CN109733538A - A kind of unmanned ship is independently unmoored control method - Google Patents
A kind of unmanned ship is independently unmoored control method Download PDFInfo
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Abstract
It independently unmoors control method the invention discloses a kind of unmanned ship, anchor condition judgment step, anchor execute step, anchor monitoring step, abnormal conditions processing step and bank base instruction execution step.Wherein, anchor executes movement of the step according to rudder force information, wind-force information, flow information of water, ship bow to information and anchor chain information control ship and windlass.The present invention can automatically adjust ship appearance in real time and control anchor operation, ensure stability contorting of unmanned boat during anchor by the real time monitoring to ship oneself state and ambient enviroment.Also, entire anchor process is not necessarily to human intervention, realizes automation anchor operation truly, substantially increases anchor efficiency.
Description
Technical field
It independently unmoors controlling party the present invention relates to unmanned technical field of ships more particularly to a kind of unmanned ship
Method.
Background technique
Unmanned ship anchor refers to that ship can independently carry out the controlling party of the anchors operations such as single anchoring, double anchorings
Method.Unmanned ship anchor is required in the case where condition meets, and unmanned boat can be with autonomous control windlass, vehicle, autopilot etc.
Equipment completes anchor operation, while control ship being required to keep stablizing.Currently, spot ship plays anchor system simply by anchor
Machine controller carries out anchor operation, and ignores wind-force moment of turning ship, hydrodynamic force moment of turning ship and rudder transshipment during anchor
Comprehensive function of the torque to ship, while to the judgement of anchoring environment also most of driving experiences for being fixed against crewman, it is also easy to produce
Unstable, the even out of control consequence of ship.
Summary of the invention
In order to solve the above-mentioned technical problem the present invention, provides a kind of unmanned ship and independently unmoors control method, realize
Autonomous anchor of the unmanned ship under anchored condition, and guarantee stabilization of hull during anchor.
Technical solution provided by the invention is, a kind of unmanned ship is independently unmoored control method, comprising the following steps:
Anchor condition judgment step: according to anchorage anchoring information data and ship itself anchoring information data, judge current external
Whether environment and ship self-operating situation meet anchor condition, if so, executing anchor executes step；Otherwise, abnormal feelings are executed
Condition processing step；
Anchor executes step: controlling ship to information and anchor chain information according to rudder force information, wind-force information, flow information of water, ship bow
The movement of oceangoing ship and windlass；
Anchor monitoring step: the working condition of real time monitoring anchor condition judgment step and anchor execution step, if occurring abnormal
Situation executes abnormal conditions processing step；
Abnormal conditions processing step: autonomous positioning abnormal conditions export and execute abnormal solution；When abnormal conditions exceed certainly
Principal solution determine limit of power when, send alarm to bank base, and wait bank base feedback command；
Bank base instruction execution step: it is manipulated according to each system of the instruction of bank base remote operation to ship.
Further, when single anchoring, the anchor executes step and includes:
S7, judge whether ship appearance needs to adjust, if so, executing S8；Otherwise, S9 is executed；
S8: ship appearance adjustment；
S9, windlass twist anchor；
S10, anchor chain sludge is rinsed；
S11, adjustment ship bow to wind angle on the bow；
S12, judging current environment, whether wind is big, it is anxious to flow, if so, executing S13；Otherwise, S15 is executed；
S13, adjustment marine main engine revolving speed, ship is into vehicle；
S14, judge whether anchor chain reaches relaxed state, if so, executing S15；Otherwise, S13 is executed；
S15, whether across the bow anchor chain is judged, if so, executing S16；Otherwise, S17 is executed；
S16, adjustment marine main engine revolving speed, cooperate autopilot, ship are gradually led straight；
S17, real time monitoring length of chain cable, windlass control according to length of chain cable and twist anchor；
S18, judge whether anchor chain is less than setting value in the length in seabed, if so, executing S19；Otherwise, S17 is executed；
S19, ship bow is judged to whether needing to adjust, if so, executing S20；Otherwise, S21 is executed；
S20, stop anchor, using rudder for ship adjust ship bow to；
S21, anchor is judged whether the bottom of from, if so, executing S22；Otherwise, S17 is executed；
S22, ship bow is judged to whether controlling that improper, ship is out of control, if so, executing abnormal conditions processing step；Otherwise, it executes
S23；
S23, it falls anchor ball or closes anchor lantern；
S24, real time monitoring length of chain cable, windlass control according to length of chain cable and twist anchor；
S25, judge whether anchor succeeds, if so, executing S26；Otherwise, abnormal conditions processing step is executed；
S26, subsequent anchor ending work is completed；
S27, judge whether anchor work is completed, if so, executing S28；Otherwise, abnormal conditions processing step is executed.
