CN109733538B - Autonomous anchor lifting control method for unmanned ship - Google Patents
Autonomous anchor lifting control method for unmanned ship Download PDFInfo
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Abstract
The invention discloses an autonomous anchoring control method for an unmanned ship. And the anchor lifting execution step controls the movement of the ship and the anchor machine according to the rudder force information, the wind power information, the water flow information, the ship heading information and the anchor chain information. The invention can automatically adjust the ship posture and control the anchor lifting operation in real time by monitoring the self state of the ship and the surrounding environment in real time, thereby ensuring the stable control of the unmanned ship in the anchor lifting process. Moreover, the whole anchor lifting process does not need human intervention, so that the automatic anchor lifting operation in the real sense is realized, and the anchor lifting efficiency is greatly improved.
Description
Technical Field
The invention relates to the technical field of unmanned ships, in particular to an autonomous anchor-lifting control method for an unmanned ship.
Background
The anchor lifting of the unmanned ship refers to a control method for the ship to autonomously carry out anchor lifting operations such as single anchoring, double anchoring and the like. The anchor-taking requirement of the unmanned ship is that under the condition that the conditions are met, the unmanned ship can independently control equipment such as an anchor machine, a vehicle and an autopilot to complete anchor-taking operation, and meanwhile, the ship is required to be controlled to be stable. At present, an anchor-taking system of an existing ship only carries out anchor-taking operation through an anchor machine controller, comprehensive effects of wind power ship-turning moment, hydrodynamic force ship-turning moment and rudder ship-turning moment on the ship in the anchor-taking process are ignored, and meanwhile, the judgment of an anchoring environment mostly depends on the driving experience of a shipman, so that the ship is easy to be unstable and even out of control.
Disclosure of Invention
In order to solve the technical problems, the invention provides an autonomous anchor-lifting control method for an unmanned ship, which realizes autonomous anchor-lifting of the unmanned ship in an anchoring state and ensures stability of a ship body in an anchor-lifting process.
The technical scheme provided by the invention is that the autonomous anchor-lifting control method of the unmanned ship comprises the following steps:
and (3) judging the anchoring condition: judging whether the current external environment and the self-running condition of the ship accord with the anchor lifting condition or not according to the anchoring information data of the anchor ground and the anchoring information data of the ship, and if so, executing the anchor lifting execution step; otherwise, executing the abnormal condition processing step;
and an anchor lifting execution step: controlling the movement of the ship and the anchor machine according to the rudder force information, the wind power information, the water flow information, the ship heading information and the anchor chain information;
anchor lifting monitoring: monitoring the working states of the anchor lifting condition judging step and the anchor lifting executing step in real time, and if an abnormal condition occurs, executing the abnormal condition processing step;
an abnormal condition processing step: autonomously locating abnormal conditions, and outputting and executing an abnormal solution; when the abnormal condition exceeds the autonomous resolving capability range, sending an alarm to the shore base and waiting for a shore base feedback instruction;
and a shore-based instruction execution step: and controlling each system of the ship according to the command of shore-based remote control operation.
Further, in single mooring, the anchor lifting execution step comprises:
s7, judging whether the ship posture needs to be adjusted, if so, executing S8; otherwise, go to S9;
s8: adjusting the ship posture;
s9, anchoring by an anchor machine;
s10, flushing anchor chain sludge;
s11, adjusting the ship heading and the wind board angle;
s12, judging whether the current environment is strong in wind and urgent in flow, if so, executing S13; otherwise, go to S15;
s13, adjusting the rotating speed of the main engine of the ship, and enabling the ship to enter the vehicle;
s14, judging whether the anchor chain reaches a slack state, if so, executing S15; otherwise, go to S13;
s15, judging whether the anchor chain crosses the bow, if so, executing S16; otherwise, go to S17;
s16, adjusting the rotating speed of the main engine of the ship, and gradually straightening the ship by matching with an automatic rudder;
s17, monitoring the length of the anchor chain in real time, and controlling anchor mooring by the anchor machine according to the length of the anchor chain;
s18, judging whether the length of the anchor chain on the seabed is smaller than a set value, if so, executing S19; otherwise, go to S17;
s19, judging whether the heading of the ship needs to be adjusted, if so, executing S20; otherwise, go to S21;
s20, stopping anchor lifting, and adjusting the heading of the ship by using a rudder;
s21, judging whether the anchor is off the bottom, if so, executing S22; otherwise, go to S17;
s22, judging whether the heading of the ship is improperly controlled or not and whether the ship is out of control, if so, executing an abnormal condition processing step; otherwise, go to S23;
s23, lowering the anchor ball or turning off the anchor lamp;
s24, monitoring the length of the anchor chain in real time, and controlling anchor mooring by the anchor machine according to the length of the anchor chain;
s25, judging whether the anchor lifting is successful, if so, executing S26; otherwise, executing the abnormal condition processing step;
s26, finishing the subsequent anchor lifting ending work;
s27, judging whether the anchor lifting work is finished, if so, executing S28; otherwise, executing the abnormal condition processing step.
