CN105416550B - A kind of dynamic positioning control panel man-machine interactive system - Google Patents
A kind of dynamic positioning control panel man-machine interactive system Download PDFInfo
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- CN105416550B CN105416550B CN201510616692.7A CN201510616692A CN105416550B CN 105416550 B CN105416550 B CN 105416550B CN 201510616692 A CN201510616692 A CN 201510616692A CN 105416550 B CN105416550 B CN 105416550B
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Abstract
The present invention relates to a kind of dynamic positioning control panel man-machine interactive system.The present invention includes：(1) control panel mode switching key processing module；(2) control panel bow to wheel processing module；(3) control surface wrench behaviour bar processing module.Dynamic positioning control panel man-machine interactive system proposed by the present invention can allow operator to be set by control panel and instruct, and improve the ease for use and security of dynamic positioning system.
Description
Technical field
The present invention relates to a kind of dynamic positioning control panel man-machine interactive system.
Background technology
With becoming increasingly conspicuous for the energy and resource problem contradiction, sight has been transferred to offshore oil and gas resource by people
Exploitation and exploration.Require that equipment can not be maintained at some fixed area by the interference of marine environment during offshore oil exploitation
Domain.And dynamic positioning ship can be not against mooring system, to rely only on the propeller thrust automatic position maintaining and bow of itself
To being worked in defined region, it has been widely used in the fields such as marine oil and gas operation.International Maritime Organization (IMO) is right
Automatically controlled in DP3 grades of dynamic positioning system control units computer coefficient quantitative requirement be have three, and wherein one with
Make standby.
Containing three sets of consoles in DP3 grades of dynamic positioning ships, wherein every console includes console computer, shown
Control interface and control panel.Wherein aobvious control interface is to make safety and effective for assisting drive force positioning ship operator (DPO)
Operation and optimize operational decisions.Aobvious control interface can effectively be shown is easy to DPO to operate with the related information of ship.And grasp
Vertical panel is to be pushed away containing dynamic positioning system mode switching key, setting bow to the bow of value to wheel and hand behaviour's bar setting propeller
Power and torque etc. are in a panel of one.The panel carries out real-time Communication for Power by USB interface and computer.DPO can pass through
The panel input instruction changes main operation modes of ship etc..These special function keys are concentrated according to each of which function
In a region.Control panel provides bow and grasps bar to the hand of wheel and three axles.By manipulate bow to wheel can change dynamic positioning
The bow of ship to, by change hand grasp bar can manually change propeller make a concerted effort and torque.Do not have also in current domestic and foreign literature
There is the associated description to DP3 grades of dynamic positioning ship control panel man-machine interactive system exploitations.
The content of the invention
Realize that DP3 grades of dynamic positioning control panels switch dynamic positioning by mode key it is an object of the invention to provide one kind
The mode of operation of ship, bow are carried out to value, hand behaviour's bar setting propeller thrust and torque and on aobvious control interface to wheel setting bow
It has been shown that, that is, realize 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 by double-clicking mode switching key, and shown on aobvious control interface
Present mode；Pattern, station-keeping mode and mode switching key are grasped by the way that the different working modes of dynamic positioning system are included into hand
Associate, be that every kind of mode of operation distributes a different key assignments, when control panel is different to the transmission of console computer
After key assignments message, console computer can change current operation mode and be come out in aobvious control interface display；Work as pattern switching
Button is pressed for the first time understands opening timing device, if the button is not depressed again in timing, judgement is false touch
The button is sent out；
(2) control panel bow to wheel processing module
When dynamic positioning system changes current bow to value by bow under directional pattern to the left rotation and right rotation of wheel；To bow to wheel
Module sets a bow to record variable σ, and when left rotation and right rotation bow is to wheel, bow can record rotation of the current bow to wheel to record variable σ
Turn direction and number of revolutions；Bow is sent to after console to record variable σ by USB interface, console computer is according to this
Bow to record variable set current bow to, and aobvious control interface display bow to；
(3) control surface wrench behaviour bar processing module
With manually changed by operator control stick position set current power alignment system propeller thrust and
Torque；When changing hand behaviour bar position, hand is grasped into the current potentiometer value R of barc1And Rc2Console is sent to, console is being obtained
After current potentiometer value, according to the maximum potential device value R of settingMWith maximum thrust FMWith maximum thrust square TMSetting is converted to push away
Force value FcWith setting moment of thrust value Tc, and control thrust and moment values that setting is shown on interface showing；Allow operator manual
Set the thrust and moment values of dynamic positioning system propeller.
