioning system according to the received control instruction, and the barge monitors the position of the nth flung boat in real time in the moving process;
when the barge sends a control instruction to a positioning anchor position on the nth flung boat, the barge sends a path which needs to be moved by the positioning anchor to the nth flung boat, a positioning system of the nth flung boat uses a differential positioning system to control the nth flung boat to move the positioning anchor on the nth flung boat according to the received control instruction, and the barge monitors the position of the nth flung boat, the position of the positioning anchor on the nth flung boat and the length of an anchor chain in real time in the moving process;
when the barge sends a control instruction to the anchor chain length on the nth flung boat, the barge sends a path to the nth flung boat, wherein the path needs to be moved by the positioning anchor when the positioning anchor reaches a preset length, the positioning system of the nth flung boat controls the nth flung boat to move the positioning anchor on the nth flung boat by using the differential positioning system according to the received control instruction until the anchor chain length reaches the preset length in the control instruction, and in the moving process, the barge monitors the position of the nth flung boat, the position of the positioning anchor on the nth flung boat and the anchor chain length in real time.
Claims (4)
1. A submarine cable construction positioning method for multi-ship combination in ultra-shallow water is characterized by being applicable to an ultra-shallow water operation environment and comprising the following steps:
step 1, respectively installing (N +1) sets of positioning systems on a barge and N anchor throwing boats, wherein N is more than or equal to 1, the (N +1) sets of positioning systems have respective independent coordinates and use respective independent differential positioning systems, and the (N +1) sets of positioning systems use positioning software of the same version, so that accurate synchronization in later communication is ensured;
step 2, networking the barge and the N anchor throwing boats by using an ultra-long-range wireless local area network system, and networking the barge and the anchor throwing boats by adopting a bridging method to realize reliable communication and synchronization between the barge and the N anchor throwing boats so that the positioning positions of the barge and the N anchor throwing boats can be checked on each set of positioning system;
step 3, during construction, the barge adopts an active mode, the flung boats adopt a passive mode, only the barge is provided with positioning personnel, and the N flung boats are not provided with the positioning personnel;
the barge can monitor the positioning of the N anchor handling vessels and at least the positioning anchor position and the hawse length on each anchor handling vessel and send out control instructions:
when the barge sends a control instruction for positioning the nth flung boat, the positioning system of the nth flung boat uses a differential positioning system to control the nth flung boat to move to the position indicated in the control instruction according to the received control instruction, and the barge monitors the position of the nth flung boat in real time in the moving process;
when the barge sends a control instruction to a positioning anchor position on the nth flung boat, the barge sends a path which needs to be moved by the positioning anchor to the nth flung boat, a positioning system of the nth flung boat uses a differential positioning system to control the nth flung boat to move the positioning anchor on the nth flung boat according to the received control instruction, and the barge monitors the position of the nth flung boat, the position of the positioning anchor on the nth flung boat and the length of an anchor chain in real time in the moving process;
when the barge sends a control instruction to the anchor chain length on the nth flung boat, the barge sends a path to the nth flung boat, wherein the path needs to be moved by the positioning anchor when the positioning anchor reaches a preset length, the positioning system of the nth flung boat controls the nth flung boat to move the positioning anchor on the nth flung boat by using the differential positioning system according to the received control instruction until the anchor chain length reaches the preset length in the control instruction, and in the moving process, the barge monitors the position of the nth flung boat, the position of the positioning anchor on the nth flung boat and the anchor chain length in real time.
2. The method for positioning the construction of the ultra-shallow water multi-ship combined submarine cable according to claim 1, wherein in step 1, (N +1) sets of the positioning systems are independently installed on the barge and N flunkers respectively.
3. The method for positioning the construction of the ultra-shallow water multi-ship combined submarine cable according to claim 1, wherein after step 2 and before step 3, the method further comprises: after the barge and the N anchor throwing boats are networked, automatically positioning and debugging the multiple boats.
4. The method as claimed in claim 1, wherein the navigation map of the positioning system adopts WGS-84 coordinate system and uses the chart reference surface as elevation reference.
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| US11829132B1 (en) | 2022-06-10 | 2023-11-28 | First Institute of Oceanography, Ministry of Natural Resources | Water surface and underwater dual-purpose automatic positioning and tracking system and method |
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| CN113594972B (en) * | 2021-08-24 | 2023-04-11 | 广州南方卫星导航仪器有限公司 | Offshore cable laying cooperative operation method and system based on multi-ship linkage |
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| US5691903A (en) * | 1995-09-08 | 1997-11-25 | The United States Of America As Represented By The Secretary Of The Navy | Integrated cable navigation and control system |
| JP5755071B2 (en) * | 2011-08-05 | 2015-07-29 | Ｊｍｕディフェンスシステムズ株式会社 | Towing body control method and control apparatus therefor, and towed body control system |
| CN103247977B (en) * | 2013-05-14 | 2015-11-18 | 国家电网公司 | Multiphase submarine cable transverse arrangement of turbo circulation laying and construction method |
| CN103661823A (en) * | 2013-12-16 | 2014-03-26 | 天津汉海环保设备有限公司 | Unmanned water oil recycling boat |
| DK201670186A1 (en) * | 2016-03-31 | 2017-10-16 | A P Møller - Mærsk As | A method and system for operating one or more tugboats |
| CN109159860B (en) * | 2018-06-25 | 2020-04-28 | 武汉船用机械有限责任公司 | Traction system of cable laying ship |
| CN111280105A (en) * | 2018-12-10 | 2020-06-16 | 天津市宏宇天翔航天航空科技有限公司 | Automatic feeding system of unmanned ship |
| CN111564810A (en) * | 2020-04-02 | 2020-08-21 | 山东海盛海洋工程集团有限公司 | Laying process of marine interlocking row |
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| US11829132B1 (en) | 2022-06-10 | 2023-11-28 | First Institute of Oceanography, Ministry of Natural Resources | Water surface and underwater dual-purpose automatic positioning and tracking system and method |
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