Further, in the case of double anchoring, the anchor lifting execution step includes:
s7, judging whether the ship posture needs to be adjusted, if so, executing S8; otherwise, go to S9;
s8, adjusting the ship posture;
s9, the anchor machine simultaneously anchors the two anchors;
s10, flushing anchor chain sludge;
s11, adjusting the ship heading and the wind board angle;
s12, judging whether the current environment is strong in wind and urgent in flow, if so, executing S13; otherwise, go to S15;
s13, adjusting the rotating speed of the main engine of the ship, and enabling the ship to enter the vehicle;
s14, judging whether the anchor chain reaches a slack state, if so, executing S15; otherwise, go to S13;
s15, judging whether the anchor chain crosses the bow, if so, executing S16; otherwise, SA is performed
S16, adjusting the rotating speed of the main engine of the ship, and gradually straightening the ship by matching with an automatic rudder;
SA, bolting by an anchor machine, simultaneously monitoring the remaining anchor chain length in real time by the system, and stopping bolting when the remaining anchor chain length is 2-3 knots;
SB1, selecting the left anchor to continue anchoring, and the right anchor to temporarily stop;
SB2, judging whether the left anchor is normal: if yes, executing an abnormal condition processing step; otherwise, SB3 is executed;
SB3, after the left anchor is anchored, the anchor machine anchors the right anchor;
s17, monitoring the length of the anchor chain in real time, and controlling anchor mooring by the anchor machine according to the length of the anchor chain;
s19, judging whether the heading of the ship needs to be adjusted, if so, executing S20; otherwise, go to S21;
s20, stopping anchor lifting, and adjusting the heading of the ship by using a rudder;
s21, judging whether the anchor is off the bottom, if so, executing S22; otherwise, go to S17;
s22, judging whether the heading of the ship is improperly controlled or not and whether the ship is out of control, if so, executing an abnormal condition processing step; otherwise, go to S23;
s23, lowering the anchor ball or turning off the anchor lamp;
s24, monitoring the length of the anchor chain in real time, and controlling anchor mooring by the anchor machine according to the length of the anchor chain;
s25, judging whether the anchor lifting is successful, if so, executing S26; otherwise, executing the abnormal condition processing step;
s26, finishing the subsequent anchor lifting ending work;
s27, judging whether the anchor lifting work is finished, if so, executing S28; otherwise, executing the abnormal condition processing step.
Further, S11 includes controlling the movement of the ship according to the rudder force information, the wind power information, the water flow information and the ship heading information, so that the ship is headed in the wind direction and the rudder force ship-turning moment is greater than the wind force ship-turning moment.
Further, S11 includes controlling the movement of the ship based on the rudder force information, the wind force information, the water flow information, and the ship heading information, controlling the ship such that the wind broadside angle is less than 80 ° when the wind level is less than or equal to three levels, and less than 10 ° when the wind level is greater than three levels.
Further, S14 includes determining a slack state of the anchor chain at the time based on the anchor chain tension information.
Further, S21 includes determining whether the anchor is off-bottom at the time based on the anchor machine load information.
