CN114906279B - Marine engineering ship dynamic detection intelligent distance side leaning system and method - Google Patents
Marine engineering ship dynamic detection intelligent distance side leaning system and method Download PDFInfo
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- CN114906279B CN114906279B CN202210481061.9A CN202210481061A CN114906279B CN 114906279 B CN114906279 B CN 114906279B CN 202210481061 A CN202210481061 A CN 202210481061A CN 114906279 B CN114906279 B CN 114906279B
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- 238000001514 detection method Methods 0.000 title claims abstract description 13
- 238000000034 method Methods 0.000 title claims description 10
- 238000004873 anchoring Methods 0.000 claims abstract description 6
- 238000004891 communication Methods 0.000 claims abstract description 5
- 238000005259 measurement Methods 0.000 claims description 10
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
Classifications
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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
- B63B21/00—Tying-up; Shifting, towing, or pushing equipment; Anchoring
- B63B21/22—Handling or lashing of anchors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B21/00—Tying-up; Shifting, towing, or pushing equipment; Anchoring
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/70—Wind energy
- Y02E10/727—Offshore wind turbines
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- Chemical & Material Sciences (AREA)
- Engineering & Computer Science (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Length Measuring Devices With Unspecified Measuring Means (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The invention relates to a marine vessel dynamic detection intelligent distance side leaning system, which comprises: the data acquisition module is used for acquiring and outputting ship position data, ship environment data and anchor state data to the control module; the positioning anchor module comprises a plurality of motors, anchor machines, anchor chains and anchors; the control module is respectively in communication connection with the data acquisition module and the positioning anchor module and is used for controlling the positioning anchor module to perform anchoring action according to the ship position data; and adjusting the retraction amount of the anchor chain according to the ship position data or a preset target value of the tension of the anchor chain.
Description
Technical Field
The invention relates to an intelligent distance side leaning system and method for dynamic detection of a marine vessel, and belongs to the field of vessel anchoring.
Background
When engineering vessels such as wind power installation vessels and the like operate at sea, large parts are required to be hoisted or refuted from unpowered transport vessels or barges, anchoring positioning is required to be carried out by means of an anchor throwing boat due to the lack of a power device and a DP positioning system, and positioning anchors cannot be accurately positioned or are difficult to position under the influence of ocean stormy waves; whether the transport ship can be accurately positioned plays a vital role in the problems of operation accuracy, operation cost and the like. Therefore, there is a need for a marine vessel positioning system that can intelligently detect and adjust the side-to-side distance.
Patent CN109747784A discloses a combined co-location system and method for single point mooring anchor and paddle in marine engineering: a single-point mooring anchor-paddle combined co-location system for marine engineering comprises an upper computer, an anchor-windlass system, a ship propulsion system and a mooring platform environment parameter detection system; the upper computer is respectively connected with the anchor windlass system, the ship propulsion system and the mooring platform environment parameter detection system through a communication network. The advantages are that: the mooring equipment capacity is reduced through the joint co-location of the mooring anchor and the paddle, and the resource utilization rate is high; the defects are as follows: is not suitable for a ship without the power device and the DP positioning system.
Disclosure of Invention
In order to overcome the problems in the prior art, the invention designs the intelligent distance side leaning system and the intelligent distance side leaning method for the marine ship dynamic detection, and the control module is used for controlling the action of the positioning anchor module, so that the ship can automatically complete the distance side leaning of the ship without a power device.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
the technical scheme is as follows:
the utility model provides a marine vessel dynamic detection intelligence distance side system of leaning on which characterized in that includes:
the data acquisition module is used for acquiring and outputting ship position data, ship environment data and anchor state data to the control module;
the positioning anchor module comprises a plurality of motors, anchor machines, anchor chains and anchors;
the control module is respectively in communication connection with the data acquisition module and the positioning anchor module and is used for controlling the positioning anchor module to perform anchoring action according to the ship position data; and adjusting the retraction amount of the anchor chain according to the ship position data or a preset target value of the tension of the anchor chain.
