CN104129476A - Anchoring method and device for ship - Google Patents
Anchoring method and device for ship Download PDFInfo
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- CN104129476A CN104129476A CN201410307508.6A CN201410307508A CN104129476A CN 104129476 A CN104129476 A CN 104129476A CN 201410307508 A CN201410307508 A CN 201410307508A CN 104129476 A CN104129476 A CN 104129476A
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Abstract
The invention discloses an anchoring method and device for a ship and belongs to the technical field of the ship. The anchoring method comprises the following steps: determining anchoring positions of at least three anchors according to a set locating position, a preset bow direction of the ship in the locating position and the pay-off length of cables required by the at least three anchors, wherein the locating position is within a central area of a polygon formed by the anchoring positions of the at least three anchors; steering the ship to the anchoring position of the first anchor, and throwing the first anchor into water at the anchoring position of the first anchor, wherein the first anchor can be any one of the at least three anchors; successively throwing non-thrown anchors of the at least three anchors along a clockwise direction or an counterclockwise direction from the anchoring position of the first anchor until all anchors are thrown into the water; and steering the ship to the locating position. The device comprises a first sensor, input equipment and control equipment. The anchoring method and device can prevent chains of anchors that have been thrown into the water from intertwining.
Description
Technical field
The present invention relates to ship domain, particularly a kind of anchoring method of boats and ships and device.
Background technology
China is inland river more than, the country of waters complexity, and Shipping plays an important role in the national economic development.The position fixing process of boats and ships be unable to do without positioning winch.Handle by operation winch is realized the folding and unfolding of hawser, thereby realizes rising and falling of anchor.Generally, the locate mode of boats and ships comprises multipoint positioning mode.
Realizing in process of the present invention, contriver finds that prior art at least exists following problem: in the time of multipoint positioning, need be thrown into multiple anchors to water.A lot of owing to can not surveying factor in water, as ocean current, wave etc., these X factors are impacted after can causing anchor to throw in water, and anchor chain is intertwined, and directly causes locating mooring a boat, and occurs after this situation, because severe its processing cost of environment is very high.
Summary of the invention
The problem being wound around in order to solve anchor chain, the embodiment of the present invention provides a kind of anchoring method and device of boats and ships.Described technical scheme is as follows:
First aspect, provides a kind of anchoring method of boats and ships, and described method is applicable to Ship Anchoring, and described boats and ships comprise at least three anchors, and described method comprises:
Preset stem direction and described at least three anchors cable length that needs cable laying separately according to the position location, described boats and ships set in described position location, the position of casting anchor of at least three anchors described in determining respectively, described position location is positioned at the polygonal central region forming with the position of casting anchor of described at least three anchors;
Described boats and ships are sailed to the position of casting anchor to first anchor, described first anchor be described in any at least three anchors, in the position of casting anchor of described first anchor, described first anchor is thrown to the bottom;
Start clockwise or counterclockwise from the position of casting anchor of described first anchor, successively the anchor not casting anchor in described at least three anchors is cast anchor, until all anchors are all thrown the bottom;
Described boats and ships are sailed to described position location;
Wherein, the described position of casting anchor from described first anchor starts clockwise or counterclockwise, successively the anchor not casting anchor in described at least three anchors is cast anchor, and comprising:
Described boats and ships are sailed to the position of casting anchor of the anchor not casting anchor to the next one, and in the process of described ship running, the cable tension that remains in the winch of cable laying state is the first default tension force, and the described winch in cable laying state is to determine the distance of casting anchor between position of the anchor that do not cast anchor according to cast anchor position and the described next one of the described anchor the having cast anchor winch under the described anchor having cast anchor;
The cable tension that remains in the winch that stops cable laying state is the second default tension force, the anchor that the described next one is not cast anchor in the position of casting anchor of the anchor not casting anchor at the described next one is thrown the bottom, and described is the winch under the described anchor having cast anchor in stopping the winch of cable laying state.
In the possible embodiment of the first, the described cable length that needs cable laying according to the position location, described boats and ships set at the preset stem direction of described position location and described at least three anchors, the position of casting anchor of at least three anchors described in determining, comprising:
The installation site of winch according to described boats and ships under preset stem direction and described at least three anchors difference of described position location on described boats and ships, the direction of the position of casting anchor of at least three anchors described in determining, the direction of the position of casting anchor of described at least three anchors, while being described preset stem direction with stem described at least three anchors the direction of the affiliated winch installation site on described boats and ships is identical respectively;
Need the preset depth of water of the cable length of cable laying and the position of casting anchor of described at least three anchors according to described at least three anchors, determine described at least three anchors cast anchor position respectively and described position location between distance;
Preset angle according to the direction of the direction of the position of casting anchor of described at least three anchors, the position of casting anchor from described position location to described at least three anchors respectively and described preset stem direction and described at least three anchors cast anchor position respectively and described position location between distance, described in determining, the position of casting anchor of at least three anchors is respectively in the side-play amount of the vertical direction of described preset stem direction and described preset stem direction;
According to the position of casting anchor of the geographic coordinates of described position location and described at least three anchors respectively in the side-play amount of the vertical direction of described preset stem direction and described preset stem direction, the geographic coordinates of the position of casting anchor of at least three anchors described in determining.
In the possible embodiment of the second, described in the process of described ship running, the cable tension that remains in the winch of cable laying state is the first default tension force, comprising:
The cable tension that detects the described winch in cable laying state, obtains tension signal, and determines the cable tension of the described winch in cable laying state according to described tension signal;
Whether the cable tension of the described winch in cable laying state of judgement is greater than the described first default tension force;
In the time that the cable tension of the described winch in cable laying state is greater than the described first default tension force, increase the cable releasing speed of the described winch in cable laying state;
In the time that the cable tension of the described winch in cable laying state is less than the described first default tension force, reduce the cable releasing speed of the described winch in cable laying state;
In the time that the cable tension of the described winch in cable laying state equals the described first default tension force, keep the cable releasing speed of the described winch in cable laying state to be, the current driving speed of described boats and ships is at the component of the hawser bearing of trend of the described winch in cable laying state.