Further, when double anchorings, the anchor executes step and includes:
S7, judge whether ship appearance needs to adjust, if so, executing S8；Otherwise, S9 is executed；
S8, the adjustment of ship appearance；
S9, windlass anchor into row to two simultaneously and twist anchor；
S10, anchor chain sludge is rinsed；
S11, adjustment ship bow to wind angle on the bow；
S12, judging current environment, whether wind is big, it is anxious to flow, if so, executing S13；Otherwise, S15 is executed；
S13, adjustment marine main engine revolving speed, ship is into vehicle；
S14, judge whether anchor chain reaches relaxed state, if so, executing S15；Otherwise, S13 is executed；
S15, whether across the bow anchor chain is judged, if so, executing S16；Otherwise, SA is executed
S16, adjustment marine main engine revolving speed, cooperate autopilot, ship are gradually led straight；
SA, windlass twist anchor, and the remaining length of chain cable of simultaneity factor real-time monitoring stops when remaining length of chain cable is that 2-3 is saved
Twist anchor；
SB1, the left anchor of selection continue to twist anchor, and right anchor is temporarily motionless；
SB2, judge whether left anchor is normal: if so, executing abnormal conditions processing step；Otherwise, SB3 is executed；
After SB3, left anchor twist anchor, windlass anchors into row to the right side and twists anchor；
S17, real time monitoring length of chain cable, windlass control according to length of chain cable and twist anchor；
S19, ship bow is judged to whether needing to adjust, if so, executing S20；Otherwise, S21 is executed；
S20, stop anchor, using rudder for ship adjust ship bow to；
S21, anchor is judged whether the bottom of from, if so, executing S22；Otherwise, S17 is executed；
S22, ship bow is judged to whether controlling that improper, ship is out of control, if so, executing abnormal conditions processing step；Otherwise, it executes
S23；
S23, it falls anchor ball or closes anchor lantern；
S24, real time monitoring length of chain cable, windlass control according to length of chain cable and twist anchor；
S25, judge whether anchor succeeds, if so, executing S26；Otherwise, abnormal conditions processing step is executed；
S26, subsequent anchor ending work is completed；
S27, judge whether anchor work is completed, if so, executing S28；Otherwise, abnormal conditions processing step is executed.
Further, S11 includes controlling ship to information according to rudder force information, wind-force information, flow information of water and ship bow
Movement, make ship bow to windward and rudder power moment of turning ship be greater than wind-force moment of turning ship.
Further, S11 includes controlling ship to information according to rudder force information, wind-force information, flow information of water and ship bow
Movement, when wind scale be less than or equal to three-level when, control ship make wind angle on the bow less than 80 °, when wind scale be greater than three-level when, control ship
Oceangoing ship makes wind angle on the bow less than 10 °.
Further, S14 includes the relaxed state that anchor chain at this time is judged according to anchor chain pulling force information.
Further, S21 includes judging that whether anchor is the bottom of from this time according to windlass information on load.
Further, rudder force information is obtained by speed probe, wind-force information is obtained by anemoclinograph, passes through magnetic
Compass obtains ship bow to information, obtains flow information of water by electronic chart.
