CN110356528B - Ship leakage stopping system and method - Google Patents
Ship leakage stopping system and method Download PDFInfo
- Publication number
- CN110356528B CN110356528B CN201910708942.8A CN201910708942A CN110356528B CN 110356528 B CN110356528 B CN 110356528B CN 201910708942 A CN201910708942 A CN 201910708942A CN 110356528 B CN110356528 B CN 110356528B
- Authority
- CN
- China
- Prior art keywords
- unit
- water leakage
- leakage
- ship
- mechanical arm
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B43/00—Improving safety of vessels, e.g. damage control, not otherwise provided for
- B63B43/02—Improving safety of vessels, e.g. damage control, not otherwise provided for reducing risk of capsizing or sinking
- B63B43/10—Improving safety of vessels, e.g. damage control, not otherwise provided for reducing risk of capsizing or sinking by improving buoyancy
- B63B43/16—Temporary equipment for stopping leaks, e.g. collision mats
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B45/00—Arrangements or adaptations of signalling or lighting devices
Landscapes
- Chemical & Material Sciences (AREA)
- Engineering & Computer Science (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Examining Or Testing Airtightness (AREA)
Abstract
The invention relates to the field of water transportation vehicles, in particular to a ship leakage blocking system and a method thereof. In the system: the water leakage sensor is used for monitoring ship water leakage information and sending the ship water leakage information to the central control system; the ship water leakage information comprises water leakage area position information; the central control system is used for driving the mechanical arm unit and the plugging unit to reach the position of the water leakage area corresponding to the position information of the water leakage area according to the position information of the water leakage area; the mechanical arm unit is used for acquiring accurate water leakage position information after reaching the position of the water leakage area and returning the accurate water leakage position information to the central control system; the water leakage accurate position information comprises water leakage accurate coordinates; and the central control system is also used for driving the mechanical arm unit to control the leakage stoppage unit to perform leakage stoppage according to the accurate coordinate of the leakage. The invention can efficiently and safely carry out the ship leakage stoppage work.
Description
Technical Field
The invention relates to the field of water transportation vehicles, in particular to a ship leakage blocking system and a method thereof.
Background
The ship is used as an important traffic tool on water, is widely applied to a plurality of fields such as ocean development, water traffic transportation, energy transportation, national defense construction and the like, and the water transportation taking the ship as a tool is concerned with national economic development and national defense safety. Among them, ocean transportation is one of the most important transportation modes in international commodity exchange, and the proportion of cargo transportation volume to the total international cargo transportation volume is about 80% or more. The method is sufficient for the importance of ship navigation safety. For a sailing ship, once cabin water leakage occurs and effective measures are not taken, great influence and even devastating disasters can be caused on personnel and property. When the ship is attacked, collided, touched with reef and stranded by other ships or various weapons, the ship can crack due to violent explosion and violent vibration. The cracks are irregular, long and narrow, and uneven, are mostly in the inner part of the ship and at the bottom of the cabin, and can bring disasters to the ship if the cracks are not rapidly blocked to prevent the cracks from expanding. After the ship is damaged, no matter holes or cracks are broken, the damage to the ship is very large, and the ship life is threatened directly.
In addition, with the increase of the size of ships and the improvement of technical performance, the purchase investment and operation cost of ships are higher and higher, the number of passengers carried by the ships is large, and once an accident occurs, huge life and property losses are caused. On 13 months 1 in 2012, a poetry 'harmony' post ship carrying more than 4000 visitors runs on the italian coast, a large amount of seawater immediately floods the hull of the post ship, the post ship rolls, and at least 32 people die due to accidents. 58 minutes in 8 am on 16 am in 4/2014, more than 450 passengers in the 'age number' passenger ship backward sinks after the water immersion accident in 20 km sea in the county screen island of the Zhendao in all south China. A commercial ship triple-well "Comfort" No. (MOL Comfort No.) container ship of 6 and 17 days in 2013 sunk as water entered the tank due to a crack in the waist of the ship. In recent years, as water traffic is prosperous, water traffic accidents frequently occur. Therefore, the ship is provided with a leakage stopping system and various leakage stopping devices, and once the ship body is damaged and enters water, emergency rescue and leakage stopping are organized immediately after an accident occurs, so that the ship has the necessity.