In the third possible embodiment, described in remain in the winch that stops cable laying state cable tension be the second default tension force, comprising:
Detect and described obtain tension signal in stopping the cable tension of winch of cable laying state, and determine described in stopping the cable tension of winch of cable laying state according to described tension signal;
Whether the cable tension of the described winch in stopping cable laying state of judgement is less than the described second default tension force;
In the time stopping the cable tension of winch of cable laying state and be less than the described second default tension force, carry out take-up to described in the winch that stops cable laying state when described;
In the time stopping the cable tension of winch of cable laying state and be greater than the described second default tension force, carry out cable laying to described in the winch that stops cable laying state when described;
, in the time stopping the cable tension of winch of cable laying state and equal the described second default tension force, stop carrying out take-up or cable laying to described in the winch that stops cable laying state when described.
In the 4th kind of possible embodiment, the cable tension of the winch in cable laying state described in described detection, comprising:
The cable tension that detects the described winch in cable laying state by bearing pin sensor, described bearing pin installation of sensors is on the vertical fairlead of the described winch in cable laying state.
In the 5th kind of possible embodiment, described boats and ships to be sailed to described position location, described method also comprises:
Stop described at least three anchors to carry out take-up or cable laying, the cable tension of the winch described in maintenance under at least three anchors is respectively the described second default tension force;
And adjust the stem direction of described boats and ships, make described boats and ships be positioned at described position location taking stem as described preset stem direction.
Second aspect, provides a kind of anchoring method of boats and ships, and described method is applicable to Ship Anchoring, and described boats and ships comprise first to fourth anchor, and described method comprises:
Need the cable length of cable laying at the preset stem direction of described position location and described first to fourth anchor according to the position location, described boats and ships set, determine the position of casting anchor of described first to fourth anchor, described position location is positioned at the tetragonal central region forming with the position of casting anchor of described first to fourth anchor;
Described boats and ships are driven towards to the position of casting anchor of described the first anchor, and in the position of casting anchor of described the first anchor, described the first anchor is thrown to the bottom;
Keeping described the first anchor is that the cable tension of cable laying state and described the first anchor is the first default tension force, described boats and ships is driven towards to the position of casting anchor of described the second anchor from the position of casting anchor of described the first anchor;
Keeping described the first anchor is that the cable tension that stops cable laying state and described the first anchor is the second default tension force, makes described boats and ships be parked in the position of casting anchor of described the second anchor, and in the position of casting anchor of described the second anchor, described the second anchor is thrown to the bottom;
The cable tension that keeps described the first anchor and described the second anchor to be respectively described cable laying state and described the first anchor and described the second anchor is respectively the described first default tension force, described boats and ships is driven towards to the position of casting anchor of described the 3rd anchor from the position of casting anchor of described the second anchor;
The cable tension that keeps described the first anchor and described the second anchor to stop cable laying state and described the first anchor and described the second anchor described in being respectively is respectively the described second default tension force, make described boats and ships be parked in the position of casting anchor of described the 3rd anchor, and in the position of casting anchor of described the 3rd anchor, described the 3rd anchor is thrown to the bottom;
To keep described the first anchor be take-up state and keep described the second anchor and cable tension that described the 3rd anchor is respectively described cable laying state and the second anchor and the 3rd anchor is respectively the described first default tension force, described boats and ships driven towards to the position of casting anchor of described the 4th anchor from the position of casting anchor of described the 3rd anchor;
The cable tension that keeps described the first anchor, described the second anchor and described the 3rd anchor to stop cable laying state and described the first anchor, described the second anchor and described the 3rd anchor described in being respectively is respectively the described second default tension force, make described boats and ships be parked in the position of casting anchor of described the 4th anchor, and in the position of casting anchor of described the 4th anchor, described the 4th anchor is thrown to the bottom;
Keeping described the first anchor, described the second anchor and described the 3rd anchor to be respectively described take-up state and keeping the cable tension that described the 4th anchor is described cable laying state and described the 4th anchor is the described first default tension force, and described boats and ships are driven towards to described position location from the position of casting anchor of described the 4th anchor.
The third aspect, a kind of anchoring arrangement of boats and ships is provided, and described device is applicable to preceding method, and described boats and ships comprise at least three anchors and winch, the quantity of a described anchor and described anchor corresponding described winch identical with the quantity of described winch, described device comprises:
First sensor, for detection of the cable tension of described winch;
Input equipment, for inputting the position location of setting, described boats and ships preset stem method and described at least three anchors cable length that needs cable laying separately in described position location, and the input instruction of casting anchor;
Control convenience, for preset stem direction and described at least three anchors cable length that needs cable laying separately in described position location according to the position location of the setting of input equipment input, described boats and ships, the position of casting anchor of at least three anchors described in determining respectively, described position location is positioned at the polygonal central region forming with the position of casting anchor of described at least three anchors;
According to the instruction of casting anchor of input equipment input, described boats and ships are sailed to the position of casting anchor to first anchor, described first anchor be described in any at least three anchors, and in the position of casting anchor of described first anchor, described first anchor is thrown to the bottom;
Start clockwise or counterclockwise from the position of casting anchor of described first anchor, successively the anchor not casting anchor in described at least three anchors is cast anchor, until all anchors are all thrown the bottom;
Described boats and ships are sailed to described position location;
Wherein, the described position of casting anchor from described first anchor starts clockwise or counterclockwise, successively the anchor not casting anchor in described at least three anchors is cast anchor, and comprising:
Described boats and ships are sailed to the position of casting anchor of the anchor not casting anchor to the next one, and in the process of described ship running, the cable tension of the winch in cable laying state detecting according to first sensor, the cable tension that remains in the winch of cable laying state is the first default tension force, and the described winch in cable laying state is to determine the distance of casting anchor between position of the anchor that do not cast anchor according to cast anchor position and the described next one of the described anchor the having cast anchor winch under the described anchor having cast anchor;
Detect according to first sensor in stopping the cable tension of winch of cable laying state, the cable tension that remains in the winch that stops cable laying state is the second default tension force, the anchor that the described next one is not cast anchor in the position of casting anchor of the anchor not casting anchor at the described next one is thrown the bottom, and described is the winch under the described anchor having cast anchor in stopping the winch of cable laying state.
