CN104485024A - Ship dragging remote alarm control device and alarm control method thereof - Google Patents
Ship dragging remote alarm control device and alarm control method thereof Download PDFInfo
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Abstract
The invention discloses a ship dragging remote alarm control device. The ship dragging remote alarm control device comprises an anchoring control terminal, an embedded processor module, a first GSM (Global System for Mobile) module, a GPS (Global Positioning System) module, a first LCD, an alarm apparatus, an anchor machine control driver and a ship anchor machine, wherein the GPS module, the first GSM module, the first LCD, the alarm apparatus and the anchor machine control driver are connected with the embedded processor module; the anchor machine control driver is connected with the anchor machine. The anchoring control terminal is connected with the first GSM module on a ship through a GSM communication network. The alarm control device disclosed by the invention has an active detection effect for ship dragging, remote anchoring operation can be realized through the anchoring control terminal, the restriction of communication distance is broken by utilizing the GSM network, the anchoring control terminal can bring convenience for operators by adopting a one-key anchoring mode or a manual control mode, and meanwhile the time for eliminating dragging risks is reduced. The invention further discloses an alarm control method of the ship dragging remote alarm control device.
Description
Technical field
The present invention relates to marine accessorial equipment and technical field, specifically, relate to a kind of Dragging remote alarms control device and its implementation.
Background technology
Along with making constant progress of epoch, shipping industry is also in continuous develop rapidly.The tonnage of ship has increasing trend in recent years, and the quantity of boats and ships also gets more and more, and the speed of boats and ships turnover is also more and more faster, and therefore the anchoring situation at a lot of harbour becomes complicated.Add and a large amount of seafarers training mechanisms has appearred in present society, crew quality is out uneven in training, and Dragging accident is happened occasionally, and even occurs that crewman all debarks the accident forgotten and cast anchor.The security incident caused because of Dragging, not only can cause larger economic loss, sometimes also can cause the injures and deaths of personnel, should cause the attention of people.
The accident of dragging of anchor of boats and ships is a kind of common and multiple accidents, and the reason of Dragging is a lot, and the factor that each ship drags of anchor all is not quite similar.Riding boats and ships are often subject to the effect of the external force such as stormy waves, the situation when state of boats and ships self also anchors to it simultaneously has an impact, as the newness degree of boats and ships self, the factor of boats and ships institute cargo, factor of operating personnel etc., these constitute a complicated entirety, if one of them or several factor are not handled well, so just likely cause the generation of Dragging accident.
The generation of accident how is reduced by the means of science, or the loss caused when at utmost reduction accident occurs, be a urgent problem.Application number is CN200710045667.3, and the patent of invention that name is called " unmanned barge remote control is thrown, play anchor system ", described system architecture and implementation method are: a kind of unmanned barge remote control is thrown, played anchor system.Comprise diesel generator set, switchboard, throwing, anchor windlass, PLC control system and Digiplex, operating personnel launch related work instruction by Digiplex, receiver is by after accepting antenna and receiving signal, process is reduced into relevant work instruction, instruction signal wire is passed to PLC control system, PLC control system controls diesel generator set and throwing, anchor windlass according to instruction and control program, thus realize the startup of Remote diesel-driven generator, operation, parking and windlass receipts anchor, put anchor.Authorization Notice No. is CN102176132 B, name is called the patent of invention of " a kind of remote control device for ship anchoring and control method thereof ", described system architecture and implementation method are: a kind of remote control device for ship anchoring, comprise main control module, controlled end and wireless communication module, wherein said controlled end to be arranged on boats and ships and to comprise accommodation and windlass environmental parameter detection module, image acquisition and processing module and windlass driver module.According to the current required running parameter of boats and ships windlass, and by main control module input cast anchor, command information of weighing anchor, each command information of input processes by main control module, and sent to windlass driver module by wireless communication module, windlass driver module controls the work of boats and ships windlass according to the command information received, boats and ships windlass, according to the control of windlass driver module, performs the casting anchor of corresponding time and speed, work of weighing anchor.But the wireless communication module communication distance that above two patents adopt is short, generally only about hundreds of rice a to km, if barrier is many, signal attenuation is very fast, and communication distance is shorter, and needs special wireless signal generator, do not utilize public cordless communication network, versatility is poor.Also have above two patents to lack active detecting mechanism to the risk of Dragging, boats and ships drag of anchor can not initiative alarming, once crewman does not have Timeliness coverage, very likely causes the generation of Dragging accident.In addition because boats and ships are movable through some fixing waters of being everlasting, how automatically can carry out anchoring operation according to prior prediction scheme, simplify the operation flow process as far as possible, and saving the time getting rid of the risk that drags of anchor also is a problem being worth inquiring into.
