CN105416550A - Man-machine interactive system for dynamic positioning control panel - Google Patents

Man-machine interactive system for dynamic positioning control panel Download PDF

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Publication number
CN105416550A
CN105416550A CN201510616692.7A CN201510616692A CN105416550A CN 105416550 A CN105416550 A CN 105416550A CN 201510616692 A CN201510616692 A CN 201510616692A CN 105416550 A CN105416550 A CN 105416550A
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bow
dynamic positioning
control panel
mode
operating console
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CN201510616692.7A
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CN105416550B (en
Inventor
付明玉
王泰琪
彭军海
刘建旭
倪诚林
庹玉龙
刘佳
黄炜
汤佳奇
冯华
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Harbin Engineering University
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Harbin Engineering University
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Abstract

The invention relates to a man-machine interactive system for a dynamic positioning control panel. The man-machine interactive system for the dynamic positioning control panel comprises a control panel mode switching key processing module (1), a control panel heading wheel processing module (2) and a control panel hand lever processing module (3). The man-machine interactive system for the dynamic positioning control panel, provided by the invention, is advantaged in that operators can set instructions through the control panel so that the ease of use and safety of a dynamic positioning system are improved.

Description

A kind of dynamic positioning control panel man-machine interactive system
Technical field
The present invention relates to a kind of dynamic positioning control panel man-machine interactive system.
Background technology
Along with becoming increasingly conspicuous of the energy and resource problem contradiction, sight has been transferred to exploitation and the exploration of offshore oil and gas resource by people.Require during offshore oil exploitation that equipment can not be subject to the interference of marine environment thus remain on certain fixed area.And dynamic positioning boats and ships just can not rely on anchoring system, only rely on self propeller thrust automatic position maintaining and bow to, work in the region of regulation, it has been widely used in the fields such as marine oil and gas operation.International Maritime Organization (IMO) (IMO) requires it is have three to automatic computer for controlling number of coefficients in DP3 level dynamic positioning system (DPS) control unit, and wherein one be used as subsequent use.
Containing three cover operating consoles in DP3 level dynamic positioning boats and ships, wherein every platform operating console includes operating console computing machine, aobvious control interface and control panel.Wherein aobvious control interface is used to assisting drive force location boats and ships operator (DPO) and makes safety and actv. operation and optimizing operation decision-making.Aobvious control interface can effectively demonstrate is convenient to DPO operation with the information that boats and ships are relevant.And control panel sets propeller thrust and moment etc. in a panel of one to the bow of value to wheel and hand behaviour bar containing dynamic positioning system (DPS) mode switching key, setting bow.This panel carries out real-time Communication for Power by USB interface and computing machine.DPO can change the main operation modes etc. of boats and ships by this panel input instruction.These special function keys according to they separately function concentrated on a region.Control panel provides bow and grasps bar to the hand of wheel and three axles.By handle bow that bow can change from dynamic positioning boats and ships to wheel to, manually can change angle of rake conjunction force and moment by changing hand behaviour bar.Also not to the associated description of DP3 level dynamic positioning boats and ships control panel man-machine interactive system exploitation in current domestic and foreign literature.
Summary of the invention
The object of this invention is to provide a kind of DP3 of realization level dynamic positioning control panel by mode key switch the mode of operation of dynamic positioning vessel, bow to wheel setting bow to value, hand grasps bar setting propeller thrust and moment and shows on aobvious control interface, namely realizes complete dynamic positioning control panel man-machine interactive system.
The object of the present invention is achieved like this:
(1) control panel mode switching key processing module
Change the mode of operation of dynamic positioning system (DPS) by double-clicking mode switching key, and demonstrate present mode on aobvious control interface; By being comprised by the different working modes of dynamic positioning system (DPS), hand grasps pattern, station-keeping mode associates with mode switching key, for often kind of mode of operation distributes a different key assignments, after control panel sends different key assignments messages to operating console computing machine, operating console computing machine can change current operation mode and in aobvious control interface display out; When mode switching key first time, be pressed can opening timing device, if this button is not pressed again in timing, then judges this button that has been false triggering;
(2) control panel bow is to wheel processing module
When dynamic positioning system (DPS) changes current bow to value by bow to the left rotation and right rotation of taking turns under directional pattern; To bow to wheel module installation bow to record variable σ, when left rotation and right rotation bow can record current bow to the hand of rotation of taking turns and number of revolutions to bow during wheel to record variable σ; After bow is sent to operating console to record variable σ by USB interface, operating console computing machine according to this bow to record variable set current bow to, and aobvious control interface display bow to;
(3) controlsurface wrench behaviour bar processing module