The beneficial effects of the present invention are：
Dynamic positioning control panel man-machine interactive system proposed by the present invention can allow operator to be set by control panel
Fixed instruction, improves the ease for use and security of dynamic positioning system.
Brief description of the drawings
Fig. 1 dynamic positionings console constitutes structural representation；
Fig. 2 dynamic positioning control panel schematic diagrames；
Fig. 3 control panel man-machine interactive system implementation process figures；
Fig. 5 bows set bow to man-machine interaction figure to wheel；
Fig. 6 hands behaviour's bar setting thrust man-machine interaction figure.
Embodiment
Describe the embodiment of the present invention in detail below in conjunction with the accompanying drawings.
The invention provides a kind of dynamic positioning control panel man-machine interactive system.The behaviour contained according to dynamic positioning system
Vertical panel proposes a kind of man-machine interactive system, and the man-machine interactive system is grasped by mode switching key module, bow to wheel module, hand
Bar module is constituted.Mode switching key module can switch the different working modes of dynamic positioning system, and aobvious in console
Control and shown on interface, dynamic positioning ship operator's touch of key-press by accident is also avoided by false-touch prevention mechanism；From bow to wheel module
The bow of setting is sent to console computer to value under dynamic positioning vessel directional pattern, and shown on aobvious control interface；
Hand behaviour's bar sets up logical by console USB interface after the given thrust of dynamic positioning vessel propeller and torque under hand behaviour's pattern
Letter is sent to console computer, carries out the display of setting thrust and torque.Dynamic positioning control panel people proposed by the present invention
Machine interactive system can allow operator to be set by control panel and instruct, and improve the ease for use and safety of dynamic positioning system
Property.
Dynamic positioning control panel man-machine interactive system, the system is main to be set from mode switching key module, bow to wheel
Bow is to value module, hand behaviour's bar gives thrust and torque module is constituted.By dynamic positioning system mode of operation and mode switching key
It is associated, is that every kind of mode of operation distributes different key assignments, dynamic positioning mode of operation message information utilizes USB interface and behaviour
Vertical platform enters row data communication, the mode of operation of the aobvious control interface display setting of console computer.Mode switching key is anti-error to have a sudden inspiration
System is by setting timer that button can be prevented by false triggering.When dynamic positioning system is directional pattern, console computer
Bow is read out to the bow of wheel to setting value message, when bow is rotated to wheel, bow can record bow to wheel to record variable σ
Direction of rotation and number of revolutions, bow is sent to after console computer to record variable σ by USB interface obtain set bow
To value, the bow that setting is shown on interface is controlled to value showing.When dynamic positioning system is that hand grasps pattern, change current by hand behaviour's bar
Potentiometer value, the thrust F of the dynamic positioning system propeller of setting is calculated by current potentiometer valuecWith moment of thrust Tc, and in aobvious control
Shown on interface.
Control panel mode switching key processing module
The module is the mode of operation for changing dynamic positioning system by double-clicking mode switching key, and at aobvious control interface
On show present mode.By the way that the different working modes of dynamic positioning system such as hand is grasped into pattern, station-keeping mode etc. and pattern
Switching key is associated, and is that every kind of mode of operation distributes a different key assignments, when control panel is sent out to console computer
Send after different key assignments messages, console computer can change current operation mode and be come out in aobvious control interface display.This
Invention also proposed the false-touch prevention mechanism of mode switching key, and a timing can be opened when mode switching key is pressed for the first time
Device, if the button is not depressed again in timing, the judgement button that has been false triggering.