Furthermore, rudder force information is obtained through a rotating speed sensor, wind power information is obtained through a wind speed and direction meter, ship heading information is obtained through a magnetic compass, and water flow information is obtained through an electronic chart.
Furthermore, the tension sensor is used for acquiring the tension information of the anchor chain.
Further, anchor machine load information is obtained through the load measuring instrument.
Compared with the prior art, the invention has the advantages and positive effects that:
the invention provides an autonomous anchoring control method for an unmanned ship. And the anchor lifting execution step controls the movement of the ship and the anchor machine according to the rudder force information, the wind power information, the water flow information, the ship heading information and the anchor chain information. The invention can automatically adjust the ship posture and control the anchor lifting operation in real time by monitoring the self state of the ship and the surrounding environment in real time, thereby ensuring the stable control of the unmanned ship in the anchor lifting process. Moreover, the whole anchor lifting process does not need human intervention, so that the automatic anchor lifting operation in the real sense is realized, and the anchor lifting efficiency is greatly improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a block diagram of an anchor handling command system of an unmanned ship according to an embodiment of the present invention;
FIG. 2 is a flowchart of an anchor handling control method when the unmanned ship is a single anchor according to an embodiment of the present invention;
fig. 3 is a flowchart of an anchor handling control method when the unmanned ship is a double anchor according to the embodiment of the present invention.
The system comprises a mooring state sensing module 01, a mooring state cognitive module 02, an anchor lifting control module 03, a real-time monitoring module 04, an abnormal condition processing module 05 and a shore-based instruction response module 06.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention discloses an anchor-taking instruction control system of an unmanned ship, which refers to fig. 1 and comprises an anchor state sensing module 01, an anchor state cognition module 02, an anchor-taking control module 03 and a real-time monitoring module 04. The anchoring state sensing module 01 collects and receives anchoring data of shore-based and shipborne equipment and uploads the data to the anchoring state cognitive module 02; the mooring state cognition module 02 analyzes the mooring data, judges whether the mooring data meet the mooring conditions or not, and feeds back the mooring data analysis result to the mooring control module 03; the anchor-lifting control module 03 controls the movement of the ship and the anchor machine according to the received anchoring data analysis result; the real-time monitoring module 04 monitors the working states of the mooring state sensing module 01, the mooring state cognitive module 02 and the anchor lifting control module 03 in real time. The anchor command control system further comprises an abnormal condition processing module 05, which is used for receiving the abnormal data monitored by the real-time monitoring module 04 and analyzing and processing the abnormal data. And the shore-based instruction response module 06 is used for receiving and executing the instructions sent by the shore base.
Specifically, the anchor-lifting command control system is in signal connection with an existing integrated control platform of the ship, so that the anchor-lifting control function of the existing ship is expanded equivalently, and the applicability is high.
The anchoring state sensing module 01 comprises a shore-based instruction interaction sub-module and a shipborne equipment anchoring data acquisition sub-module. The shore-based instruction interaction submodule receives anchoring data sent by the shore base, and the shipborne equipment anchoring data acquisition submodule acquires anchoring data of the shipborne equipment. The anchoring data transmitted by the shore base comprises anchoring environment information collected by the image device, weather sea conditions of nearby sea areas, laws and regulations of the sea areas and the like. The mooring data for the onboard equipment includes information collected by various sensors on the vessel, including: the speed sensor collects rudder force information and host machine speed information of the anchor machine, the anemoclinograph collects wind power information, the electronic chart collects water flow information, the magnetic compass collects ship heading information, the tension sensor collects tension information of the anchor chain, and the load measuring instrument collects information such as anchor machine load.
The mooring state sensing module 01 uploads the collected and received information of the mooring data of the relevant environment and the ship to the mooring state cognitive module 02, and the mooring state cognitive module 02 analyzes the mooring data to determine whether the environment and the ship self condition at the moment meet the anchoring condition. If the anchor-lifting condition is met, the anchor-lifting instruction control system performs subsequent anchor-lifting operation, and if the anchor-lifting condition is not met, the mooring state cognition module 02 transmits the abnormal information to the abnormal condition processing module 05, and the abnormal condition processing module 05 analyzes and processes the abnormal information.