Force and moment is pushed away so that the position setting current power position fixing system manually being changed joystick by operator is angle of rake; When changing hand behaviour bar position, hand is grasped the current potential device value R of bar c1and R c2send to operating console, operating console after obtaining current potential device value, according to setting maximum potential device value R mwith maximum thrust F mwith maximum thrust square T mbe converted to setting thrust magnitude F cwith setting moment of thrust value T c, and on aobvious control interface, demonstrate thrust and the moment values of setting; Operator is allowed manually to set the angle of rake thrust of dynamic positioning system (DPS) and moment values.
Beneficial effect of the present invention is:
The dynamic positioning control panel man-machine interactive system that the present invention proposes can allow operator set instruction by control panel, improves ease for use and the safety of dynamic positioning system (DPS).
Accompanying drawing explanation
Fig. 1 dynamic positioning operating console composition structural representation;
Fig. 2 dynamic positioning control panel schematic diagram;
Fig. 3 control panel man-machine interactive system realization flow figure;
Fig. 4 is diagram of circuit of the present invention;
Fig. 5 bow is to wheel setting bow to man-machine interaction figure;
Fig. 6 hand behaviour bar setting thrust man-machine interaction figure.
Detailed description of the invention
The specific embodiment of the present invention is described in detail below in conjunction with accompanying drawing.
The invention provides a kind of dynamic positioning control panel man-machine interactive system.Propose a kind of man-machine interactive system according to the control panel that dynamic positioning system (DPS) contains, this man-machine interactive system is by mode switching key module, and bow is to wheel module, and hand behaviour bar module forms.Mode switching key module can switch the different working modes of dynamic positioning system (DPS), and shows on operating console aobvious control interface, also avoids dynamic positioning boats and ships operator touch of key-press by accident by false-touch prevention mechanism; Under dynamic positioning vessel directional pattern, the bow of setting is sent to operating console computing machine to value to wheel module by bow, and show on aobvious control interface; Hand behaviour bar set up under hand behaviour pattern dynamic positioning vessel propelling unit given push away force and moment after send to operating console computing machine by the communication of operating console USB interface, carry out setting the display pushing away force and moment.The dynamic positioning control panel man-machine interactive system that the present invention proposes can allow operator set instruction by control panel, improves ease for use and the safety of dynamic positioning system (DPS).
Dynamic positioning control panel man-machine interactive system, this system is primarily of mode switching key module, and bow is to wheel setting bow to value module, and hand behaviour bar is given pushes away force and moment module composition.Dynamic positioning system (DPS) mode of operation is associated with mode switching key, for often kind of mode of operation distributes different key assignments, dynamic positioning mode of operation message information utilizes USB interface and operating console to carry out data communication, and operating console computing machine shows the mode of operation of control interface display setting.Mode switching key false-touch prevention mechanism can prevent button by false triggering by arranging timer.When dynamic positioning system (DPS) is directional pattern, operating console computing machine reads to setting value message the bow of bow to wheel, when bow rotates to wheel, bow can record bow to the hand of rotation of taking turns and number of revolutions to record variable σ, by USB interface, bow is obtained setting bow to value after record variable σ sends to operating console computing machine, on aobvious control interface, the bow of display setting is to value.When dynamic positioning system (DPS) is hand behaviour pattern, grasps bar by hand and change current potential device value, calculated the angle of rake thrust F of dynamic positioning system (DPS) of setting by current potential device value cwith moment of thrust T c, and show on aobvious control interface.
Control panel mode switching key processing module
This module is the mode of operation changing dynamic positioning system (DPS) by double-clicking mode switching key, and demonstrates present mode on aobvious control interface.Associate with mode switching key by the different working modes of dynamic positioning system (DPS) is grasped pattern, station-keeping mode etc. as hand, for often kind of mode of operation distributes a different key assignments, after control panel sends different key assignments messages to operating console computing machine, operating console computing machine can change current operation mode and in aobvious control interface display out.The invention allows for the false-touch prevention mechanism of mode switching key, be pressed can open a timer when mode switching key first time, if this button is not pressed again in timing, then judge this button that has been false triggering.
Control panel bow is to wheel processing module
Bow is when dynamic positioning system (DPS) can change current bow to value by bow to the left rotation and right rotation of taking turns under directional pattern to wheel processing module.First give bow to wheel module installation bow to record variable σ, when left rotation and right rotation bow can record current bow to the hand of rotation of taking turns and number of revolutions to bow during wheel to record variable σ.Then after bow being sent to operating console to record variable σ by USB interface, operating console computing machine according to this bow to record variable set current bow to, and aobvious control interface display bow to.
Controlsurface wrench behaviour bar processing module