Further, anchor chain pulling force information is obtained by tension sensor.
Further, windlass information on load is obtained by load measurement instrument.
Compared with prior art, the advantages and positive effects of the present invention are:
The present invention proposes that a kind of unmanned ship is independently unmoored control method, anchor condition judgment step, anchor execute step,
Anchor monitoring step, abnormal conditions processing step and bank base instruction execution step.Wherein, anchor executes step and is believed according to rudder power
The movement of breath, wind-force information, flow information of water, ship bow to information and anchor chain information control ship and windlass.The present invention by pair
The real time monitoring of ship oneself state and ambient enviroment can automatically adjust ship appearance in real time and control anchor operation, ensure
Stability contorting of unmanned boat during anchor.Also, entire anchor process is not necessarily to human intervention, realizes truly oneself
Dynamicization anchor operation, substantially increases anchor efficiency.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to do one simply to introduce, it should be apparent that, the accompanying drawings in the following description is this hair
Bright some embodiments for those of ordinary skill in the art without any creative labor, can be with
It obtains other drawings based on these drawings.
Fig. 1 is the structural block diagram of the unmanned ship anchor instruction control system of the embodiment of the present invention；
The anchor control method flow chart that Fig. 2 is unmanned ship of the embodiment of the present invention when being single anchor；
The anchor control method flow chart that Fig. 3 is unmanned ship of the embodiment of the present invention when being double anchors.
Wherein, 01- anchored condition sensing module, 02- anchored condition cognition module, 03- anchor control module, 04- are real-time
Monitoring module, 05- abnormal conditions processing module, 06- bank base instruct respond module.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art
Every other embodiment obtained without creative efforts, shall fall within the protection scope of the present invention.
The present invention discloses a kind of unmanned ship anchor instruction control system, and referring to Fig.1, including anchored condition perceives mould
Block 01, anchored condition cognition module 02, anchor control module 03 and real-time monitoring module 04.Anchored condition sensing module 01 acquires
With receive bank base, the anchoring data of ship-borne equipment and be uploaded to anchored condition cognition module 02；Anchored condition cognition module 02 is right
Anchoring data are analyzed, judge whether to meet anchor condition and anchoring data analysis result is fed back to anchor control module
03；Anchor control module 03 controls the movement of ship and windlass according to the anchoring data analysis result received；Monitor mould in real time
Block 04 monitors the working condition of anchored condition sensing module 01, anchored condition cognition module 02 and control module 03 of unmooring in real time.
It further includes abnormal conditions processing module 05 that the anchor, which instructs control system, the exception monitored for receiving real-time monitoring module 04
Data are simultaneously analyzed and processed.It further include bank base instruction respond module 06, for receiving, executing the instruction of bank base transmission.
Specifically, anchor instruction control system is connect with the existing integrated control platform signal of ship itself, quite
In the anchor control function for having expanded spot ship, strong applicability.
Anchored condition sensing module 01 includes bank base instruction interaction submodule and ship-borne equipment anchoring data-acquisition submodule.
Bank base instruction interaction submodule receives the anchoring data that bank base is sent, and ship-borne equipment anchoring data-acquisition submodule acquisition boat-carrying is set
Standby anchoring data.The anchoring data that bank base is sent include the anchoring environmental information acquired by image device, surrounding waters
Weather sea situation, the sea area laws and regulations etc..The anchoring data of ship-borne equipment include being acquired by the various sensors on ship
Information, comprising: speed probe acquires the engine speed information of rudder force information and windlass, anemoclinograph acquires wind-force information,
Electronic chart acquires flow information of water, magnetic compass acquires ship bow and acquires anchor chain pulling force information, load measuring to information, tension sensor
Measure the information such as instrument acquisition windlass load.