In the possible embodiment of the first, described device also comprises the second sensor,
Described the second sensor is used for, and detects the moving velocity of described boats and ships;
Described control convenience is used for, in the time that the cable tension of the described winch in cable laying state equals the described first default tension force, the current driving speed of the described boats and ships that keep the cable releasing speed of the described winch in cable laying state to be, described the second sensor detect is at the component of the hawser bearing of trend of the described winch in cable laying state.
In the possible embodiment of the second, described first sensor is bearing pin sensor, and described bearing pin installation of sensors is on the vertical fairlead of the described winch in cable laying state.
The beneficial effect that the technical scheme that the embodiment of the present invention provides is brought is:
By boats and ships being sailed in the process of the position of casting anchor of the anchor not casting anchor to the next one, the cable tension that remains in the winch of cable laying state is the first default tension force; And when the anchor that the next one is not cast anchor in the position of casting anchor of the anchor not casting anchor at the next one is thrown the bottom, the cable tension that remains in the winch that stops cable laying state is the second default tension force; Before not arriving position location at boats and ships, the cable tension of each anchor is controlled to preset range, therefore, boats and ships, in the process of casting anchor, will avoid being thrown into the anchor chain generation winding situation of the anchor in water.
Brief description of the drawings
In order to be illustrated more clearly in the technical scheme in the embodiment of the present invention, below the accompanying drawing of required use during embodiment is described is briefly described, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skill in the art, do not paying under the prerequisite of creative work, can also obtain according to these accompanying drawings other accompanying drawing.
Fig. 1 is the diagram of circuit of the anchoring method of a kind of boats and ships of providing of the embodiment of the present invention;
Fig. 2 is the diagram of circuit of the anchoring method of another boats and ships of providing of the embodiment of the present invention;
Fig. 3 is the schematic diagram of the installation site of first to fourth anchor that provides of the embodiment of the present invention;
Fig. 4 is the schematic diagram of geographic coordinates of the position of casting anchor of determining first to fourth anchor that provides of the embodiment of the present invention;
Fig. 5 is the detail flowchart of step 206 in Fig. 2;
Fig. 6 is the detail flowchart of step 207 in Fig. 2;
Fig. 7 is the schematic diagram of the anchoring method of a kind of boats and ships of providing of the embodiment of the present invention;
Fig. 8 is the structural representation of the anchoring arrangement of a kind of boats and ships of providing of the embodiment of the present invention;
Fig. 9 is the structural representation of the anchoring arrangement of another boats and ships of providing of the embodiment of the present invention.
Detailed description of the invention
For making the object, technical solutions and advantages of the present invention clearer, below in conjunction with accompanying drawing, embodiment of the present invention is described further in detail.
Embodiment mono-
The present embodiment provides a kind of anchoring method of boats and ships, and the method is applicable to Ship Anchoring.These boats and ships comprise at least three anchors.Referring to Fig. 1, the method comprises the following steps:
In step 101, need the cable length of cable laying at the preset stem direction of position location and at least three anchors according to the position location, boats and ships set, determine the position of casting anchor of at least three anchors.
Wherein, the polygonal central region that position location forms with the position of casting anchor of at least three anchors.
In the present embodiment, at least three anchors, the installation site of the winch under respectively on boats and ships is not construed as limiting.
In step 102, boats and ships are driven towards to the position of casting anchor of first anchor, and in the position of casting anchor of first anchor, first anchor is thrown to the bottom.
Wherein, first anchor is any anchor at least three anchors.
In step 103, start clockwise or counterclockwise from the position of casting anchor of first anchor, successively the anchor not casting anchor at least three anchors is cast anchor, until all anchors are all thrown the bottom.
This step 103 comprises: the position of casting anchor of boats and ships being sailed to the anchor not casting anchor to the next one, and in the process of ship running, the cable tension that remains in the winch of cable laying state is the first default tension force, is to determine the winch under the anchor having cast anchor according to the distance of casting anchor between position of cast anchor position and the next anchor not casting anchor of the anchor having cast anchor in the winch of cable laying state; The cable tension that remains in the winch that stops cable laying state is the second default tension force, and the anchor that the next one is not cast anchor in the position of casting anchor of the anchor not casting anchor at the next one is thrown the bottom, is the winch under the anchor having cast anchor in stopping the winch of cable laying state.
In step 104, boats and ships are sailed to position location.
The embodiment of the present invention is by boats and ships being sailed in the process of the position of casting anchor of the anchor not casting anchor to the next one, and the cable tension that remains in the winch of cable laying state is the first default tension force; And when the anchor that the next one is not cast anchor in the position of casting anchor of the anchor not casting anchor at the next one is thrown the bottom, the cable tension that remains in the winch that stops cable laying state is the second default tension force; Before not arriving position location at boats and ships, the cable tension of each anchor is controlled to preset range, therefore, boats and ships, in the process of casting anchor, will avoid being thrown into the anchor chain generation winding situation of the anchor in water.
Embodiment bis-
The present embodiment provides a kind of anchoring method of boats and ships, and the method is applicable to Ship Anchoring.These boats and ships comprise at least three anchors.In the present embodiment, will introduce the method as an example of four anchors example.These four anchors comprise first to fourth anchor, and first to fourth anchor can be arranged on respectively the both sides of stem and ship stern.Such as, the first anchor and the second anchor can be positioned at the both sides of stem and the 3rd anchor and the 4th anchor and can be positioned at the both sides of ship stern, or the first anchor and the second anchor can be positioned at the both sides of ship stern and the 3rd anchor and the 4th anchor and can be positioned at the both sides of stem.Wherein, the first anchor and the 4th anchor are positioned at homonymy, and the second anchor and the 3rd anchor are positioned at homonymy.And for example, the first anchor and the 4th anchor can be positioned at the both sides of stem and the 3rd anchor and the second anchor and can be positioned at the both sides of ship stern, or the first anchor and the 4th anchor can be positioned at the both sides of ship stern and the 3rd anchor and the second anchor and can be positioned at the both sides of stem.Wherein, the first anchor and the second anchor are positioned at homonymy, and the 3rd anchor and the 4th anchor are positioned at homonymy.