The abnormal condition processing module 05 comprises an autonomous visual condition maintenance submodule and a shore-based alarm sending submodule, and when the abnormal condition processing module 05 autonomously locates the origin of an abnormality according to received abnormal data, the autonomous visual condition maintenance submodule processes the abnormal condition; and if the abnormal condition exceeds the autonomous resolving capability range of the ship, the shore-based alarm sending submodule sends an alarm to the shore and waits for a shore-based feedback instruction.
The mooring state cognition module 02 feeds back the analysis result of the mooring data to the anchor-lifting control module 03, and the anchor-lifting control module 03 adjusts the motions of the ship and the anchor machine in real time according to the analysis result of the mooring data. In the anchoring process, the anchoring state sensing module 01 and the anchoring state cognitive module 02 still acquire, receive and analyze anchoring data in real time, and provide anchoring state information for the anchoring control module 03 in real time, so that the anchoring control module 03 can accurately and effectively control the movement of a ship and an anchor machine, the ship is kept stable in the anchoring process, and the ship is prevented from being out of control.
The invention is based on the above-mentioned anchor-taking instruction control system, also disclose a control method of the autonomous anchor-taking, including the following steps:
and (3) judging the anchoring condition: the mooring state cognition module 02 judges whether the current environment meets the anchor-lifting condition or not according to the received mooring data uploaded by the mooring state sensing module 01, if the current environment meets the anchor-lifting condition, the mooring data is uploaded to the anchor-lifting control module 03, and if the current environment does not meet the anchor-lifting condition, the mooring data is fed back to the abnormal condition processing module 05;
and an anchor lifting execution step: the anchor lifting control module 03 controls the movement of the ship and the anchor machine according to the anchoring data;
anchor lifting monitoring: the real-time monitoring module 04 monitors the working states of the mooring state sensing module 01, the mooring state cognitive module 02 and the anchor-lifting control module 03 in real time, and if abnormal data occur, the abnormal situation processing step is returned to:
an abnormal condition processing step: analyzing and processing abnormal data fed back by the real-time monitoring module 04;
and a shore-based instruction execution step: the shore-based command response module 06 receives and executes commands sent by the shore base.
The key point for keeping the stability of the ship in the anchoring process and avoiding the runaway lies in the anchoring execution step, and the invention deeply researches the anchoring execution step, so that the anchoring control module 03 fully adjusts the movement of the ship and the movement of an anchor machine according to the anchoring data analysis result fed back by the anchoring state cognition module 02.
Specifically, the anchor-taking executing step comprises a ship heading adjusting step, wherein the rudder force information monitored by a rotating speed sensor, the wind power information monitored by an anemoclinograph, the ship heading information monitored by a magnetic compass and the water flow information monitored by an electronic chart are uploaded to an anchor state sensing module 01, the anchor state sensing module 01 uploads the received rudder force information, wind power information, ship heading information and water flow information to an anchor state recognizing module 02, the anchor state recognizing module 02 analyzes the received data and feeds back the analysis result to an anchor-taking control module 03, and the anchor-taking control module 03 controls the movement of the ship according to the analysis result, so that the ship is headed in the wind, and the ship-taking torque is greater than the wind-power ship-turning torque.
Further, the ship heading adjusting step further includes that the anchor control module 03 controls the ship to move according to the received rudder force information, the received wind power information, the received ship heading information and the received water flow information, when the wind level is less than or equal to three levels, the ship is controlled to enable the wind bulwark angle to be less than 80 degrees, and when the wind level is greater than three levels, the ship is controlled to enable the wind bulwark angle to be less than 10 degrees.
Further, the anchor lifting execution step also comprises an anchor chain adjusting step, wherein a tension sensor detects the tension of the anchor chain and uploads the tension to the anchoring state sensing module 01, a load measuring instrument monitors the load of the anchor machine and uploads the load to the anchoring state sensing module 01, the anchoring state sensing module 02 judges the relaxation state of the anchor chain at the moment according to the received tension information of the anchor chain, judges whether the anchor is off the bottom at the moment according to the received load of the anchor machine, and an anchor lifting controller controls the motion of the anchor machine according to the state of the anchor chain fed back by the anchoring state sensing module 02.