The above-mentioned anchoring data information in relation to environment and ship itself that anchored condition sensing module 01 will be acquired, be received
It is uploaded to anchored condition cognition module 02, anchored condition cognition module 02 is analyzed these anchoring data, determined at this time
Whether environment and ship own situation meet anchor condition.If meeting anchor condition, anchor instruction control system carries out subsequent
Anchor operation, if being unsatisfactory for anchor condition, anchored condition cognition module 02 by exception information pass to abnormal conditions handle
Module 05, abnormal conditions processing module 05 are analyzed and processed exception information.
Wherein, abnormal conditions processing module 05 includes autonomous condition based maintenance submodule and bank base alarm sending submodule, when
Abnormal conditions processing module 05 is according to the abnormal data autonomous positioning abnormal origin received, then autonomous condition based maintenance submodule pair
Abnormal conditions are handled；If abnormal conditions exceed ship autonomous resolution ability range, bank base alarm sending submodule to
Bank base sends alarm and waits bank base feedback command.
Anchored condition cognition module 02 will feed back to anchor control module 03, anchor control to the analysis result of anchoring data
Module 03 adjusts the movement of ship and windlass according to anchoring data analysis result in real time.During anchor, anchored condition perception
Module 01 and anchored condition cognition module 02 can still be acquired in real time, be received, analyzing anchoring data, real-time for anchor control module 03
Anchoring status information is provided, so that anchor control module 03 can accurately and efficiently control the movement of ship movement and windlass,
Ship is set to maintain to stablize during anchor, avoid ship out of control.
The present invention is based on above-mentioned anchors to instruct control system, and a kind of autonomous anchor control method, including following step is also disclosed
It is rapid:
Anchor condition judgment step: anchored condition cognition module 02 by anchored condition sensing module 01 according to being uploaded of receiving
Anchor data, judges whether current environment meets anchor condition, if meeting anchor condition, anchoring data are uploaded to anchor control
Molding block 03, if not meeting anchor condition, by anchoring data feedback to abnormal conditions processing module 05；
Anchor executes step: anchor control module 03 controls the movement of ship and windlass according to anchoring data；
Anchor monitoring step: real-time monitoring module 04 monitors anchored condition sensing module 01, anchored condition cognition module 02 in real time
And the working condition of anchor control module 03 is back to abnormal conditions processing step if there is abnormal data:
Abnormal conditions processing step: the abnormal data fed back to real-time monitoring module 04 is analyzed and processed；
Bank base instruction execution step: bank base instructs respond module 06 to receive, executes the instruction that bank base is sent.
Wherein, ship is made to keep stablizing during anchor, key out of control is avoided to be execution step of unmooring, the present invention
Step is executed to anchor to have made intensive studies, and makes to unmoor what control module 03 was sufficiently fed back according to anchored condition cognition module 02
Anchoring data analysis result adjusts the movement of ship and the movement of windlass.
Specifically, it includes ship bow to set-up procedure, rudder force information, the wind of speed probe monitoring that anchor, which executes step,
The wind-force information of fast anemoscope monitoring, the ship bow of magnetic compass monitoring are uploaded to the flow information of water that information, electronic chart monitor
Anchored condition sensing module 01, anchored condition sensing module 01 is by the rudder force information received, wind-force information, ship bow to information
And flow information of water is uploaded to anchored condition cognition module 02, anchored condition cognition module 02 analyzes the data received,
And analysis result is fed back into anchor control module 03, anchor control module 03 controls the movement of ship based on the analysis results, makes
Ship bow to windward and rudder power moment of turning ship be greater than wind-force moment of turning ship.
Further, ship bow further includes unmooring control module 03 according to rudder force information, the wind received to set-up procedure
The movement of force information, ship bow to information and flow information of water control ship, when wind scale is less than or equal to three-level, control ship makes
Wind angle on the bow less than 80 °, when wind scale be greater than three-level when, control ship make wind angle on the bow less than 10 °.