Further, the data acquisition module comprises a laser ranging device, an electric compass, a differential global positioning system, a wind speed measuring instrument and a tension sensor and an angle sensor which are arranged on the anchor machine.
Further, the anchor module further comprises an electromagnetic directional valve and an absolute value encoder.
Further, the control module calculates the distance between the ship position and the target position according to the ship position data; and if the distance does not exceed the preset distance threshold, the control module sends an anchor breaking instruction to the positioning anchor module.
Further, the method further comprises the following steps: the tension target value is determined according to ship environment data, and the specific steps are as follows:
constructing an objective function:wherein τ i Representing a tension target value of an ith anchor chain; τ avg Representing the average tension of all anchor chains;
and solving the objective function to obtain the tension target value of each anchor chain.
Further, according to the ship position data, the anchor chain retraction amount is adjusted, and the specific steps are as follows:
acquiring a deviation angle and a distance between a ship position and a target position;
according to the deviation angle and the distance, the anchor chain retraction amount is calculated, and expressed as follows:
wherein c (x) represents a distance between the ship position and the target position; θi represents measurement data of the angle sensor on the side of the ship close to the target position; f (x 1) represents the retraction amount of the anchor chain at one side of the ship close to the target position; θj represents measurement data of the angle sensor on the side of the ship away from the target position; f (x 2) represents the retraction amount of the anchor chain on the side of the ship away from the target position.
The second technical scheme is as follows:
the data acquisition module acquires and transmits ship position data, ship environment data and anchor state data to the control module;
the control module calculates the distance between the ship position and the target position according to the ship position data; if the distance is not more than a preset distance threshold, the control module sends an anchor breaking instruction to the positioning anchor module;
the control module judges whether the ship environment data exceeds a preset range, if so, the control module determines a tension target value according to the ship environment data and adjusts the anchor chain retraction amount according to the tension target value: reading real-time tension values of all anchor chains, and if the tension values are larger than the tension target value, controlling the anchor chains to relax; if the tension is smaller than the tension target value, controlling the anchor chain to be tightened;
and if the ship position data does not exceed the preset range, the control module adjusts the anchor chain retraction amount according to the ship position data. Further, the method for determining the tension target value according to the ship environment data comprises the following specific steps:
constructing an objective function:wherein τ i Representing a tension target value of an ith anchor chain; τ avg Representing the average tension of all anchor chains;
and solving the objective function to obtain the tension target value of each anchor chain.
Further, according to the ship position data, the anchor chain retraction amount is adjusted, and the specific steps are as follows:
acquiring a deviation angle and a distance between a ship position and a target position;
according to the deviation angle and the distance, the anchor chain retraction amount is calculated, and expressed as follows:
wherein c (x) represents a distance between the ship position and the target position; θi represents measurement data of the angle sensor on the side of the ship close to the target position; f (x 1) represents the retraction amount of the anchor chain at one side of the ship close to the target position; θj represents measurement data of the angle sensor on the side of the ship away from the target position; f (x 2) represents the retraction amount of the anchor chain on the side of the ship away from the target position.
Compared with the prior art, the invention has the following characteristics and beneficial effects:
1. according to the invention, the positioning anchor module is controlled to act through the control module, so that the ship can automatically complete the distance side leaning of the ship without a power device.
2. According to the invention, the target value of the anchor chain tension is determined according to the external force applied to the ship, and the anchor chain is adjusted according to the target value of the anchor chain tension, so that the anchor chain is prevented from being broken, and the berthing safety of the ship is ensured.
3. According to the invention, the anchor chain is adjusted according to the deviation angle and the distance between the ship position and the target position, so that the side leaning accuracy is further improved.
Drawings
Fig. 1 is a schematic diagram of the structure of the present invention.
Detailed Description
The present invention will be described in more detail with reference to examples.