Summary of the invention
The object of the invention is to, for above-mentioned Problems existing, provide a kind of Dragging remote alarms control device and method, when making Dragging can and alarm, and can facilitate at a distance, reliably control mooring system.
For achieving the above object, the present invention by the following technical solutions:
A kind of Dragging remote alarms control device, comprises anchoring control terminal, flush bonding processor module, the first gsm module, GPS module, the first LCD display, alarm, windlass control and drive system, boats and ships windlass; Described GPS module, the first gsm module, the first LCD display, alarm, windlass control and drive system are connected with flush bonding processor module, and described windlass control and drive system is connected with windlass.Described anchoring control terminal is connected with the first gsm module on ship by gsm communication network.
Anchoring control terminal described above by S3C6410 development board module, the second gsm module, control button, the second LCD display, power supply form, wherein said S3C6410 development board module respectively with the second gsm module, control button, the second LCD display is connected with power supply.
Flush bonding processor module described above is connected by serial ports with the first gsm module, can communicate with the first gsm module, completes transmitting-receiving short-message instruction function; The command information received can be analyzed, judge, send corresponding steering order.
GPS module described above is connected with flush bonding processor module by serial ports, coordinate information can be passed to flush bonding processor module.
First LCD display described above is connected with flush bonding processor module, display related status information that can be real-time, for reference.
Alarm described above is connected with flush bonding processor module, can realize warning function.
Windlass control and drive system described above is connected with boats and ships windlass, can control boats and ships windlass.
For achieving the above object, another technical scheme that the present invention adopts is:
An alarm control method for Dragging remote alarms control device, comprises the following steps:
Step one: after anchoring operation terminates, operating personnel press beginning monitoring switch, flush bonding processor module obtains the coordinate position data of boats and ships as initial accommodation A by GPS module, and is recorded in ROM storer.
Step 2: operating personnel are warning radius of circle R numerical value input flush bonding processor module, then automatically preset default value is used when not having to input, warning radius of circle R be traditionally arranged to be chain scope with captain's and, flush bonding processor module the warning radius of circle R records of values inputted in ROM storer.
Step 3: flush bonding processor module constantly reads the coordinate position data of GPS module as current accommodation B, and calculates the distance L of A, B 2 positions in real time.
Step 4: when the numerical value of A, B 2 distance L is less than warning radius of circle R, continue the coordinate position data reading GPS module, the data of the accommodation B that real-time update is current; When the numerical value of A, B 2 distance L is greater than warning radius of circle R, then flush bonding processor module sends alarming short message by the first gsm module to anchoring control terminal, and flush bonding processor module sending controling instruction is to alarm simultaneously, makes it send alarm sound.
Step 5: operating personnel in the light of actual conditions select key anchoring approach or a manual control mode on anchoring control terminal, and utilizing anchoring control terminal to send instruction to the first gsm module on ship by gsm communication network, the first gsm module on ship sends to flush bonding processor module the Unicode of command content coding by RS232 serial communication protocol.
Step 6: whether flush bonding processor module receives new instruction by poll or event mode inquiry, when receiving new instruction and instruction is legal, flush bonding processor module is then analyzed command content, sends corresponding control signal to windlass control and drive system.
Step 7: windlass control and drive system controls boats and ships windlass according to the control signal that flush bonding processor module sends and starts, the operation stopped, flush bonding processor module sends return message to anchoring control terminal by the first gsm module, teaching process personnel whether successful operation, and record is added in journal file, the first LCD display display related status information simultaneously.
The feature that hinge structure of the present invention has and beneficial effect be mainly:
A kind of Dragging remote alarms control device of the present invention and method, its remote controlled manner adopts and communicates based on GSM network, breach the restriction of distance, as long as there is the place of GSM network signal just can communicate, utilize anchoring control terminal device can realize a key remote auto anchoring, simplify operating process, bring great convenience to operating personnel, save the time getting rid of the risk that drags of anchor.Utilize GPS locating information, there is the mechanism whether active detecting boats and ships drag of anchor, SMS notification staff can be utilized when Dragging and give the alarm in time, avoiding the generation of the accident of dragging of anchor to the full extent.Its control core adopts flush bonding processor module, has the corresponding event of log recording and operation, has higher security and reliability.A kind of boats and ships of the present invention prevent dragging of anchor remote alarms control device and method can solve the problem of Long-distance Control mooring system, even if ship does not have crewman, also long-range realization anchoring can control, gets rid of in time and drag of anchor or forget the risk of casting anchor.