Further, it further includes anchor chain set-up procedure that anchor, which executes step, and tension sensor detection anchor chain pulling force simultaneously uploads
To anchored condition sensing module 01, load measurement instrument monitoring windlass load is simultaneously uploaded to anchored condition sensing module 01, and anchor shape
The anchor chain pulling force information judgement anchor that the relaxed state of anchor chain, basis receive at this time that state cognition module 02 is received according to analysis
Whether the bottom of from, controller of unmooring controls anchor according to the anchor chain state that anchored condition cognition module 02 is fed back to anchor to the judgement of machine load at this time
The movement of machine.
Hereafter the anchor control method that unmanned ship is single anchoring and double anchorings is described in detail respectively.
When unmanned ship is single anchoring, anchor control method is as shown in Figure 2, comprising the following steps:
S1, bank base instruction interaction submodule receive the anchoring data that bank base is sent, and ship-borne equipment anchoring data-acquisition submodule is adopted
Collect the anchoring data of ship-borne equipment；
S2, anchored condition cognition module 02 receive and analyze the anchoring data of S1 upload；
S3, judge whether to meet anchor condition: anchored condition cognition module 02 judges ship at this time according to anchoring data analysis result
Whether oceangoing ship oneself state, weather sea situation, laws and regulations etc. meet anchor condition, are unsatisfactory for executing S4 when condition；Otherwise, it executes
S5；
S4, abnormal conditions processing step: abnormal conditions processing module 05 is to anchored condition cognition module 02, real-time monitoring module 04
The abnormal data of feedback is analyzed and processed；
S5, the instruction for judging whether there is bank base remote operation: when anchor instruction control system detection has the instruction of bank base remote operation
Input executes S6；Otherwise, S7 is executed；
S6, bank base instruction execution step: bank base instructs respond module 06 to receive, executes the instruction that bank base is sent, at this time at ship
In by remote operation state, ship does not execute autonomous anchor, but according to the telecommand of bank base to each system of ship into
Row manipulation；
S7, judge whether ship appearance needs to adjust, if so, executing S8；Otherwise, S9 is executed；
S8, the adjustment of ship appearance: anchor control module 03 needs object of planning ship appearance according to next step operation, and is completed by Side Thrusters
The adjustment of ship appearance.
S9, anchor control module 03 control windlass and twist anchor；
S10, while twisting anchor, anchor control module 03 control windlass open anchor chain water system, anchor chain is rinsed；
S11, anchor control module 03 according to anchoring data cognition module 02 feed back rudder force information, wind-force information, ship bow to
Information and flow information of water carry out the movement of comprehensively control ship, make ship bow to windward and rudder power moment of turning ship greater than wind-force transship
Torque；Meanwhile when wind scale be less than or equal to three-level when, control ship make wind angle on the bow less than 80 °, when wind scale be greater than three-level when, control
Ship processed makes wind angle on the bow less than 10 °；
S12, judging current environment, whether wind is big, it is anxious to flow: anchored condition cognition module 02 is sentenced according to wind-force information and flow information of water
Whether the big stream of wind suddenly and by judging result feeds back to anchor control module 03 to disconnected current environment, anxious if it is the big stream of wind, due to anchor
Chain stretches tight very tight, cannot twist firmly at this time, executes S13；Otherwise, S15 is executed；
S13, engine speed adjust ship into vehicle: anchor control module 03 adjusts marine main engine revolving speed, makes ship into vehicle, turns simultaneously
Data are simultaneously uploaded to anchored condition cognition module 02, anchored condition cognition module 02 by fast sensor real-time monitoring engine speed
Engine speed information is fed back into anchor control module 03, anchor control module 03 adjusts master further according to current context information in real time
Machine revolving speed, so that ship is smoothly into vehicle；
S14, judge whether anchor chain reaches relaxed state: value of thrust is simultaneously uploaded to anchoring by tension sensor detection anchor chain pulling force
State aware module 01, anchored condition cognition module 02 judge whether current anchor chain is in relaxed state and general according to value of thrust