Referring to Fig. 2, the method comprises the following steps:
In step 201, the installation site of the winch according to boats and ships under preset stem direction and at least three anchors difference of the position location of setting on boats and ships, the direction of the position of casting anchor of definite at least three anchors.
Wherein, the direction of the position of casting anchor of at least three anchors, the direction of the installation site of the winch of at least three anchors under respectively on boats and ships is identical while being preset stem direction with stem.
Referring to Fig. 3, suppose that the installation site (comprise W1 and W2) of the affiliated winch of the first anchor and the second anchor difference on boats and ships is ship stern, the installation site (comprise W3 and W4) of the winch under the 3rd anchor and the 4th anchor difference on boats and ships is stem.And the installation site of the winch under the first anchor and the 4th anchor difference is at homonymy, the installation site of the winch under the second anchor and the 3rd anchor difference is at homonymy.When stem is preset stem direction and preset stem direction while being direct north, the installation site (comprise W1/W2/W3/W4) of the winch of first to fourth anchor under respectively on boats and ships be followed successively by southwestward, southeastern direction, northeastward and northwest to.So, the direction of the position of casting anchor (comprising P1/P2/P3/P4) of first to fourth anchor be also followed successively by southwestward, southeastern direction, northeastward and northwest to.
In step 202, need the preset depth of water of the cable length of cable laying and the position of casting anchor of at least three anchors according at least three anchors, determine the distance of position respectively and between position location of casting anchor of at least three anchors.
Wherein, at least three anchors need the cable length of cable laying to be less than the hawser total length of at least three anchors.
Wherein, the first anchor needs the hawser of cable laying, the preset depth of water of the position of casting anchor and the distance form right angle triangle casting anchor between position and position location of the first anchor of the first anchor.According to right-angled triangle principle, can determine the distance of casting anchor between position and position location of the first anchor.Distance algorithm between distance algorithm and the first anchor and the position location of the second to the 4th anchor respectively and between position location is identical.
The distance of casting anchor between position and position location of supposing the first anchor of determining is L1.
In step 203, according to the preset angle of direction respectively and preset stem direction and the distance of position respectively and between position location of casting anchor of at least three anchors of the direction of the position of casting anchor of at least three anchors, the position of casting anchor from position location at least three anchors, determine the position of casting anchor of at least three anchors respectively in the side-play amount of the vertical direction of preset stem direction and preset stem direction.
Referring to Fig. 4, the position P1 that casts anchor of the line L1 between position P1 and position location O of casting anchor of the first anchor, the first anchor to the straight line X1 of preset stem direction and the line casting anchor between position P1 and position location O of the first anchor at the projection Y1 of preset stem direction form right angle triangle.The preset angle theta 1 direction and the preset stem direction of the known position P1 that casts anchor from position location O to the first anchor, can calculate X1 (equaling L1*sin θ 1) and Y1 (equaling L1*cos θ 1).X1 and Y1 are respectively the side-play amount of position P1 in the vertical direction of preset stem direction and preset stem direction of casting anchor of the first anchor.
In step 204, respectively in the side-play amount of the vertical direction of preset stem direction and preset stem direction, determine the cast anchor geographic coordinates of position of at least three anchors according to the position of casting anchor of the geographic coordinates of position location and at least three anchors.
Realize by step 201～step 204, needed the cable length of cable laying according to the position location, boats and ships set at the preset stem direction of position location and at least three anchors, determined the position of casting anchor of at least three anchors.Wherein, the polygonal central region that position location forms with the position of casting anchor of at least three anchors.
In step 205, boats and ships are driven towards to the position of casting anchor of first anchor, and in the position of casting anchor of first anchor, first anchor is thrown to the bottom.
Wherein, first anchor is any anchor at least three anchors.Can whether throw the bottom by the first anchor of artificial judgment.
In the present embodiment, suppose that first anchor is the first anchor.
In step 206, boats and ships are sailed to the position of casting anchor of the anchor not casting anchor to the next one, and in the process of ship running, the cable tension that remains in the winch of cable laying state is the first default tension force.
Wherein, be to determine the winch under the anchor having cast anchor according to the distance of casting anchor between position of cast anchor position and the next anchor not casting anchor of the anchor having cast anchor in the winch of cable laying state.Such as, the distance of casting anchor between position of cast anchor position and the next anchor not casting anchor of the anchor having cast anchor is larger, can carry out cable laying to the winch under the anchor having cast anchor, and makes it in cable laying state; The distance of casting anchor between position of cast anchor position and the next anchor not casting anchor of the anchor casting anchor is smaller, can stop cable laying or take-up to the winch under the anchor having cast anchor.
Wherein, the first default tension force is the dynamic tension of setting, for keeping the hawser of ship running process anchor to possess suitable tensile force (such as hawser is just stretching).
Referring to Fig. 5, this step 206 comprises:
Step 2061, boats and ships are sailed to the position of casting anchor of the anchor not casting anchor to the next one, and in the process of ship running, detected the cable tension of the winch in cable laying state, obtain tension signal, and determine the cable tension of the winch in cable laying state according to tension signal.
Cable releasing speed can be that the current driving speed of current driving speed～1.1 times boats and ships of 0.9 times of boats and ships is at the component of the hawser bearing of trend of the winch in cable laying state.Wherein, the hawser bearing of trend of the winch in cable laying dress refer to from anchor in water-bed position the direction to the installation site of winch on boats and ships under this anchor.In the time that the hawser bearing of trend of the winch in cable laying state is identical with the current driving direction of boats and ships, cable releasing speed can be the current driving speed of boats and ships; In the time that the hawser bearing of trend of the winch in cable laying state and the current driving direction of boats and ships form an angle, cable releasing speed can be that the current driving speed of boats and ships is at the component of this hawser bearing of trend.For example, suppose that this angle is α, the current driving speed of boats and ships is V, and the current driving speed V of boats and ships is at component the V '=V*cos of hawser direction α.