Accompanying drawing explanation
Fig. 1 is the formation schematic block diagram of a kind of Dragging remote alarms control device of the present invention;
Fig. 2 is the structural schematic block diagram of anchoring control terminal;
Fig. 3 is the control panel schematic diagram of anchoring control terminal
Fig. 4 is anchoring control terminal one key anchoring operating process block diagram;
Fig. 5 is anchoring control terminal Non-follow control operating process block diagram;
In figure: 1. anchor control terminal, 1-1.S3C6410 development board module, 1-2. second gsm module, 1-3. controls button, 1-4. second LCD display, 1-5. power supply, 2.GSM communication network, 3. the first gsm module, 4. flush bonding processor module, 5. alarm, 6. the first LCD display, 7.GPS module, 8. windlass control and drive system, 9. boats and ships windlass.
Embodiment
Below in conjunction with the drawings and specific embodiments, a kind of Dragging remote alarms control device of the present invention and method are described in further detail.
As shown in Figure 1, a kind of Dragging remote alarms control device and system, comprise anchoring control terminal 1, gsm communication network 2, first gsm module 3, flush bonding processor module 4, alarm 5, first LCD display 6, GPS module 7, windlass control and drive system 8 and boats and ships windlass 9; Described anchoring control terminal 1 is communicated with the first gsm module 3 by gsm communication network 2; Described flush bonding processor module 4 is connected with the first gsm module 3, alarm 5, first LCD display 6, GPS module 7, windlass control and drive system 8 respectively; Described windlass control and drive system 8 is connected with boats and ships windlass 9.
A kind of Dragging remote alarms control device of the present invention with flush bonding processor module for core, utilize the remote transmission of gsm communication real-time performance steering order, breach the restriction of distance, applied widely, reliability is higher, utilize anchoring control terminal device can realize a key remote auto anchoring, bring very large facility to operating personnel.Operating personnel can aboard ship control by on-site manual, even if also can not carry out a long-range key anchoring operation by anchoring control terminal aboard ship.Utilize GPS module to carry out the location of vessel position, by the Real-time Collection to boats and ships real coordinate position, initiatively judge whether boats and ships drag of anchor, if dragged of anchor, remind staff by alarm song and alarming information of transmitting messages to anchoring control terminal two kinds of modes.
Anchoring control terminal 1 in Dragging remote alarms control device can be carried with, no matter be long-rangely can carry out anchoring operation aboard ship or on land, first gsm module 3, flush bonding processor module 4, alarm 5, first LCD display 6, GPS module 7, windlass control and drive system 8, boats and ships windlass 9 are all mounted on ship, receive the steering order that anchoring control terminal 1 sends, complete corresponding operation.
As shown in Figure 2, for the structured flowchart of the control terminal that anchors, by S3C6410 development board module 1-1, the second gsm module 1-2, control button 1-3, the second LCD display 1-4, power supply 1-5 etc. form, wherein said S3C6410 development board module 1-1 respectively with the second gsm module 1-2, control button 1-3, the second LCD display 1-4 is connected with power supply 1-5.S3C6410 development board 1 comprises flush bonding processor chip S3C6410 (ARM1176JZF-S kernel, dominant frequency 533MHz/667MHz), mainboard, DDR internal memory, clock chip, interface etc., is the control core of anchoring control terminal.Second gsm module 1-2 is responsible for sending controling instruction information and receives controlling feedback information.Controlling button 1-3 is mounted on anchoring control terminal panel, and operating personnel can realize a key anchoring function by controlling button, can also realize Non-follow control function.When operating personnel press control button, the second LCD display 1-4 shows corresponding information.Power supply 1-5 provides the direct supply support of 5V for S3C6410 development board 1-1.