Hand behaviour bar processing module manually can change by operator that the position setting current power position fixing system of joystick is angle of rake pushes away force and moment.When changing hand behaviour bar position, hand is grasped the current potential device value R of bar c1and R c2send to operating console, operating console after obtaining current potential device value, according to setting maximum potential device value R mwith maximum thrust F mwith maximum thrust square T mbe converted to setting thrust magnitude F cwith setting moment of thrust value T c, and on aobvious control interface, demonstrate thrust and the moment values of setting.This module can allow operator manually set the angle of rake thrust of dynamic positioning system (DPS) and moment values.
Accompanying drawing 1 is dynamic positioning operating console system architecture schematic diagram, is basic platform of the present invention.Operating console is made up of control panel, aobvious control interface, operating console computing machine.The present invention sets forth the man-machine interactive system of control panel.Fig. 2 is dynamic positioning control panel schematic diagram.This control panel is used to realize dynamic positioning setting instruction, the functions such as switching working mode in dynamic positioning analogue simulation system.Fig. 3 is control panel man-machine interactive system realization flow figure.Introduce each module realizing method in detail below.
1. control panel mode switching key processing module
Dynamic positioning system (DPS) has multiple different mode of operation, and mode switching key can realize switching current operation mode by double click operation.First key value Key _ Value is set for various mode of operation, sets up and map:
Hand behaviour pattern: Key_Value=0x0001;
Station-keeping mode: Key_Value=0x0002;
Target tracking: Key_Value=0x0003;
Track following: Key_Value=0x0004;
Autopilot: Key_Value=0x0005;
After mode switching key is pressed, Key_Value can be sent to operating console computing machine by control panel, operating console computing machine judges it is which kind of mode of operation button is triggered according to the mapping that Key_Value and dynamic positioning system (DPS) mode of operation set up, then change the mode of operation of current power position fixing system, and show on aobvious control interface.
In order to prevent operator's false touch mode switching key, the present invention proposes a kind of mechanism of false-touch prevention.Concrete methods of realizing is as follows:
After controlsurface on-board pattern switching key is pressed, after operating console computing machine reads Key_Value, judge it is which mode of operation is pressed according to the mapping of setting up; The switching of mode of operation needs to double-click mode switching key, first arranges key flag bit isSingleClicked for each mode switching key, and order:
isSingleClicked＝1
When mode switching key is pressed for the first time, corresponding key flag bit is set to 0, that is: after judging this key value Key _ Value by operating console computing machine
isSingleClicked＝0
And open a timer Time at once, and make timing time=5s.After timing arrives for 5 seconds, if this double-click button is pressed for the second time in timing, make isSingleClicked=1, at this moment operating console computing machine is switched to corresponding mode of operation.If as timing time=0, this double-click button is not pressed for the second time, then isSingleClicked=0, and at this moment operating console computing machine can not perform any operation.Therefore the final function realized is pressed for the first time when mode of operation button, if do not pressed for the second time within 5 seconds, then this mode of operation button is judged as false touch.Fig. 4 is false-touch prevention mechanism realization flow figure.
2. control panel bow is to wheel processing module
First the message of USB interface transmission is read in real time by operating console computing machine, when pressing bow after setting button, control panel sends bow to setting button message by USB interface to operating console computing machine, according to bow to setting button message judge mode of operation be automatically determine bow to time, aobvious control interface display bow to setting dialog box, and can not demonstrate bow to setting dialog box under other patterns.
When rotate bow to wheel time, control panel can by USB interface to dynamic positioning operating console computing machine send bow to wheel rotate message, after obtaining this message, bow to record variable σ according to this number of revolutions of following regular record and direction:
And when bow to wheel often to anticlockwise one time time: σ=σ+1.
Bow to wheel often to right rotation one time time: σ=σ-1.
Therefore operating console computing machine obtains bow after record variable σ message, judge that the positive and negative of rotational direction value can obtain the hand of rotation of bow to wheel, can show that the bow of current setting is to value in conjunction with number of revolutions, and show in setting dialog box at aobvious control interface bow, thus achieve by rotating bow to taking turns the current bow of change dynamic positioning boats and ships to value.Accompanying drawing 5 is that bow is to setting man-machine interaction figure.
3. controlsurface wrench behaviour bar processing module
The propelling of hand behaviour bar and rotation can change the value of hand behaviour bar module inner potential device, and when a fixed position shifted onto by hand behaviour bar, control panel can by USB interface by current potential device value R c1and R c2send to operating console computing machine, operating console computing machine, after obtaining current potential device value, obtains setting thrust magnitude F by formulae discovery below cwith setting moment of thrust value T c:
F c = R c 1 R M × F M
Wherein R mfor maximum potential device value, F mfor maximum thrust value.
T c = R c 2 R M × T M
Wherein R mfor maximum potential device value, T mfor maximum thrust square value.
Operating console computing machine is calculating setting thrust magnitude F cwith setting moment of thrust value T cafter, can show on aobvious control interface, and the propelling unit changing dynamic positioning boats and ships is made a concerted effort and resultant moment.Accompanying drawing 6 is the man-machine interaction figure being realized given longitudinal force and transverse force by hand behaviour bar.