The gps system that the current driving speed of boats and ships can be installed from boats and ships reads.
Can detect by bearing pin sensor the cable tension of the winch in cable laying state.Bearing pin installation of sensors is on the vertical fairlead of the winch in cable laying state.Vertical fairlead leads for the winding of the hawser to anchor, the tension force of hawser can be passed in the strain-gauge on bearing pin sensor.Strain-gauge generation deformation, bearing pin sensor is exported the electric current of corresponding size according to deformation quantity, thereby obtains cable tension.
Step 2062, judges whether the cable tension of the winch in cable laying state is greater than the first default tension force.
In the time that the cable tension of the winch in cable laying state is greater than the first default tension force, execution step 2063; In the time that the cable tension of the winch in cable laying state is less than the first default tension force, execution step 2064; In the time that the cable tension of the winch in cable laying state equals the first default tension force, execution step 2065.
Step 2063, the cable releasing speed of the winch of increase in cable laying state.
Cable releasing speed can be no more than the current driving speed of 1.1 times of boats and ships at the component of the hawser bearing of trend of the winch in cable laying state.
Step 2064, reduces the cable releasing speed of the winch anchor in cable laying state.
Cable releasing speed can be not less than the current driving speed of 0.9 times of boats and ships at the component of the hawser bearing of trend of the winch in cable laying state.
Step 2065, the cable releasing speed that remains in the winch of cable laying state is, the current driving speed of boats and ships is at the component of the hawser bearing of trend of the winch in cable laying state.
In step 207, the cable tension that remains in the winch that stops cable laying state is the second default tension force, and the anchor that the next one is not cast anchor in the position of casting anchor of the anchor not casting anchor at the next one is thrown the bottom.
Wherein, be the winch under the anchor having cast anchor in stopping the winch of cable laying state.
Wherein, the second default tension force is the static tension force of setting, while being used for keeping boats and ships to stop travelling, the hawser of anchor possesses suitable tensile force (such as hawser is stretching), prevents that boats and ships from moving at the boats and ships that stop causing because of stormy waves or ocean current in driving process.
Referring to Fig. 6, this step 207 comprises:
Step 2071, detects the cable tension of winch in stopping cable laying state, obtains tension signal, and determines the cable tension of the winch in stopping cable laying state according to tension signal.
Step 2072, judges whether the cable tension of the winch in stopping cable laying state is less than the second default tension force.
In the time that the cable tension of the winch in stopping cable laying state is less than the second default tension force, execution step 2073; In the time that the cable tension of the winch in stopping cable laying state is greater than the second default tension force, execution step 2074; In the time that the cable tension of the winch in stopping cable laying state equals the second default tension force, execution step 2075.
Step 2073, carries out take-up to the winch in stopping cable laying state.
Step 2074, carries out cable laying to the winch in stopping cable laying state.
Step 2075, stops the winch in stopping cable laying state to carry out take-up or cable laying.
Step 2076, the anchor that the next one is not cast anchor in the position of casting anchor of the anchor not casting anchor at the next one is thrown the bottom.
Realize by step 206 and step 207, started clockwise or counterclockwise from the position of casting anchor of first anchor, successively the anchor not casting anchor at least three anchors has been cast anchor, until all anchors are all thrown the bottom.
In step 208, boats and ships are sailed to position location.
Wherein, boats and ships being sailed to the process of position location, can be according to the distance of casting anchor between position and position location of anchor different, keep winch under a part of anchor in take-up state, the winch under a part of anchor is in cable laying state.Such as, the positional distance position location of casting anchor is distant, can carry out cable laying, and the positional distance position location of casting anchor is closer, can carry out take-up.It should be noted that with the cable tension of the winch of cable laying state and can remain the first default tension force.
In step 209, stop at least three anchors to carry out take-up or cable laying, keep the cable tension of the affiliated winch of at least three anchors to be respectively the second default tension force; And adjust the stem direction of boats and ships, make boats and ships be positioned at position location taking stem as preset stem direction.
Fig. 7 shows the cast anchor position P1 of boats and ships (stem is Bow, and ship stern is Stern) from the first anchor, successively through cast anchor position P2, P3, the P4 of the second to the 4th anchor, finally arrives the process of position location O.This process comprises the following steps:
In step 301, need the cable length of cable laying at the preset stem direction of position location and first to fourth anchor according to the position location, boats and ships set, determine the position of casting anchor of first to fourth anchor.Wherein, position location is positioned at the tetragonal central region forming with the position of casting anchor of first to fourth anchor.
In step 302, boats and ships are driven towards to the position of casting anchor of the first anchor, and in the position of casting anchor of the first anchor, the first anchor is thrown to the bottom.
In step 303, maintenance the first anchor is that the cable tension of cable laying state and the first anchor is the first default tension force, boats and ships is driven towards to the position of casting anchor of the second anchor from the position of casting anchor of the first anchor.
In step 304, keeping the first anchor is that the cable tension that stops cable laying state and the first anchor is the second default tension force, makes boats and ships be parked in the position of casting anchor of the second anchor, and in the position of casting anchor of the second anchor, the second anchor is thrown to the bottom.
In step 305, the cable tension that keeps the first anchor and the second anchor to be respectively cable laying state and the first anchor and the second anchor is respectively the first default tension force, boats and ships is driven towards to the position of casting anchor of the 3rd anchor from the position of casting anchor of the second anchor.
In step 306, keep the first anchor and the second anchor to be respectively stopping the cable tension of cable laying state and the first anchor and the second anchor to be respectively the second default tension force, make boats and ships be parked in the position of casting anchor of the 3rd anchor, and in the position of casting anchor of the 3rd anchor, the 3rd anchor is thrown to the bottom.
In step 307, to keep the first anchor be take-up state and keep the second anchor and cable tension that the 3rd anchor is respectively cable laying state and the second anchor and the 3rd anchor is respectively the first default tension force, boats and ships driven towards to the position of casting anchor of the 4th anchor from the position of casting anchor of the 3rd anchor.