Example 1
As shown in fig. 1, a marine vessel dynamic detection intelligent distance side leaning system comprises:
the data acquisition module is used for acquiring and outputting ship position data, ship environment data and anchor state data to the control module. The method specifically comprises the following steps: the system comprises a laser ranging device, an electric compass, a differential global positioning system, an anemometer, a flow velocity sensor, a tension sensor and an angle sensor, wherein the tension sensor and the angle sensor are arranged on an anchor machine.
The anchor module, the anchor module includes: motor, anchor machine, anchor chain, anchor. In this embodiment, four anchor machines are specifically provided, each anchor machine is equipped with 1 absolute value encoder (resolution 4096 points/circle), and the absolute value encoder is used for measuring and calculating rope length and rope speed, and is installed coaxially with the main winding drum. In addition, each anchor is equipped with a high-precision pin strain type tension sensor for measuring the tension of the anchor chain in real time, and the sensor is matched with an external signal amplifier for zeroing and setting. The motor is provided with an electromagnetic reversing valve for adjusting the steering of the motor.
The control module is respectively in communication connection with the data acquisition module and the positioning anchor module and is used for controlling the positioning anchor module to perform anchoring action according to the ship position data; and adjusting the anchor chain retraction amount according to the ship position data or a preset tension target value.
Example two
Further, the tension target value is determined according to ship environment data, and the specific steps are as follows:
constructing an objective function:
wherein τ i Representing a tension target value of an ith anchor chain; τ avg Representing the average tension of all anchor chains; n represents the total number of anchor chains, n=4 in this example.
Constructing constraint conditions of an objective function:
τ min ≤τ i ≤τ max ；
wherein F is x 、F y Respectively representing transverse external force and longitudinal external force applied to the ship, and calculating according to the relative wind speed and relative wind direction angle information measured by the wind speed measuring instrument; alpha i Representing an included angle between the ith anchor chain and the ship bow, and obtaining the bow information measured by the electronic compass; τ min Respectively representing a lower limit value and an upper limit value of the anchor chain tension; mu represents the safety coefficient, mu>1。
Introducing a relaxation variable s, and changing the constraint condition into:
solving an approximately optimal solution τ of the objective function i ……τ n I.e. the target value of the tension of each chain.
Example III
Further, according to the ship position data, the anchor chain retraction amount is adjusted, and the specific steps are as follows:
acquiring a deviation angle and a distance between a ship position and a target position (acquired by a laser ranging device);
according to the deviation angle and the distance, the anchor chain retraction amount is calculated, and expressed as follows:
wherein c (x) represents a distance between the ship position and the target position; θi represents measurement data of the angle sensor on the side of the ship close to the target position; f (x 1) represents the retraction amount of the anchor chain at one side of the ship close to the target position; θj represents measurement data of the angle sensor on the side of the ship away from the target position; f (x 2) represents the retraction amount of the anchor chain on the side of the ship away from the target position.
Example IV
The control module calculates the distance between the ship position and the target position according to the ship position data (acquired by a differential global positioning system); if the distance is not greater than the preset distance threshold, the ship enters the berthing area, the control module sends an anchor breaking instruction to the positioning anchor module, and the anchor machine throws out the four anchors.
The control module sends a control instruction to the motor, and the motor rotates positively and negatively through the electromagnetic reversing valve, so that the anchor chain is retracted and released.
The control module judges whether the real-time wind speed and the real-time flow rate (acquired by a wind speed measuring instrument and a flow rate sensor) in the ship environment data exceed a preset range, if so, the control module redetermines a tension target value according to the ship environment data and adjusts the anchor chain retraction amount according to the tension target value: reading real-time tension values of all anchor chains, and if the tension values are larger than the tension target value, controlling the anchor chains to relax by a control module; and if the tension is smaller than the tension target value, the control module controls the anchor chain to tighten.