Because the existing plugging method is mainly based on 'plugging', the method has some inherent defects: the leaking stoppage efficiency is not high. Because of the huge seawater pressure, it is difficult to achieve complete water tightness, especially for medium and large-sized holes with area larger than 0.05 square meter, there is no better method, which is often the most main reason for the quick loss of buoyancy and further sinking of ships. Secondly, the development of the plugging equipment is lagged. Most of the equipment is developed products before the eighth and the ninety years of the last century, and the requirement of modern novel ships on efficient leakage stoppage cannot be met. And the dependence of personnel is strong. Because the mechanization degree of the plugging device is lower, the dependence on the special technology of the damaged pipe personnel is large. Fourthly, the psychological burden is large. The huge seawater pressure and dangerous working environment during plugging cause great psychological burden to operators. Limited plugging condition. The existing outboard plugging method is difficult to implement for large ships or fully-enclosed ships with higher side and longer ship body. Because the defects can not be solved by a proper method, the method is regarded as a bottleneck of the development of the ship plugging technology, and the vitality guarantee of the modern ship is seriously influenced.
Disclosure of Invention
The invention aims to solve the technical problem that ship leakage stoppage work can be efficiently and safely carried out by providing a ship leakage stoppage system and a method thereof aiming at the defects of the prior art.
The technical scheme adopted by the invention for solving the technical problems is as follows: in one aspect, a marine plugging system is constructed comprising, mounted within a vessel: the device comprises a mechanical arm unit, a water leakage sensor, a central control system and a leakage blocking unit;
the central control system is respectively connected with the mechanical arm unit, the water leakage sensor and the leakage stopping unit, and the leakage stopping unit is connected with the mechanical arm unit;
the water leakage sensor is used for monitoring ship water leakage information and sending the ship water leakage information to the central control system; the ship water leakage information comprises water leakage area position information;
the central control system is used for driving the mechanical arm unit and the plugging unit to reach the position of the water leakage area corresponding to the position information of the water leakage area according to the position information of the water leakage area;
the mechanical arm unit is used for acquiring accurate water leakage position information after reaching the position of the water leakage area and returning the accurate water leakage position information to the central control system; the water leakage accurate position information comprises water leakage accurate coordinates;
the central control system is also used for driving the mechanical arm unit to control the leakage stoppage unit to stop leakage according to the accurate coordinate of the leakage.
Further, the central control system is also used for judging whether the ship leaks water according to the accurate water leakage coordinates;
and if the water leaks from the ship, sending alarm information to a central console of the ship.
Still further, the central control system includes: the system comprises a control unit, an area transmission unit, a coordinate receiving unit and a coordinate alarming unit;
the area transmission unit, the coordinate receiving unit and the coordinate alarming unit are respectively connected with the control unit;
the area transmission unit and the coordinate receiving unit are also connected with the mechanical arm unit; the coordinate alarm unit is also connected with the central console;
the area transmission unit is used for transmitting the position information of the water leakage area to the mechanical arm unit;
the coordinate receiving unit is used for transmitting the water leakage accurate coordinate to the mechanical arm unit;
the control unit is used for driving the mechanical arm unit and the plugging unit to reach the position of the water leakage area corresponding to the position information of the water leakage area according to the position information of the water leakage area;
the mechanical arm unit is driven to control the leakage stopping unit to stop leakage according to the accurate coordinate of the leakage;
the coordinate alarm unit is used for judging whether the ship leaks water according to the accurate water leakage coordinates; and if the water leaks from the ship, sending alarm information to a central console of the ship.
Still further, the central control system further includes: the power supply regulation and control unit and the cockpit workbench;
the power supply regulation and control unit is respectively connected with the control unit, the area transmission unit, the coordinate receiving unit, the coordinate alarming unit and the cockpit workbench;
the power supply regulation and control unit is used for carrying out coordination control and communication management on the control unit, the area transmission unit, the coordinate receiving unit, the coordinate alarm unit and the cockpit workbench;
and the cockpit workbench is used for presenting accurate position information of water leakage.