Claims (1)

1. a dynamic positioning control panel man-machine interactive system, is characterized in that comprising:
(1) control panel mode switching key processing module
Change the mode of operation of dynamic positioning system (DPS) by double-clicking mode switching key, and demonstrate present mode on aobvious control interface; By being comprised by the different working modes of dynamic positioning system (DPS), hand grasps pattern, station-keeping mode associates with mode switching key, for often kind of mode of operation distributes a different key assignments, after control panel sends different key assignments messages to operating console computing machine, operating console computing machine can change current operation mode and in aobvious control interface display out; When mode switching key first time, be pressed can opening timing device, if this button is not pressed again in timing, then judges this button that has been false triggering;
(2) control panel bow is to wheel processing module
When dynamic positioning system (DPS) changes current bow to value by bow to the left rotation and right rotation of taking turns under directional pattern; To bow to wheel module installation bow to record variable σ, when left rotation and right rotation bow can record current bow to the hand of rotation of taking turns and number of revolutions to bow during wheel to record variable σ; After bow is sent to operating console to record variable σ by USB interface, operating console computing machine according to this bow to record variable set current bow to, and aobvious control interface display bow to;
(3) controlsurface wrench behaviour bar processing module
Force and moment is pushed away so that the position setting current power position fixing system manually being changed joystick by operator is angle of rake; When changing hand behaviour bar position, hand is grasped the current potential device value R of bar c1and R c2send to operating console, operating console after obtaining current potential device value, according to setting maximum potential device value R mwith maximum thrust F mwith maximum thrust square T mbe converted to setting thrust magnitude F cwith setting moment of thrust value T c, and on aobvious control interface, demonstrate thrust and the moment values of setting; Operator is allowed manually to set the angle of rake thrust of dynamic positioning system (DPS) and moment values.
CN201510616692.7A 2015-09-24 2015-09-24 A kind of dynamic positioning control panel man-machine interactive system Active CN105416550B (en)

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108828994A (en) * 2018-05-29 2018-11-16 中船航海科技有限责任公司 A kind of dynamic positioning system manipulation face plate
CN110435813A (en) * 2019-06-28 2019-11-12 中国船舶重工集团公司第七0七研究所 A kind of hand behaviour's bar adjusting process based on dynamic positioning system
WO2024050788A1 (en) * 2022-09-08 2024-03-14 广东逸动科技有限公司 Control method, single/dual control apparatus, waterborne mobile equipment and control system

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CN103576555A (en) * 2013-11-14 2014-02-12 哈尔滨工程大学 Path tracking guiding control method of dynamic positioning ship
CN103935505A (en) * 2014-03-06 2014-07-23 哈尔滨工程大学 Portable hand-operated box of ship dynamic positioning system

Patent Citations (5)

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Publication number Priority date Publication date Assignee Title
US6234853B1 (en) * 2000-02-11 2001-05-22 Brunswick Corporation Simplified docking method and apparatus for a multiple engine marine vessel
CN202244060U (en) * 2011-07-08 2012-05-30 上海船舶运输科学研究所 Control console used for dynamic positioning system
CN103466067A (en) * 2013-09-11 2013-12-25 哈尔滨工程大学 Special control device for ship redundancy dynamic positioning system
CN103576555A (en) * 2013-11-14 2014-02-12 哈尔滨工程大学 Path tracking guiding control method of dynamic positioning ship
CN103935505A (en) * 2014-03-06 2014-07-23 哈尔滨工程大学 Portable hand-operated box of ship dynamic positioning system

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108828994A (en) * 2018-05-29 2018-11-16 中船航海科技有限责任公司 A kind of dynamic positioning system manipulation face plate
CN110435813A (en) * 2019-06-28 2019-11-12 中国船舶重工集团公司第七0七研究所 A kind of hand behaviour's bar adjusting process based on dynamic positioning system
WO2024050788A1 (en) * 2022-09-08 2024-03-14 广东逸动科技有限公司 Control method, single/dual control apparatus, waterborne mobile equipment and control system

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