Analysis result feeds back to anchor control module 03, if anchor chain executes S15 when being in relaxed state, otherwise, returns to S13；
S15, across the bow whether judge anchor chain: magnetic compass detects ship bow and is sent to anchoring shape to information to and by ship bow
State sensing module 01, anchored condition cognition module 02 judge whether current anchor chain crosses to information according to anchor chain position and ship bow
Analysis result is simultaneously fed back to anchor control module 03 by stem, if anchor chain is across the bow, executes S16；Otherwise, S17 is executed；
S16, anchor control module 03 control engine speed, by the cooperation with autopilot, ship are gradually led straight；
S17, windlass continue to twist anchor, meanwhile, the revolving speed for the windlass that anchored condition cognition module 02 is detected according to speed probe
Information and strand anchor time calculate length of chain cable, realize the real time monitoring to length of chain cable；
S18, judge whether anchor chain is less than setting value in the length in seabed: anchored condition cognition module 01 is according to the cable-length of calculating
Degree judges whether current anchor chain is less than setting value in the length in seabed, if so, executing S19；Otherwise S17 is returned；
S19, whether judge ship bow to needing to adjust: magnetic compass real-time monitoring ship bow is to information and is uploaded to anchored condition
Sensing module 01, anchored condition cognition module 02 carry out ship bow pair to the ship bow of information and systemic presupposition to expected information
Than judging whether current ship bow relatively large deviation occurs to information, if ship bow executes S20 to there is relatively large deviation；It is no
Then, S21 is executed；
S20, stop anchor, using rudder for ship adjust ship bow to: since there is relatively large deviation in ship, control module of unmooring at this time
03 control windlass stop anchor operation, then by rudder for ship adjust ship bow to；
S21, whether judge anchor the bottom of from: data are simultaneously uploaded to anchored condition sensing module by load measurement instrument monitoring windlass load
01, anchored condition cognition module 02 judges that whether anchor is the bottom of from this time according to windlass load, if so, executing S22；Otherwise, return is held
Row S17；
S22, judge ship bow to whether controlling improper, ship is out of control: magnetic compass monitoring ship bow to information and is uploaded to anchoring
Whether state aware module 01, anchored condition cognition module 02 judge current ship bow to controlling not according to ship bow to information
When, if so, show occur abnormal conditions at this time, execution S4；Otherwise S23 is executed；
S23, fall anchor ball or close anchor lantern: after system detection to anchor is the bottom of from, anchor control module 03, which controls windlass, makes its drop
Cast anchor ball or closing anchor lantern；
S24, windlass continue to twist anchor, meanwhile, the revolving speed for the windlass that anchored condition cognition module 02 is detected according to speed probe
Information and strand anchor time calculate length of chain cable, realize and carry out strand anchor according to real time monitoring length of chain cable；
S25, judge whether anchor succeeds: anchored condition cognition module 02 judges whether to unmoor successfully according to length of chain cable, if so,
Execute S26；Otherwise, S4 is executed；
S26, complete subsequent ending work: after unmooring successfully, anchor is suspended from outboard or received appropriate by selection as needed；
S27, judge whether anchor work is completed: if detecting, anchor work is not completed, and is shown abnormal conditions occurred, is executed
S4；Otherwise, S28 is executed；
S28, setting clock T read anchor data: real-time monitoring module 04 recognizes anchored condition sensing module 01, anchored condition
Module 02 and anchor control module 03 are scanned monitoring by chronomere of clock T, judge whether this 3 modules work just
Often, the setting of scan clock T determines system for the reaction precision of external environment, and T value can be according to the difference of navigation environment
Different values is set；
The data that S29, system are fed back according to real-time monitoring module 04, Predicated execution following steps: when having detected abnormal conditions,
Execute S4；When receiving bank base telecommand, S6 is executed；Anchor operation is successfully completed, then is terminated.
When ship is double anchorings, the control method of anchor is as shown in figure 3, anchor control method that is most of and singly anchoring
It is identical, hereafter only the anchor control method of double anchorings and the difference in the anchor control method that singly anchors are illustrated.