The following is a detailed description of the anchor-lifting control method for the unmanned ship for single-mooring and double-mooring respectively.
When the unmanned ship is single-anchored, the anchor-lifting control method is shown in fig. 2 and comprises the following steps:
s1, the shore-based instruction interaction submodule receives anchoring data sent by the shore base, and the shipborne equipment anchoring data acquisition submodule acquires anchoring data of the shipborne equipment;
s2, the mooring state cognition module 02 receives and analyzes the mooring data uploaded in S1;
s3, judging whether the anchor lifting condition is met: the mooring state cognition module 02 judges whether the state of the ship, the weather sea condition, the law and the like at the moment meet the anchoring conditions or not according to the mooring data analysis result, and executes S4 when the conditions are not met; otherwise, go to S5;
s4, abnormal situation processing step: the abnormal condition processing module 05 analyzes and processes the abnormal data fed back by the anchoring state cognition module 02 and the real-time monitoring module 04;
s5, judging whether a command of shore-based remote control operation exists: when the anchor command control system detects that a shore-based remote control command is input, executing S6; otherwise, go to S7;
s6, a shore-based instruction execution step: the shore-based instruction response module 06 receives and executes instructions sent by the shore base, and at the moment, the ship is in a remote control operation state, and the ship does not execute autonomous anchor lifting, but controls each system of the ship according to the shore-based remote control instructions;
s7, judging whether the ship posture needs to be adjusted, if so, executing S8; otherwise, go to S9;
s8, adjusting the ship posture: and the anchor-lifting control module 03 plans the attitude of the target ship according to the next operation requirement and finishes the adjustment of the attitude of the ship through the side thruster.
S9, the anchor lifting control module 03 controls the anchor mooring of the anchor machine;
s10, when the anchor is twisted, the anchor lifting control module 03 controls the anchor machine to start an anchor chain water system to flush the anchor chain;
s11, the anchor control module 03 comprehensively controls the movement of the ship according to the rudder force information, the wind power information, the ship heading information and the water flow information fed back by the anchoring data cognition module 02, so that the ship heading is windward, and the rudder force ship-turning moment is larger than the wind power ship-turning moment; meanwhile, when the wind level is less than or equal to the third level, the ship is controlled to enable the wind side angle to be less than 80 degrees, and when the wind level is greater than the third level, the ship is controlled to enable the wind side angle to be less than 10 degrees;
s12, judging whether the current environment is strong in wind and urgent in flow: the mooring state cognition module 02 judges whether the current environment is windy and torrential according to the wind power information and the water flow information, and feeds back the judgment result to the anchor lifting control module 03, if the current environment is windy and torrential, the anchor chain cannot be twisted firmly at the moment due to the tightness of the anchor chain, and S13 is executed; otherwise, go to S15;
s13, adjusting the rotating speed of the main engine to enable the ship to enter the vehicle: the anchor control module 03 adjusts the rotating speed of a main engine of the ship to enable the ship to enter the vehicle, meanwhile, a rotating speed sensor monitors the rotating speed of the main engine in real time and uploads data to the anchoring state cognition module 02, the anchoring state cognition module 02 feeds back the rotating speed information of the main engine to the anchor control module 03, and the anchor control module 03 adjusts the rotating speed of the main engine in real time according to the current environmental information to enable the ship to smoothly enter the vehicle;
s14, judging whether the anchor chain reaches a slack state: the tension sensor detects the tension of the anchor chain and uploads the tension value to the anchoring state sensing module 01, the anchoring state cognition module 02 judges whether the current anchor chain is in a loose state or not according to the tension value and feeds back an analysis result to the anchor lifting control module 03, if the anchor chain is in the loose state, S15 is executed, and if not, S13 is returned;