As shown in Figure 3, for the control panel schematic diagram of the control terminal that anchors, mainly contain key anchoring and Non-follow control two kinds of modes, anchoring control terminal one key anchoring operational flowchart (as shown in Figure 4), anchoring control terminal Non-follow control operational flowchart (as shown in Figure 5), is further described a key anchoring mode of operation and Non-follow control mode of operation below in conjunction with accompanying drawing embodiment:
Embodiment 1:GPS module 7 adopts UM220-III module, flush bonding processor module 4 obtains the real-time co-ordinate position information of boats and ships by GPS module 7, the coordinate position data of the boats and ships obtained when anchoring operates as initial accommodation, and is recorded in ROM storer.After anchoring operation terminates, operating personnel are warning radius of circle R numerical value input flush bonding processor module 4, if there is no input, automatically use preset default value, warning radius of circle R generally can be set to chain scope with captain's and, flush bonding processor module 4 the warning radius of circle R records of values inputted in ROM storer.
Flush bonding processor module 4 constantly reads the coordinate position data of GPS module 7 as current accommodation, and calculates the distance between current accommodation coordinate and initial accommodation coordinate in real time.If the distance between two positions is less than warning radius of circle R, continue the coordinate of coordinate position data as current accommodation of reading first GPS module; If the distance between two positions is greater than warning radius of circle R, flush bonding processor module 4 sends alarming short message by gsm module 3 to the mobile phone of authorizing in advance and anchoring control terminal 1, flush bonding processor module 4 sending controling instruction is to alarm simultaneously, makes it send alarm sound.Operating personnel are receiving warning message or after hearing alarm sound, can carry out anchoring operation timely immediately, avoid the accident of dragging of anchor by anchoring control terminal 1.
When using anchoring control terminal 1, first opening power 1-5 switch powers to anchoring control terminal 1, now power supply 1-5 lamp is long bright, in anchoring control terminal 1, built-in anchoring control program carries out device initialize operation, after completing, the first LCD display 6 shows standby information, wait for next step operation of operating personnel.Then operating personnel can select key anchoring approach or a manual control mode according to different situations, and a key anchoring approach in advance can prefabricated 4 kinds of different anchorage schemes, put anchor and receive the speed of anchor when manual control mode can arrange anchoring.
If operating personnel select a key anchoring approach, press scheme 1 to the button of in scheme 4, representative have selected the one in 4 kinds of different anchorage schemes, first LCD display 6 shows title and the design parameter of selected anchorage scheme, operating personnel confirm errorless after press execution button, in anchoring control terminal 1, the second built-in gsm module sends the steering order information of a key anchoring to the first gsm module in the embedded control system on ship, to anchor accordingly operation, now pilot lamp 1 is long bright, first LCD display shows and is pressing the information that scheme X carries out a key anchoring operation.After being finished by existing plan anchoring successful operation, embedded control system transmission anchoring operation on ship is completed feeds back to anchoring control terminal 1, after anchoring control terminal 1 receives information, pilot lamp 1 is extinguished, and on the second LCD display 1-4, show a key anchoring operate the information that has been successfully completed.If operating personnel think to stop anchoring operating immediately in a key anchoring operation implementation, can press and stop key, anchoring control terminal 1 sends the steering order information of stopping immediately to the embedded control system on ship, thus stop anchoring operation, after successful operation, embedded control system send again anchoring operation stopped feeding back to anchoring control terminal 1, after anchoring control terminal 1 receives information, pilot lamp 1 is extinguished, and on the second LCD display 1-4, show the information that a key anchoring operates manually stopping.Restore button only after manually stopping anchoring successful operation and anchoring control terminal 1 receive operation failure information both of these case under just can come into force, also do not respond even if press in all the other situations.After manually stopping anchoring successful operation, operating personnel want mooring system to be recovered to not carry out preoperative state, just can press recovery button, anchoring control terminal 1 sends the steering order information of recovery immediately to the embedded control system on ship, mooring system is recovered to the state before manual shut-down operation, now pilot lamp 1 glimmers, and the first LCD display 6 shows the information of carrying out recovery operation.Restore successfully, embedded control system sends recovery operation again and successfully feeds back to anchoring control terminal 1, is extinguished by pilot lamp 1, and in the first LCD display, show recovery operation successfully information after anchoring control terminal 1 receives information.After when anchoring, control terminal receives the information of operation failure, operating personnel must press the operation can carrying out other after resetting key carries out recovery operation, now press other button and do not respond.