Wherein, keeping the first anchor is take-up state, comprising: detect the current driving speed of boats and ships, and taking the current driving speed of 0.9 times of boats and ships as take-up speed, the first anchor is carried out to take-up.
In step 308, keep the first anchor, the second anchor and the 3rd anchor to be respectively stopping the cable tension of cable laying state and the first anchor, the second anchor and the 3rd anchor to be respectively the second default tension force, make boats and ships be parked in the position of casting anchor of the 4th anchor, and in the position of casting anchor of the 4th anchor, the 4th anchor is thrown to the bottom.
In step 309, keeping the first anchor, the second anchor and the 3rd anchor to be respectively take-up state and keeping the 4th anchor is that the cable tension of cable laying state and the 4th anchor is the first default tension force, and boats and ships are driven towards to position location from the position of casting anchor of the 4th anchor.
In step 310, keep the first anchor, the second anchor, the 3rd anchor and the 4th anchor to be respectively stopping the cable tension of cable laying state and the first anchor, the second anchor, the 3rd anchor and the 4th anchor to be respectively the second default tension force, and adjust the stem direction of boats and ships, make boats and ships be positioned at position location taking stem as preset stem direction.
The embodiment of the present invention is by driving towards boats and ships the casting anchor when position of the second anchor from the position of casting anchor of the first anchor, keeping the first anchor is that the cable tension of cable laying state and the first anchor is the first cable tension; And casting anchor when position of the second anchor, keeping the first anchor is that the cable tension that stops cable laying state and the first anchor is the second default tension force, the second anchor is thrown to water-bed simultaneously; The like, before boats and ships do not arrive position location, the cable tension of each anchor is controlled to preset range, like this, boats and ships, in the process of casting anchor, will avoid being thrown into the anchor chain generation winding situation of the anchor in water.
, arrive behind position location at boats and ships meanwhile, again the cable tension of each anchor is controlled to preset range, thereby realizes the correction of tension force, avoid anchor chain generation winding situation after ship's fix.
Embodiment tri-
The embodiment of the present invention provides a kind of anchoring arrangement of boats and ships, and these boats and ships comprise at least three anchors and winch, the quantity of an anchor and anchor corresponding winch identical with the quantity of winch.This device is applicable to implement 1 or 2 methods that provide, and referring to Fig. 8, this device comprises first sensor 401, input equipment 402 and control convenience 403.
First sensor 401 for, detect the cable tension of winch.
Input equipment 402 for, the position location, boats and ships that input is set in the preset stem method of position location and at least three anchors cable length that needs cable laying separately, and the input instruction of casting anchor.
Control convenience 403 for, the position location of the setting of inputting according to input equipment 402, boats and ships are in the preset stem direction of position location and at least three anchors cable length that needs cable laying separately, determine respectively the position of casting anchor of at least three anchors, position location is positioned at the polygonal central region forming with the position of casting anchor of at least three anchors, the instruction of casting anchor of inputting according to input equipment 402, sails the position of casting anchor to first anchor by boats and ships, and first anchor is any at least three anchors, and in the position of casting anchor of first anchor, first anchor is thrown to the bottom, start clockwise or counterclockwise from the position of casting anchor of first anchor, successively the anchor not casting anchor at least three anchors is cast anchor, until all anchors are all thrown the bottom, boats and ships are sailed to position location, wherein, start clockwise or counterclockwise from the position of casting anchor of first anchor, successively the anchor not casting anchor at least three anchors is cast anchor, comprise: the position of casting anchor of boats and ships being sailed to the anchor not casting anchor to the next one, and in the process of ship running, the cable tension of the winch in cable laying state detecting according to first sensor 401, the cable tension that remains in the winch of cable laying state is the first default tension force, to determine the winch under the anchor having cast anchor according to the distance of casting anchor between position of cast anchor position and the next anchor not casting anchor of the anchor having cast anchor in the winch of cable laying state, detect according to first sensor 401 in stopping the cable tension of winch of cable laying state, the cable tension that remains in the winch that stops cable laying state is the second default tension force, the anchor that the next one is not cast anchor in the position of casting anchor of the anchor not casting anchor at the next one is thrown the bottom, is the winch under the anchor having cast anchor in stopping the winch of cable laying state.
The embodiment of the present invention is by boats and ships being sailed in the process of the position of casting anchor of the anchor not casting anchor to the next one, and the cable tension that remains in the winch of cable laying state is the first default tension force; And when the anchor that the next one is not cast anchor in the position of casting anchor of the anchor not casting anchor at the next one is thrown the bottom, the cable tension that remains in the winch that stops cable laying state is the second default tension force; Before not arriving position location at boats and ships, the cable tension of each anchor is controlled to preset range, therefore, boats and ships, in the process of casting anchor, will avoid being thrown into the anchor chain generation winding situation of the anchor in water.
Embodiment tetra-
The embodiment of the present invention provides a kind of anchoring arrangement of boats and ships, and this device is applicable to implement 1 or 2 methods that provide, and referring to Fig. 9, this device comprises first sensor 501, input equipment 502 and control convenience 503.The structure of first sensor 501, input equipment 502 and control convenience 503, with the structure of first sensor 401, input equipment 402 and control convenience 403 in embodiment tri-, does not repeat them here.The difference of the device that the device that the present embodiment provides and embodiment tri-provide is, this device also comprises the second sensor 504.
The second sensor 504 for, detect the moving velocity of boats and ships.
Control convenience 503 for, in the time that the cable tension of the winch in cable laying state equals the first default tension force, the current driving speed of the boats and ships that the cable releasing speed that remains in the winch of cable laying state is, the second sensor 504 detects is at the component of the hawser bearing of trend of the winch in cable laying state.
Wherein, first sensor 501 is bearing pin sensor, and this bearing pin installation of sensors is on the vertical fairlead of the winch in cable laying state.
The embodiment of the present invention is by boats and ships being sailed in the process of the position of casting anchor of the anchor not casting anchor to the next one, and the cable tension that remains in the winch of cable laying state is the first default tension force; And when the anchor that the next one is not cast anchor in the position of casting anchor of the anchor not casting anchor at the next one is thrown the bottom, the cable tension that remains in the winch that stops cable laying state is the second default tension force; Before not arriving position location at boats and ships, the cable tension of each anchor is controlled to preset range, therefore, boats and ships, in the process of casting anchor, will avoid being thrown into the anchor chain generation winding situation of the anchor in water.