In the above technical solution, the robot arm unit includes: mechanical arms, rails and laser radars;
the track is arranged along the outer edge of the ship deck (5) and is annular;
the top clamping end of the mechanical arm is connected with the top end of the leakage blocking unit, and the mechanical arm can be stretched or folded under the driving of a central control system;
the base of the mechanical arm is arranged on the track in a sliding mode, and the mechanical arm and the plugging unit can move along the outer edge of the ship deck (5) along the track through driving of the central control system;
the laser radar is arranged at the joint of the leakage stopping unit and the mechanical arm, and can acquire accurate position information of water leakage under the driving of a central control system;
preferably, the leakage blocking unit includes: the leakage stoppage blanket comprises a leakage stoppage blanket, a rotating shaft, a motor, a bracket fixing rod and a telescopic pipe;
the upper end of the telescopic pipe is connected with the top clamping end of the mechanical arm, and the telescopic pipe can be stretched under the driving of a central control system;
the lower end of the telescopic pipe is fixedly connected with a bracket fixing rod, the rotating shaft and the motor are both arranged on the bracket fixing rod, and the plugging blanket is wound on the rotating shaft;
the motor drives the rotating shaft to rotate through the driving of the central control system, so that the leaking stoppage blanket is unfolded or folded.
In the technical scheme, the water leakage sensor is a line type water leakage sensor and is arranged in a groove at the connection part of a ship board and a deck (5).
Preferably, the mechanical arm is a joint type hydraulic mechanical arm;
the track consists of two guide rails; the base of the mechanical arm adopts a double-guide-rail four-slider structure;
the laser radar is a single-beam laser radar;
the leakage stoppage blanket is a heavy leakage stoppage blanket.
In another aspect, a method of constructing a leak stoppage for a vessel, includes:
the water leakage sensor monitors ship water leakage information and sends the ship water leakage information to the central control system; the ship water leakage information comprises water leakage area position information;
the central control system drives the mechanical arm unit and the plugging unit to reach the position of the water leakage area corresponding to the position information of the water leakage area according to the position information of the water leakage area;
after the mechanical arm unit reaches the position of the water leakage area, acquiring accurate water leakage position information, and returning the accurate water leakage position information to the central control system; the water leakage accurate position information comprises water leakage accurate coordinates;
and the central control system drives the mechanical arm unit to control the leakage stoppage unit to perform leakage stoppage according to the accurate coordinate of the leakage.
Further, the central control system judges whether the ship leaks water according to the accurate water leakage coordinates;
and if the water leaks from the ship, sending alarm information to a central console of the ship.
According to the invention, the water leakage information of the ship can be timely and accurately found through the water leakage sensor, the central control system can immediately control the mechanical arm unit to reach the position of a water leakage area according to the water leakage information, and then the mechanical arm feeds back the accurate coordinate of water leakage according to the water leakage condition of the area position; at the moment, the central control system controls the leakage stopping unit to perform leakage stopping work aiming at the accurate water leakage coordinates.
The ship leakage stopping system and the method thereof have the following beneficial effects: the invention not only can timely and accurately react on ship leakage, but also can effectively prolong the leakage stoppage time and reduce the leakage stoppage difficulty, thereby improving the leakage stoppage efficiency. In addition, the invention reduces the dependence of the plugging work on operators and improves the automation process of the plugging process.
Drawings
The invention will be further described with reference to the accompanying drawings and examples, in which:
FIG. 1 is a schematic diagram of the system of the present invention;
FIG. 2 is a schematic flow diagram of the process of the present invention;
FIG. 3 is a schematic structural view of a robot arm unit according to an embodiment of the present invention;
FIG. 4 is a schematic structural diagram of a plugging unit in an embodiment of the present invention;
FIG. 5 is a schematic diagram of a track structure in an embodiment of the present invention;
FIG. 6 is a schematic cross-sectional view of a water leak sensor in an embodiment of the invention;
FIG. 7 is a logic diagram of a method in an embodiment of the invention.