If operating personnel select manual control mode, first can arrange and receive anchor and put the speed stage of anchor, speed one is divided into 9 grades, and 1 grade is most jogging speed, and 9 grades is prestissimo.When pressing " speed+" button, the first LCD display showing the current speed value having improved 1 grade, when pressing " speed-" button, the first LCD display showing the current speed value having reduced by 1 grade.After setting speed stage, operating personnel are the long button by putting anchor or receipts anchor as required, anchoring control terminal 1 sends immediately put anchor or receipts anchor steering order information to the embedded control system on ship, thus carry out the operation of putting anchor or receipts anchor according to the speed stage set, now pilot lamp 2 is long bright, the first LCD display shows and manually puts anchor by speed X or receive the information of anchor.Operating personnel unclamp the button put anchor or receive anchor, anchoring control terminal 1 sends the steering order information of stopping immediately to the embedded control system on ship, thus stop anchoring operation, and pilot lamp 2 is extinguished, show manually to put anchor or receive anchor in the first LCD display simultaneously and operate the information stopped.During Non-follow control, after anchoring control terminal 1 receives the information of operating mistake, as long as operating personnel unclamp the button put anchor or receive anchor, then proceed operation just passable.
The first gsm module 3 on ship adopts Siemens TC35 module, anchoring control terminal sends short-message instruction by gsm communication network to the first gsm module 3, first gsm module 3 on ship, the Unicode of short message content to be encoded the flush bonding processor module 4 sent to by RS232 serial communication protocol on ship.
Flush bonding processor module 4 adopts Cortex-A8 development board, it is the core of embedded control system on ship, mainly comprise Samsung S5PV210 flush bonding processor (dominant frequency 1GHz), mainboard, DDR2 internal memory, clock chip, interface etc., be responsible for judging the legitimacy of short-message instruction, then instruction is made an explanation, finally send corresponding control signal to control windlass.By GPS module 7 coordinate position of boats and ships, flush bonding processor module 4 also judges whether boats and ships drag of anchor simultaneously, and gives a warning.
After flush bonding processor module 4 receives note, first judge that whether the short-message instruction sent is legal, if short-message instruction owing to making a mistake in transmitting procedure, then by the first gsm module 3 send instruction make mistakes feed back to anchoring control terminal 1, operating personnel are reminded to note, and this logout in journal file, in the first LCD display 6, show corresponding prompting message simultaneously.If short-message instruction is legal, then the content of note is analyzed and explain, and sending corresponding control signal to windlass control and drive system 8 according to the result explained according to prefabricated control program.
According to the control signal that flush bonding processor module 4 sends, windlass control and drive system 8 controls that boats and ships windlass 9 carries out starting, rotating speed control, stall etc. realize the operation of receiving anchor and putting anchor, and the command information that flush bonding processor module 4 sends according to anchoring control terminal 1 sends corresponding control signal.A pin specifically by processor chips sends the PWM ripple of different duty, windlass control and drive system determines rotating speed and the start and stop of electric windlass according to the dutycycle of the PWM ripple received, and controls to put the length of anchor according to the time length sending PWM ripple.
Flush bonding processor module 4 is sent by the first gsm module 3 and feeds back to anchoring control terminal 1, teaching process personnel whether successful operation, and record is added in journal file, and the first LCD display 6 shows related status information simultaneously.
Claims (6)
1. a Dragging remote alarms control device, is characterized in that, comprises anchoring control terminal, flush bonding processor module, the first gsm module, GPS module, the first LCD display, alarm, windlass control and drive system, boats and ships windlass; Described GPS module, the first gsm module, the first LCD display, alarm, windlass control and drive system are connected with flush bonding processor module, and described windlass control and drive system is connected with windlass.Described anchoring control terminal is connected with the first gsm module on ship by gsm communication network.
2. Dragging remote alarms control device according to claim 1, it is characterized in that, described anchoring control terminal by S3C6410 development board module, the second gsm module, control button, the second LCD display, power supply form, wherein said S3C6410 development board module respectively with the second gsm module, control button, the second LCD display is connected with power supply.
3. Dragging remote alarms control device according to claim 1, is characterized in that, described GPS module adopts UM220-III module.
4. Dragging remote alarms control device according to claim 1, is characterized in that, described flush bonding processor module and the connection of the first gsm module are connected by serial ports.
5. Dragging remote alarms control device according to claim 1, is characterized in that, described flush bonding processor module and the connection of GPS module be by serial ports be connected.