It should be noted that: the anchoring arrangement of the boats and ships that above-described embodiment provides is in the time of anchoring, only be illustrated with the division of above-mentioned each functional module, in practical application, can above-mentioned functions be distributed and completed by different functional modules as required, be divided into different functional modules by the inner structure of equipment, to complete all or part of function described above.In addition, the anchoring method embodiment of the anchoring arrangement of the boats and ships that above-described embodiment provides and boats and ships belongs to same design, and its specific implementation process refers to embodiment of the method, repeats no more here.
The invention described above embodiment sequence number, just to describing, does not represent the quality of embodiment.
One of ordinary skill in the art will appreciate that all or part of step that realizes above-described embodiment can complete by hardware, also can carry out the hardware that instruction is relevant by program completes, described program can be stored in a kind of computer-readable recording medium, the above-mentioned storage medium of mentioning can be read-only memory (ROM), disk or CD etc.
The foregoing is only preferred embodiment of the present invention, in order to limit the present invention, within the spirit and principles in the present invention not all, any amendment of doing, be equal to replacement, improvement etc., within all should being included in protection scope of the present invention.
Claims (10)
1. an anchoring method for boats and ships, described method is applicable to Ship Anchoring, and described boats and ships comprise at least three anchors, it is characterized in that, and described method comprises:
Preset stem direction and described at least three anchors cable length that needs cable laying separately according to the position location, described boats and ships set in described position location, the position of casting anchor of at least three anchors described in determining respectively, described position location is positioned at the polygonal central region forming with the position of casting anchor of described at least three anchors;
Described boats and ships are sailed to the position of casting anchor to first anchor, described first anchor be described in any at least three anchors, in the position of casting anchor of described first anchor, described first anchor is thrown to the bottom;
Start clockwise or counterclockwise from the position of casting anchor of described first anchor, successively the anchor not casting anchor in described at least three anchors is cast anchor, until all anchors are all thrown the bottom;
Described boats and ships are sailed to described position location;
Wherein, the described position of casting anchor from described first anchor starts clockwise or counterclockwise, successively the anchor not casting anchor in described at least three anchors is cast anchor, and comprising:
Described boats and ships are sailed to the position of casting anchor of the anchor not casting anchor to the next one, and in the process of described ship running, the cable tension that remains in the winch of cable laying state is the first default tension force, and the described winch in cable laying state is to determine the distance of casting anchor between position of the anchor that do not cast anchor according to cast anchor position and the described next one of the described anchor the having cast anchor winch under the described anchor having cast anchor;
The cable tension that remains in the winch that stops cable laying state is the second default tension force, the anchor that the described next one is not cast anchor in the position of casting anchor of the anchor not casting anchor at the described next one is thrown the bottom, and described is the winch under the described anchor having cast anchor in stopping the winch of cable laying state.
2. method according to claim 1, it is characterized in that, the described cable length that needs cable laying according to the position location, described boats and ships set at the preset stem direction of described position location and described at least three anchors, the position of casting anchor of at least three anchors described in determining, comprising:
The installation site of winch according to described boats and ships under preset stem direction and described at least three anchors difference of described position location on described boats and ships, the direction of the position of casting anchor of at least three anchors described in determining, the direction of the position of casting anchor of described at least three anchors, while being described preset stem direction with stem described at least three anchors the direction of the affiliated winch installation site on described boats and ships is identical respectively;
Need the preset depth of water of the cable length of cable laying and the position of casting anchor of described at least three anchors according to described at least three anchors, determine described at least three anchors cast anchor position respectively and described position location between distance;
Preset angle according to the direction of the direction of the position of casting anchor of described at least three anchors, the position of casting anchor from described position location to described at least three anchors respectively and described preset stem direction and described at least three anchors cast anchor position respectively and described position location between distance, described in determining, the position of casting anchor of at least three anchors is respectively in the side-play amount of the vertical direction of described preset stem direction and described preset stem direction;
According to the position of casting anchor of the geographic coordinates of described position location and described at least three anchors respectively in the side-play amount of the vertical direction of described preset stem direction and described preset stem direction, the geographic coordinates of the position of casting anchor of at least three anchors described in determining.
3. method according to claim 1, is characterized in that, described in the process of described ship running, and the cable tension that remains in the winch of cable laying state is the first default tension force, comprising:
The cable tension that detects the described winch in cable laying state, obtains tension signal, and determines the cable tension of the described winch in cable laying state according to described tension signal;
Whether the cable tension of the described winch in cable laying state of judgement is greater than the described first default tension force;
In the time that the cable tension of the described winch in cable laying state is greater than the described first default tension force, increase the cable releasing speed of the described winch in cable laying state;
In the time that the cable tension of the described winch in cable laying state is less than the described first default tension force, reduce the cable releasing speed of the described winch in cable laying state;
In the time that the cable tension of the described winch in cable laying state equals the described first default tension force, keep the cable releasing speed of the described winch in cable laying state to be, the current driving speed of described boats and ships is at the component of the hawser bearing of trend of the described winch in cable laying state.
4. method according to claim 1, is characterized in that, described in remain in the winch that stops cable laying state cable tension be the second default tension force, comprising:
Detect and described obtain tension signal in stopping the cable tension of winch of cable laying state, and determine described in stopping the cable tension of winch of cable laying state according to described tension signal;
Whether the cable tension of the described winch in stopping cable laying state of judgement is less than the described second default tension force;
In the time stopping the cable tension of winch of cable laying state and be less than the described second default tension force, carry out take-up to described in the winch that stops cable laying state when described;
In the time stopping the cable tension of winch of cable laying state and be greater than the described second default tension force, carry out cable laying to described in the winch that stops cable laying state when described;
, in the time stopping the cable tension of winch of cable laying state and equal the described second default tension force, stop carrying out take-up or cable laying to described in the winch that stops cable laying state when described.