If the real-time wind speed and the real-time flow speed do not exceed the preset range, the control module further adjusts the anchor chain retraction amount according to the deviation angle and the distance between the ship position and the target position, and the accurate berthing of the ship is ensured.
It will be apparent that the described embodiments are only some, but not all, embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Claims (6)
1. The utility model provides a marine vessel dynamic detection intelligence distance side system of leaning on which characterized in that includes:
the data acquisition module is used for acquiring and outputting ship position data, ship environment data and anchor state data to the control module;
the positioning anchor module comprises a plurality of motors, anchor machines, anchor chains and anchors;
the control module is respectively in communication connection with the data acquisition module and the positioning anchor module and is used for controlling the positioning anchor module to perform anchoring action according to the ship position data; according to the ship position data, the anchor chain retraction amount is adjusted;
according to the ship position data, the anchor chain retraction amount is adjusted, and the specific steps are as follows:
acquiring a deviation angle and a distance between a ship position and a target position;
according to the deviation angle and the distance, the anchor chain retraction amount is calculated, and expressed as follows:
wherein c (x) represents a distance between the ship position and the target position; θi represents measurement data of the angle sensor on the side of the ship close to the target position;representing the retraction amount of the anchor chain at one side of the ship close to the target position; θj represents measurement data of the angle sensor on the side of the ship away from the target position; />Representing the retraction amount of the anchor chain at one side of the ship far away from the target position; n represents the total number of anchor chains.
2. The marine vessel dynamic detection intelligent distance side leaning system according to claim 1, wherein the data acquisition module comprises a laser ranging device, an electric compass, a differential global positioning system, a wind speed measuring instrument, a flow velocity sensor, and a tension sensor and an angle sensor which are arranged on an anchor machine.
3. The marine vessel dynamic detection intelligent distance side leaning system according to claim 1, wherein the anchor module further comprises an electromagnetic directional valve and an absolute encoder.
4. The marine vessel dynamic detection intelligent distance side leaning system according to claim 1, wherein the control module calculates the distance between the vessel position and the target position according to the vessel position data; and if the distance does not exceed the preset distance threshold, the control module sends an anchor breaking instruction to the positioning anchor module.
5. The method for dynamically detecting intelligent distance side leaning of the marine vessel is characterized by comprising the following steps of:
the data acquisition module acquires and transmits ship position data, ship environment data and anchor state data to the control module;
the control module calculates the distance between the ship position and the target position according to the ship position data; if the distance is not more than a preset distance threshold, the control module sends an anchor breaking instruction to the positioning anchor module;
the control module judges whether the ship environment data exceeds a preset range, if so, the control module determines a tension target value according to the ship environment data and adjusts the anchor chain retraction amount according to the tension target value: reading real-time tension values of all anchor chains, and if the tension values are larger than the tension target value, controlling the anchor chains to relax; if the tension is smaller than the tension target value, controlling the anchor chain to be tightened;
if the ship position data does not exceed the preset range, the control module adjusts the anchor chain retraction amount according to the ship position data;
according to the ship position data, the anchor chain retraction amount is adjusted, and the specific steps are as follows:
acquiring a deviation angle and a distance between a ship position and a target position;
according to the deviation angle and the distance, the anchor chain retraction amount is calculated, and expressed as follows:
wherein c (x) represents a distance between the ship position and the target position; θi represents measurement data of the angle sensor on the side of the ship close to the target position;representing the retraction amount of the anchor chain at one side of the ship close to the target position; θj represents measurement data of the angle sensor on the side of the ship away from the target position; />Representing the retraction amount of the anchor chain at one side of the ship far away from the target position; n represents the total number of anchor chains.
6. The method for dynamically detecting intelligent distance side leaning on a marine vessel according to claim 5, wherein the determining the tension target value according to the vessel environment data comprises the following specific steps:
constructing an objective function:wherein->Representing a tension target value of an ith anchor chain;representing the average tension of all anchor chains;
and solving the objective function to obtain the tension target value of each anchor chain.
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