6. an alarm control method for Dragging remote alarms control device according to claim 1, is characterized in that, comprise the following steps:
Step one: after anchoring operation terminates, operating personnel press beginning monitoring switch, flush bonding processor module obtains the coordinate position data of boats and ships as initial accommodation A by GPS module, and is recorded in ROM storer;
Step 2: operating personnel are warning radius of circle R numerical value input flush bonding processor module, then automatically preset default value is used when not having to input, warning radius of circle R be traditionally arranged to be chain scope with captain's and, flush bonding processor module the warning radius of circle R records of values inputted in ROM storer;
Step 3: flush bonding processor module constantly reads the coordinate position data of GPS module as current accommodation B, and calculates the distance L of A, B 2 positions in real time;
Step 4: when the numerical value of A, B 2 distance L is less than warning radius of circle R, continue the coordinate position data reading GPS module, the data of the accommodation B that real-time update is current; When the numerical value of A, B 2 distance L is greater than warning radius of circle R, then flush bonding processor module sends alarming short message by the first gsm module to anchoring control terminal, and flush bonding processor module sending controling instruction is to alarm simultaneously, makes it send alarm sound;
Step 5: operating personnel in the light of actual conditions select key anchoring approach or a manual control mode on anchoring control terminal, and utilize anchoring control terminal to send instruction to the first gsm module on ship by gsm communication network; The first gsm module on ship sends to flush bonding processor module the Unicode of command content coding by RS232 serial communication protocol;
Step 6: whether flush bonding processor module receives new instruction by poll or event mode inquiry, when receiving new instruction and instruction is legal, flush bonding processor module is then analyzed command content, sends corresponding control signal to windlass control and drive system;
Step 7: windlass control and drive system controls boats and ships windlass according to the control signal that flush bonding processor module sends and starts, the operation stopped, flush bonding processor module sends return message to anchoring control terminal by the first gsm module, teaching process personnel whether successful operation, and record is added in journal file, the first LCD display display related status information simultaneously.
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| CN104881056A (en) * | 2015-05-29 | 2015-09-02 | 中国海洋石油总公司 | Semisubmersible platform anchoring automatic control system |
| CN104898545A (en) * | 2015-05-07 | 2015-09-09 | 浙江海洋学院 | Automatic anchoring monitoring device |
| CN106879082A (en) * | 2017-02-23 | 2017-06-20 | 上海美迪索科电子科技有限公司 | A kind of overocean communications ship-borne equipment and its communication means |
| CN108196537A (en) * | 2017-12-25 | 2018-06-22 | 四方继保（武汉）软件有限公司 | A kind of remote control unmanned boat start and stop and the device and method of anchoring |
| CN109769211A (en) * | 2018-12-05 | 2019-05-17 | 深圳市闻迅数码科技有限公司 | One kind drags of anchor based reminding method, ship-handling device and computer readable storage medium |
| CN113232772A (en) * | 2021-05-10 | 2021-08-10 | 江苏科技大学 | Octopus-imitated anchoring and positioning device |
| CN114923443A (en) * | 2022-05-16 | 2022-08-19 | 广东逸动科技有限公司 | Ship anchor-off detection method and device, electronic equipment and storage medium |
| WO2023225786A1 (en) * | 2022-05-23 | 2023-11-30 | 广东逸动科技有限公司 | Dragging anchor detection method and apparatus for ships, electronic device, and storage medium |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104898545A (en) * | 2015-05-07 | 2015-09-09 | 浙江海洋学院 | Automatic anchoring monitoring device |
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| CN106879082A (en) * | 2017-02-23 | 2017-06-20 | 上海美迪索科电子科技有限公司 | A kind of overocean communications ship-borne equipment and its communication means |
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| CN109769211A (en) * | 2018-12-05 | 2019-05-17 | 深圳市闻迅数码科技有限公司 | One kind drags of anchor based reminding method, ship-handling device and computer readable storage medium |
| CN113232772A (en) * | 2021-05-10 | 2021-08-10 | 江苏科技大学 | Octopus-imitated anchoring and positioning device |
| CN114923443A (en) * | 2022-05-16 | 2022-08-19 | 广东逸动科技有限公司 | Ship anchor-off detection method and device, electronic equipment and storage medium |
| WO2023225786A1 (en) * | 2022-05-23 | 2023-11-30 | 广东逸动科技有限公司 | Dragging anchor detection method and apparatus for ships, electronic device, and storage medium |
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