S9, anchor control module 03 control windlass and carry out strand anchor simultaneously to two anchors；
S15, whether across the bow anchor chain is judged, if so, executing S16；Otherwise, SA is executed；
Further include following steps between S16 and S17:
While SA, windlass carry out strand anchor, the remaining length of chain cable of system real-time monitoring, when remaining length of chain cable is 2-3 section
When, stop twisting anchor；
SB1, the left anchor of selection continue to twist anchor, and right anchor is temporarily motionless；
SB2, judge whether left anchor is normal: if so, executing S4；Otherwise, SB3 is executed；
After SB3, left anchor twist anchor, anchor control module 03 control windlass anchors into row receipts to the right side and twists.
Also, when double anchorings, S17 directly executes S19 after having executed, and does not need to execute S18.
Finally, it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although
Present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: it still may be used
To modify the technical solutions described in the foregoing embodiments or equivalent replacement of some of the technical features；
And these are modified or replaceed, technical solution of various embodiments of the present invention that it does not separate the essence of the corresponding technical solution spirit and
Range.
Claims (10)
- The control method 1. a kind of unmanned ship is independently unmoored, which is characterized in that the described method comprises the following steps:Anchor condition judgment step: according to anchorage anchoring information data and ship itself anchoring information data, judge current external Whether environment and ship self-operating situation meet anchor condition, if so, executing anchor executes step；Otherwise, abnormal feelings are executed Condition processing step；Anchor executes step: controlling ship to information and anchor chain information according to rudder force information, wind-force information, flow information of water, ship bow The movement of oceangoing ship and windlass；Anchor monitoring step: the working condition of real time monitoring anchor condition judgment step and anchor execution step, if occurring abnormal Situation executes abnormal conditions processing step；Abnormal conditions processing step: autonomous positioning abnormal conditions export and execute abnormal solution；When abnormal conditions exceed certainly Principal solution determine limit of power when, send alarm to bank base, and wait bank base feedback command；Bank base instruction execution step: it is manipulated according to each system of the instruction of bank base remote operation to ship.
- The control method 2. unmanned ship according to claim 1 is independently unmoored, which is characterized in that when single anchoring, institute Stating anchor execution step includes:S7, judge whether ship appearance needs to adjust, if so, executing S8；Otherwise, S9 is executed；S8: ship appearance adjustment；S9, windlass twist anchor；S10, anchor chain sludge is rinsed；S11, adjustment ship bow to wind angle on the bow；S12, judging current environment, whether wind is big, it is anxious to flow, if so, executing S13；Otherwise, S15 is executed；S13, adjustment marine main engine revolving speed, ship is into vehicle；S14, judge whether anchor chain reaches relaxed state, if so, executing S15；Otherwise, S13 is executed；S15, whether across the bow anchor chain is judged, if so, executing S16；Otherwise, S17 is executed；S16, adjustment marine main engine revolving speed, cooperate autopilot, ship are gradually led straight；S17, real time monitoring length of chain cable, windlass control according to length of chain cable and twist anchor；S18, judge whether anchor chain is less than setting value in the length in seabed, if so, executing S19；Otherwise, S17 is executed；S19, ship bow is judged to whether needing to adjust, if so, executing S20；Otherwise, S21 is executed；S20, stop anchor, using rudder for ship adjust ship bow to；S21, anchor is judged whether the bottom of from, if so, executing S22；Otherwise, S17 is executed；S22, ship bow is judged to whether controlling that improper, ship is out of control, if so, executing abnormal conditions processing step；Otherwise, it executes S23；S23, it falls anchor ball or closes anchor lantern；S24, real time monitoring length of chain cable, windlass control according to length of chain cable and twist anchor；S25, judge whether anchor succeeds, if so, executing S26；Otherwise, abnormal conditions processing step is executed；S26, subsequent anchor ending work is completed；S27, judge whether anchor work is completed, if so, executing S28；Otherwise, abnormal conditions processing step is executed.