Control panel bow to wheel processing module
Bow is to work as dynamic positioning system under directional pattern by bow to the left rotation and right rotation of wheel to change to wheel processing module
Become current bow to value.One bow is set to record variable σ to wheel module to bow first, bow is to record when left rotation and right rotation bow is to wheel
Variable σ can record current bow to the direction of rotation of wheel and number of revolutions.Then bow is sent to record variable σ by USB interface
After console, console computer according to the bow to record variable set current bow to, and aobvious control interface display bow to.
Control surface wrench grasps bar processing module
Hand behaviour's bar processing module can manually change the position setting current power positioning system of control stick by operator
The thrust and torque of system propeller.When changing hand behaviour bar position, hand is grasped into the current potentiometer value R of barc1And Rc2It is sent to manipulation
Platform, console is after current potentiometer value is obtained, according to the maximum potential device value R of settingMWith maximum thrust FMWith maximum thrust square
TMBe converted to setting thrust magnitude FcWith setting moment of thrust value Tc, and control thrust and moment values that setting is shown on interface showing.Should
Module can allow operator to manually set the thrust and moment values of dynamic positioning system propeller.
Accompanying drawing 1 is dynamic positioning console system structure diagram, is the basic platform of the present invention.Console is by control surface
Plate, aobvious control interface, console computer composition.The present invention illustrates the man-machine interactive system of control panel.Fig. 2 is dynamic positioning behaviour
Vertical panel schematic diagram.Dynamic positioning setting instruction is realized using the control panel in dynamic positioning analogue simulation system, switches work
The functions such as operation mode.Fig. 3 is control panel man-machine interactive system implementation process figure.Each module realizing method is described in detail below.
1. control panel mode switching key processing module
Dynamic positioning system has a variety of different mode of operations, and mode switching key can be realized and cut by double click operation
Change current operation mode.Key assignments Key_Value is set for various mode of operations first, mapping is set up：
Hand grasps pattern：Key_Value=0x0001；
Station-keeping mode：Key_Value=0x0002；
Target following：Key_Value=0x0003；
Track following：Key_Value=0x0004；
Autopilot：Key_Value=0x0005；
After mode switching key is pressed, Key_Value can be sent to console computer, console by control panel
Computer judges it is which kind of mode of operation button is touched according to Key_Value with the mapping that dynamic positioning system mode of operation is set up
Hair, then changes the mode of operation of current power alignment system, and shown 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.It is specific real
Existing method is as follows：
After mode switching key is pressed on control panel, console computer is read after Key_Value, according to building
It is which mode of operation is pressed that vertical mapping, which judges,；The switching of mode of operation needs to double-click mode switching key, first to be every
Individual mode switching key sets key flag bit isSingleClicked, and order：
IsSingleClicked=1
When mode switching key is pressed for the first time, console computer is judged after the key value Key _ Value, will be corresponding
Key flag bit be set to 0, i.e.,：
IsSingleClicked=0
And a timer Time is opened at once, and makes timing time=5s.After timing is arrived for 5 seconds, such as
Really the double-click button is pressed for the second time in timing, makes isSingleClicked=1, and at this moment console calculates machine-cut
Change to corresponding mode of operation.If as timing time=0, the double-click button is not pressed for the second time, then
IsSingleClicked=0, at this moment console computer be not carried out any operation.Therefore the function of finally realizing is to work as work
Operation mode button is pressed for the first time, if do not pressed for the second time within 5 seconds, and the mode of operation button is judged
For false touch.Fig. 4 is false-touch prevention mechanism implementation process figure.
2. control panel bow to wheel processing module
Read the message of USB interface transmission in real time by console computer first, after bow is pressed to setting button, manipulate
Panel sends bow to setting button message by USB interface to console computer, and work is judged to setting button message according to bow
Operation mode be it is automatic determine bow to when, show control interface display bow to setting dialog box, and will not show bow to setting under other patterns
Determine dialog box.
When rotating bow to wheel, control panel to dynamic positioning console computer can send bow to wheel by USB interface
Message is rotated, is obtained after the message, bow is to record variable σ according to this number of revolutions of following regular record and direction：
And when bow is to wheel often to during anticlockwise one time：σ=σ+1.
Bow is to wheel often to during right rotation one time：σ=σ -1.