s15, judging whether the anchor chain crosses the bow: the magnetic compass detects the heading of the ship and sends the heading information of the ship to the anchoring state sensing module 01, the anchoring state sensing module 02 judges whether the current anchor chain crosses the bow or not according to the position of the anchor chain and the heading information of the ship and feeds back the analysis result to the anchor control module 03, and if the anchor chain crosses the bow, S16 is executed; otherwise, go to S17;
s16, the anchor lifting control module 03 controls the rotating speed of the host, and the ship is gradually straightened through the cooperation with the autopilot;
s17, continuing anchor mooring by the anchor machine, and meanwhile, calculating the anchor chain length by the anchoring state cognition module 02 according to the rotating speed information of the anchor machine and the anchor mooring time detected by the rotating speed sensor, so as to realize real-time monitoring on the anchor chain length;
s18, judging whether the length of the anchor chain on the seabed is smaller than a set value: the mooring state cognition module 01 judges whether the length of the current anchor chain on the seabed is smaller than a set value according to the calculated anchor chain length, and if so, S19 is executed; otherwise, returning to S17;
s19, judging whether the heading of the ship needs to be adjusted: the magnetic compass monitors the heading information of the ship in real time and uploads the heading information to the anchoring state sensing module 01, the anchoring state sensing module 02 compares the heading information of the ship with the expected heading information of the ship preset by the system, whether the current heading information of the ship has large deviation or not is judged, and S20 is executed if the heading of the ship has large deviation; otherwise, go to S21;
s20, stopping anchor lifting, and adjusting the heading of the ship by using a rudder: at the moment, the anchor-lifting control module 03 controls the anchor machine to stop anchor-lifting operation due to large deviation of the ship, and then the ship heading is adjusted through the rudder;
s21, judging whether the anchor is off the bottom: the load measuring instrument monitors the load of the anchor machine and uploads data to the anchoring state sensing module 01, the anchoring state cognition module 02 judges whether the anchor is off the bottom or not according to the load of the anchor machine, and if so, S22 is executed; otherwise, return to execute S17;
s22, judging whether the heading of the ship is controlled improperly or not, and controlling the ship: the magnetic compass monitors the heading information of the ship and uploads the heading information to the anchoring state sensing module 01, the anchoring state cognitive module 02 judges whether the current heading of the ship is improperly controlled or not according to the heading information of the ship, if so, the abnormal situation is shown at the moment, and S4 is executed; otherwise, executing S23;
s23, lowering an anchor ball or turning off an anchor lamp: when the system detects that the anchor is off the bottom, the anchor lifting control module 03 controls the anchor machine to enable the anchor machine to descend an anchor ball or turn off an anchor lamp;
s24, continuing anchor mooring by the anchor machine, and meanwhile, calculating the length of the anchor chain by the anchoring state cognition module 02 according to the rotating speed information of the anchor machine and the anchor mooring time detected by the rotating speed sensor, so that anchor mooring is realized according to real-time monitoring of the length of the anchor chain;
s25, judging whether the anchor is successfully lifted: the mooring state cognition module 02 judges whether the anchor lifting is successful according to the anchor chain length, if so, S26 is executed; otherwise, go to S4;
s26, finishing the subsequent ending work: after the anchor is successfully lifted, the anchor is selected to be hung outside the ship board or to be folded according to the requirement;
s27, judging whether the anchor lifting work is finished: if the anchor lifting work is not completed, indicating that an abnormal condition occurs, executing S4; otherwise, go to S28;
s28, setting a clock T to read anchor data: the real-time monitoring module 04 scans and monitors the anchoring state sensing module 01, the anchoring state cognitive module 02 and the anchor control module 03 by taking a clock T as a time unit, and judges whether the 3 modules work normally or not, the setting of the scanning clock T determines the response precision of the system to an external environment, and the value T can be set to different values according to different navigation environments;
s29, the system judges to execute the following steps according to the data fed back by the real-time monitoring module 04: when an abnormal condition is detected, executing S4; when a shore-based remote control command is received, executing S6; and finishing the anchor lifting operation if the anchor lifting operation is successfully finished.