- The control method 3. unmanned ship according to claim 1 is independently unmoored, which is characterized in that when double anchorings, institute Stating anchor execution step includes:S7, judge whether ship appearance needs to adjust, if so, executing S8；Otherwise, S9 is executed；S8, the adjustment of ship appearance；S9, windlass anchor into row to two simultaneously and twist anchor；S10, anchor chain sludge is rinsed；S11, adjustment ship bow to wind angle on the bow；S12, judging current environment, whether wind is big, it is anxious to flow, if so, executing S13；Otherwise, S15 is executed；S13, adjustment marine main engine revolving speed, ship is into vehicle；S14, judge whether anchor chain reaches relaxed state, if so, executing S15；Otherwise, S13 is executed；S15, whether across the bow anchor chain is judged, if so, executing S16；Otherwise, SA is executedS16, adjustment marine main engine revolving speed, cooperate autopilot, ship are gradually led straight；SA, windlass twist anchor, and the remaining length of chain cable of simultaneity factor real-time monitoring stops when remaining length of chain cable is that 2-3 is saved Twist anchor；SB1, the left anchor of selection continue to twist anchor, and right anchor is temporarily motionless；SB2, judge whether left anchor is normal: if so, executing abnormal conditions processing step；Otherwise, SB3 is executed；After SB3, left anchor twist anchor, windlass anchors into row to the right side and twists anchor；S17, real time monitoring length of chain cable, windlass control according to length of chain cable and twist anchor；S19, ship bow is judged to whether needing to adjust, if so, executing S20；Otherwise, S21 is executed；S20, stop anchor, using rudder for ship adjust ship bow to；S21, anchor is judged whether the bottom of from, if so, executing S22；Otherwise, S17 is executed；S22, ship bow is judged to whether controlling that improper, ship is out of control, if so, executing abnormal conditions processing step；Otherwise, it executes S23；S23, it falls anchor ball or closes anchor lantern；S24, real time monitoring length of chain cable, windlass control according to length of chain cable and twist anchor；S25, judge whether anchor succeeds, if so, executing S26；Otherwise, abnormal conditions processing step is executed；S26, subsequent anchor ending work is completed；S27, judge whether anchor work is completed, if so, executing S28；Otherwise, abnormal conditions processing step is executed.
- The control method 4. unmanned ship according to claim 2 or 3 is independently unmoored, which is characterized in that S11 includes root Movement according to rudder force information, wind-force information, flow information of water and from ship bow to information control ship, makes ship bow to windward and rudder Power moment of turning ship is greater than wind-force moment of turning ship.
- The control method 5. unmanned ship according to claim 2 or 3 is independently unmoored, which is characterized in that S11 includes root Movement according to rudder force information, wind-force information, flow information of water and from ship bow to information control ship, when wind scale is less than or equal to three-level When, control ship make wind angle on the bow less than 80 °, when wind scale be greater than three-level when, control ship make wind angle on the bow less than 10 °.
- The control method 6. unmanned ship according to claim 2 or 3 is independently unmoored, which is characterized in that S14 includes root The relaxed state of anchor chain at this time is judged according to anchor chain pulling force information.
- The control method 7. unmanned ship according to claim 2 or 3 is independently unmoored, which is characterized in that S21 includes root Judge that whether anchor is the bottom of from this time according to windlass information on load.
- The control method 8. unmanned ship according to claim 2 or 3 is independently unmoored, which is characterized in that pass through revolving speed Sensor obtains rudder force information, obtains wind-force information by anemoclinograph, obtains ship bow to information by magnetic compass, passes through Electronic chart obtains flow information of water.
- The control method 9. unmanned ship according to claim 6 is independently unmoored, which is characterized in that pass through pull sensing Device obtains anchor chain pulling force information.
- The control method 10. unmanned ship according to claim 7 is independently unmoored, which is characterized in that pass through load measuring It measures instrument and obtains windlass information on load.
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