5. method according to claim 3, is characterized in that, the cable tension of the winch in cable laying state described in described detection, comprising:
The cable tension that detects the described winch in cable laying state by bearing pin sensor, described bearing pin installation of sensors is on the vertical fairlead of the described winch in cable laying state.
6. according to the method described in claim 1-5 any one, it is characterized in that, described boats and ships are sailed to described position location, and described method also comprises:
Stop described at least three anchors to carry out take-up or cable laying, the cable tension of the winch described in maintenance under at least three anchors is respectively the described second default tension force;
And adjust the stem direction of described boats and ships, make described boats and ships be positioned at described position location taking stem as described preset stem direction.
7. an anchoring method for boats and ships, described method is applicable to Ship Anchoring, and described boats and ships comprise first to fourth anchor, it is characterized in that, and described method comprises:
Need the cable length of cable laying at the preset stem direction of described position location and described first to fourth anchor according to the position location, described boats and ships set, determine the position of casting anchor of described first to fourth anchor, described position location is positioned at the tetragonal central region forming with the position of casting anchor of described first to fourth anchor;
Described boats and ships are driven towards to the position of casting anchor of described the first anchor, and in the position of casting anchor of described the first anchor, described the first anchor is thrown to the bottom;
Keeping described the first anchor is that the cable tension of cable laying state and described the first anchor is the first default tension force, described boats and ships is driven towards to the position of casting anchor of described the second anchor from the position of casting anchor of described the first anchor;
Keeping described the first anchor is that the cable tension that stops cable laying state and described the first anchor is the second default tension force, makes described boats and ships be parked in the position of casting anchor of described the second anchor, and in the position of casting anchor of described the second anchor, described the second anchor is thrown to the bottom;
The cable tension that keeps described the first anchor and described the second anchor to be respectively described cable laying state and described the first anchor and described the second anchor is respectively the described first default tension force, described boats and ships is driven towards to the position of casting anchor of described the 3rd anchor from the position of casting anchor of described the second anchor;
The cable tension that keeps described the first anchor and described the second anchor to stop cable laying state and described the first anchor and described the second anchor described in being respectively is respectively the described second default tension force, make described boats and ships be parked in the position of casting anchor of described the 3rd anchor, and in the position of casting anchor of described the 3rd anchor, described the 3rd anchor is thrown to the bottom;
To keep described the first anchor be take-up state and keep described the second anchor and cable tension that described the 3rd anchor is respectively described cable laying state and the second anchor and the 3rd anchor is respectively the described first default tension force, described boats and ships driven towards to the position of casting anchor of described the 4th anchor from the position of casting anchor of described the 3rd anchor;
The cable tension that keeps described the first anchor, described the second anchor and described the 3rd anchor to stop cable laying state and described the first anchor, described the second anchor and described the 3rd anchor described in being respectively is respectively the described second default tension force, make described boats and ships be parked in the position of casting anchor of described the 4th anchor, and in the position of casting anchor of described the 4th anchor, described the 4th anchor is thrown to the bottom;
Keeping described the first anchor, described the second anchor and described the 3rd anchor to be respectively described take-up state and keeping the cable tension that described the 4th anchor is described cable laying state and described the 4th anchor is the described first default tension force, and described boats and ships are driven towards to described position location from the position of casting anchor of described the 4th anchor.
8. the anchoring arrangement of boats and ships, described device is applicable to weigh the method described in 1, and described boats and ships comprise at least three anchors and winch, the quantity of a described anchor and described anchor corresponding described winch identical with the quantity of described winch, it is characterized in that, described device comprises:
First sensor, for detection of the cable tension of described winch;
Input equipment, for inputting the position location of setting, described boats and ships preset stem method and described at least three anchors cable length that needs cable laying separately in described position location, and the input instruction of casting anchor;
Control convenience, for preset stem direction and described at least three anchors cable length that needs cable laying separately in described position location according to the position location of the setting of input equipment input, described boats and ships, the position of casting anchor of at least three anchors described in determining respectively, described position location is positioned at the polygonal central region forming with the position of casting anchor of described at least three anchors;
According to the instruction of casting anchor of input equipment input, described boats and ships are sailed to the position of casting anchor to first anchor, described first anchor be described in any at least three anchors, and in the position of casting anchor of described first anchor, described first anchor is thrown to the bottom;
Start clockwise or counterclockwise from the position of casting anchor of described first anchor, successively the anchor not casting anchor in described at least three anchors is cast anchor, until all anchors are all thrown the bottom;
Described boats and ships are sailed to described position location;
Wherein, the described position of casting anchor from described first anchor starts clockwise or counterclockwise, successively the anchor not casting anchor in described at least three anchors is cast anchor, and comprising:
Described boats and ships are sailed to the position of casting anchor of the anchor not casting anchor to the next one, and in the process of described ship running, the cable tension of the winch in cable laying state detecting according to first sensor, the cable tension that remains in the winch of cable laying state is the first default tension force, and the described winch in cable laying state is to determine the distance of casting anchor between position of the anchor that do not cast anchor according to cast anchor position and the described next one of the described anchor the having cast anchor winch under the described anchor having cast anchor;
Detect according to first sensor in stopping the cable tension of winch of cable laying state, the cable tension that remains in the winch that stops cable laying state is the second default tension force, the anchor that the described next one is not cast anchor in the position of casting anchor of the anchor not casting anchor at the described next one is thrown the bottom, and described is the winch under the described anchor having cast anchor in stopping the winch of cable laying state.
9. device according to claim 8, is characterized in that, described device also comprises the second sensor,
Described the second sensor is used for, and detects the moving velocity of described boats and ships;
Described control convenience is used for, in the time that the cable tension of the described winch in cable laying state equals the described first default tension force, the current driving speed of the described boats and ships that keep the cable releasing speed of the described winch in cable laying state to be, described the second sensor detect is at the component of the hawser bearing of trend of the described winch in cable laying state.
10. device according to claim 8 or claim 9, is characterized in that, described first sensor is bearing pin sensor, and described bearing pin installation of sensors is on the vertical fairlead of the described winch in cable laying state.
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