Therefore console computer obtains bow to after record variable σ messages, judges that the positive and negative of rotational direction value can obtain
Bow can draw the bow currently set to value to the direction of rotation of wheel with reference to number of revolutions, and in aobvious interface bow of controlling to setting pair
Shown in words frame, it is achieved thereby that changing the current bow of dynamic positioning ship to value by rotating bow to wheel.Accompanying drawing 5 is bow
To setting man-machine interaction figure.
3. control surface wrench grasps bar processing module
The propulsion and rotation of hand behaviour's bar can change the value that hand grasps bar module inner potential device, when hand behaviour's bar shifts a fixed bit onto
When putting, control panel can be by USB interface by current potentiometer value Rc1And Rc2It is sent to console computer, console meter
Calculation machine is calculated by following formula after current potentiometer value is obtained and obtains setting thrust magnitude FcWith setting moment of thrust value Tc：
Wherein RMFor maximum potential device value, FMFor maximum thrust value.
Wherein RMFor maximum potential device value, TMFor maximum thrust square value.
Console computer is calculating setting thrust magnitude FcWith setting moment of thrust value TcAfterwards, it can be carried out on aobvious control interface
It has been shown that, and change the propeller of dynamic positioning ship and make a concerted effort and resultant moment.Accompanying drawing 6 is to grasp bar by hand to realize given longitudinal force
With the man-machine interaction figure of cross force.
Claims (1)
1. a kind of dynamic positioning control panel man-machine interactive system, it is characterised in that including：
(1) control panel mode switching key processing module
Change the mode of operation of dynamic positioning system by double-clicking mode switching key, and shown currently on aobvious control interface
Pattern；Associated by the way that the different working modes of dynamic positioning system are included into hand behaviour pattern, station-keeping mode with mode switching key
Get up, be that every kind of mode of operation distributes a different key assignments, when control panel sends different key assignments to console computer
After message, console computer can change current operation mode and be come out in aobvious control interface display；Work as mode switching key
Be pressed meeting opening timing device for the first time, if the button is not depressed again in timing, judgement is false triggering
The button；
(2) control panel bow to wheel processing module
When dynamic positioning system changes current bow to value by bow under directional pattern to the left rotation and right rotation of wheel；To bow to wheel module
Set a bow to record variable σ, bow can record current bow to the rotation side of wheel to record variable σ when left rotation and right rotation bow is to wheel
To and number of revolutions；Bow is sent to after console to record variable σ by USB interface, console computer according to the bow to
Record variable set current bow to, and aobvious control interface display bow to；
(3) control surface wrench behaviour bar processing module
To manually change the thrust and torque that the position of control stick sets current power alignment system propeller by operator；
When changing hand behaviour bar position, hand is grasped into the current potentiometer value R of barc1And Rc2Console is sent to, console is obtaining current electricity
After the device value of position, according to the maximum potential device value R of settingMWith maximum thrust FMWith maximum thrust square TMBe converted to setting thrust magnitude Fc
With setting moment of thrust value Tc, and control thrust and moment values that setting is shown on interface showing；Operator is allowed to manually set
The thrust and moment values of dynamic positioning system propeller.
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| CN201510616692.7A CN105416550B (en) | 2015-09-24 | 2015-09-24 | A kind of dynamic positioning control panel man-machine interactive system |
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| CN201510616692.7A CN105416550B (en) | 2015-09-24 | 2015-09-24 | A kind of dynamic positioning control panel man-machine interactive system |
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| CN105416550A CN105416550A (en) | 2016-03-23 |
| CN105416550B true CN105416550B (en) | 2017-10-03 |
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| CN108828994B (en) * | 2018-05-29 | 2019-11-19 | 中船航海科技有限责任公司 | A kind of dynamic positioning system manipulation face plate |
| CN110435813B (en) * | 2019-06-28 | 2020-12-15 | 中国船舶重工集团公司第七0七研究所 | Manual operating lever adjusting method 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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| 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 |
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Patent Citations (5)
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|---|---|---|---|---|
| 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 |
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| CN105416550A (en) | 2016-03-23 |
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