When the ship is double-anchored, the anchor-lifting control method is as shown in fig. 3, and most of the method is the same as the single-anchored anchor-lifting control method, and only the differences between the double-anchored anchor-lifting control method and the single-anchored anchor-lifting control method will be described below.
S9, the anchor lifting control module 03 controls the anchor machine to anchor two anchors simultaneously;
s15, judging whether the anchor chain crosses the bow, if so, executing S16; otherwise, executing SA;
the following steps are also included between S16 and S17:
SA, when the anchor machine performs anchor mooring, the system monitors the remaining anchor chain length in real time, and when the remaining anchor chain length is 2-3 knots, the anchor mooring is stopped;
SB1, selecting the left anchor to continue anchoring, and the right anchor to temporarily stop;
SB2, judging whether the left anchor is normal: if yes, go to S4; otherwise, SB3 is executed;
and after the SB3 and the left anchor is twisted, the anchor lifting control module 03 controls the anchor machine to twist the right anchor.
In addition, in the case of double mooring, S19 is executed directly after S17 is executed, and S18 is not required.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (8)
1. An autonomous anchor-lifting control method for an unmanned ship, the method comprising the steps of:
and (3) judging the anchoring condition: judging whether the current external environment and the self-running condition of the ship accord with the anchor lifting condition or not according to the anchoring information data of the anchor ground and the anchoring information data of the ship, and if so, executing the anchor lifting execution step; otherwise, executing the abnormal condition processing step;
and an anchor lifting execution step: controlling the movement of the ship and the anchor machine according to the rudder force information, the wind power information, the water flow information, the ship heading information and the anchor chain information;
anchor lifting monitoring: monitoring the working states of the anchor lifting condition judging step and the anchor lifting executing step in real time, and if an abnormal condition occurs, executing the abnormal condition processing step;
an abnormal condition processing step: autonomously locating abnormal conditions, and outputting and executing an abnormal solution; when the abnormal condition exceeds the autonomous resolving capability range, sending an alarm to the shore base and waiting for a shore base feedback instruction;
and a shore-based instruction execution step: controlling each system of the ship according to the command of shore-based remote control operation;
when the unmanned ship is single-anchored, the anchor-lifting executing step comprises:
s7, judging whether the ship posture needs to be adjusted, if so, executing S8; otherwise, go to S9;
s8: adjusting the ship posture;
s9, anchoring by an anchor machine;
s10, flushing anchor chain sludge;
s11, adjusting the ship heading and the wind board angle;
s12, judging whether the current environment is strong in wind and urgent in flow, if so, executing S13; otherwise, go to S15;
s13, adjusting the rotating speed of the main engine of the ship, and enabling the ship to enter the vehicle;
s14, judging whether the anchor chain reaches a slack state, if so, executing S15; otherwise, go to S13;
s15, judging whether the anchor chain crosses the bow, if so, executing S16; otherwise, go to S17;
s16, adjusting the rotating speed of the main engine of the ship, and gradually straightening the ship by matching with an automatic rudder;
s17, monitoring the length of the anchor chain in real time, and controlling anchor mooring by the anchor machine according to the length of the anchor chain;
s18, judging whether the length of the anchor chain on the seabed is smaller than a set value, if so, executing S19; otherwise, go to S17;
s19, judging whether the heading of the ship needs to be adjusted, if so, executing S20; otherwise, go to S21;
s20, stopping anchor lifting, and adjusting the heading of the ship by using a rudder;
s21, judging whether the anchor is off the bottom, if so, executing S22; otherwise, go to S17;
s22, judging whether the heading of the ship is improperly controlled or not and whether the ship is out of control, if so, executing an abnormal condition processing step; otherwise, go to S23;
s23, lowering the anchor ball or turning off the anchor lamp;
s24, monitoring the length of the anchor chain in real time, and controlling anchor mooring by the anchor machine according to the length of the anchor chain;
s25, judging whether the anchor lifting is successful, if so, executing S26; otherwise, executing the abnormal condition processing step;
s26, finishing the subsequent anchor lifting ending work;
s27, judging whether the anchor lifting work is finished, if so, executing S28; otherwise, executing the abnormal condition processing step;
when the unmanned vessel is double-moored, the anchor-lifting performing step includes:
s7, judging whether the ship posture needs to be adjusted, if so, executing S8; otherwise, go to S9;
s8, adjusting the ship posture;
s9, the anchor machine simultaneously anchors the two anchors;
s10, flushing anchor chain sludge;
s11, adjusting the ship heading and the wind board angle;
s12, judging whether the current environment is strong in wind and urgent in flow, if so, executing S13; otherwise, go to S15;
s13, adjusting the rotating speed of the main engine of the ship, and enabling the ship to enter the vehicle;
s14, judging whether the anchor chain reaches a slack state, if so, executing S15; otherwise, go to S13;
s15, judging whether the anchor chain crosses the bow, if so, executing S16; otherwise, SA is performed
S16, adjusting the rotating speed of the main engine of the ship, and gradually straightening the ship by matching with an automatic rudder;
SA, bolting by an anchor machine, simultaneously monitoring the remaining anchor chain length in real time by the system, and stopping bolting when the remaining anchor chain length is 2-3 knots;
SB1, selecting the left anchor to continue anchoring, and the right anchor to temporarily stop;
SB2, judging whether the left anchor is normal: if yes, executing an abnormal condition processing step; otherwise, SB3 is executed;
SB3, after the left anchor is anchored, the anchor machine anchors the right anchor;
s17, monitoring the length of the anchor chain in real time, and controlling anchor mooring by the anchor machine according to the length of the anchor chain;
s19, judging whether the heading of the ship needs to be adjusted, if so, executing S20; otherwise, go to S21;
s20, stopping anchor lifting, and adjusting the heading of the ship by using a rudder;
s21, judging whether the anchor is off the bottom, if so, executing S22; otherwise, go to S17;
s22, judging whether the heading of the ship is improperly controlled or not and whether the ship is out of control, if so, executing an abnormal condition processing step; otherwise, go to S23;
s23, lowering the anchor ball or turning off the anchor lamp;
s24, monitoring the length of the anchor chain in real time, and controlling anchor mooring by the anchor machine according to the length of the anchor chain;
s25, judging whether the anchor lifting is successful, if so, executing S26; otherwise, executing the abnormal condition processing step;
s26, finishing the subsequent anchor lifting ending work;
s27, judging whether the anchor lifting work is finished, if so, executing S28; otherwise, executing the abnormal condition processing step.
2. The autonomous anchor handling control method of claim 1, wherein S11 comprises controlling the movement of the vessel based on the rudder force information, the wind power information, the water flow information, and the vessel heading information such that the vessel is heading into the wind and the rudder force turning moment is greater than the wind force turning moment.
3. The autonomous anchor raising control method of an unmanned ship according to claim 1, wherein S11 comprises controlling the movement of the ship based on the rudder force information, the wind power information, the water flow information, and the ship heading information, and controlling the ship such that the wind broadside angle is less than 80 ° when the wind level is less than or equal to three levels, and less than 10 ° when the wind level is greater than three levels.
4. The autonomous anchor raising control method of the unmanned marine vessel as claimed in claim 1, wherein S14 includes determining a slack state of the anchor chain at the time based on the anchor chain tension information.
5. The autonomous anchor raising control method of an unmanned ship according to claim 1, wherein S21 includes determining whether the anchor is off the ground at that time based on the anchor load information.
6. The autonomous anchoring control method of the unmanned ship according to claim 1, wherein rudder force information is obtained by a rotation speed sensor, wind force information is obtained by an anemorumbometer, ship heading information is obtained by a magnetic compass, and water flow information is obtained by an electronic chart.
7. The autonomous anchor lifting control method of the unmanned ship as claimed in claim 4, wherein the anchor chain tension information is obtained by a tension sensor.
8. The autonomous anchor lifting control method of an unmanned ship according to claim 5, wherein anchor machine load information is acquired by a load measuring instrument.
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| CN105966553A (en) * | 2016-06-08 | 2016-09-28 | 佘峰 | Novel intelligent anchor windlass with remote control function |
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