In the figure: the automatic leak-stopping device comprises a mechanical arm unit 1 (a mechanical arm 1.1, a track 1.2 and a laser radar 1.3), a water leakage sensor 2, a central control system 3 and a leak stopping unit 4 (a leak stopping blanket 4.1, a rotating shaft 4.2, a motor 4.3, a support fixing rod 4.4 and an extension tube 4.5).
Detailed Description
For a more clear understanding of the technical features, objects and effects of the present invention, embodiments of the present invention will now be described in detail with reference to the accompanying drawings.
As shown in fig. 1, the ship plugging system of the present invention includes: the automatic leakage detection device comprises a mechanical arm unit 1, a water leakage sensor 2, a central control system 3 and a leakage stopping unit 4;
the central control system 3 is respectively connected with the mechanical arm unit 1, the water leakage sensor 2 and the leakage stopping unit 4, and the leakage stopping unit 4 is connected with the mechanical arm unit 1;
the water leakage sensor 2 is used for monitoring ship water leakage information and sending the ship water leakage information to the central control system 3; the ship water leakage information comprises water leakage area position information;
the central control system 3 is used for driving the mechanical arm unit 1 and the plugging unit 4 to reach the position of the water leakage area corresponding to the position information of the water leakage area according to the position information of the water leakage area;
the mechanical arm unit 1 is used for acquiring accurate water leakage position information after reaching the position of the water leakage area and returning the accurate water leakage position information to the central control system 3; the water leakage accurate position information comprises water leakage accurate coordinates;
the central control system 3 is also used for driving the mechanical arm unit 1 to control the leakage stopping unit 4 to stop leakage according to the accurate coordinate of the leakage.
According to the invention, the water leakage information of the ship can be timely and accurately found through the water leakage sensor, the central control system can immediately control the mechanical arm unit to reach the position of a water leakage area according to the water leakage information, and then the mechanical arm feeds back the accurate coordinate of water leakage according to the water leakage condition of the area position; at the moment, the central control system controls the leakage stopping unit to perform leakage stopping work aiming at the accurate water leakage coordinates.
The central control system 3 is also used for judging whether the ship leaks water according to the accurate water leakage coordinates;
and if the water leaks from the ship, sending alarm information to a central console of the ship.
And a control person in the central control console can track the alarm information. If the controller finds that water leaks in the cargo hold after checking the water leakage detection device, the sensor and the mechanical arm can be closed; if external water leaks, the plugging work in the cabin is started until the plugging is finished, the mechanical arm is closed, the water leakage alarm is turned off, and the whole process is finished after the state of the water leakage sensor is detected.
Therefore, the central control system can ensure the effective operation of the ship leakage stopping work and the safety of the ship when the ship leaks water.
The central control system 3 includes: a control unit 3.1, an area transmission unit 3.2, a coordinate receiving unit 3.3 and a coordinate alarming unit 3.4;
the area transmission unit 3.2, the coordinate receiving unit 3.3 and the coordinate alarming unit 3.4 are respectively connected with the control unit 3.1;
the area transmission unit 3.2 and the coordinate receiving unit 3.3 are also connected with the mechanical arm unit 1; the coordinate alarm unit 3.4 is also connected with a central console;
the area transmission unit 3.2 is used for transmitting the position information of the water leakage area to the mechanical arm unit 1;
the coordinate receiving unit 3.3 is used for transmitting the accurate coordinate of the water leakage to the mechanical arm unit 1;
the control unit 3.1 is used for driving the mechanical arm unit 1 and the plugging unit 4 to reach the position of the water leakage area corresponding to the position information of the water leakage area according to the position information of the water leakage area;
the mechanical arm unit 1 is driven to control the leakage stopping unit 4 to stop leakage according to the accurate coordinate of the leakage;
the coordinate alarm unit 3.4 is used for judging whether the ship leaks water according to the accurate water leakage coordinates; and if the water leaks from the ship, sending alarm information to a central console of the ship.
The central control system 3 further includes: a power supply regulation and control unit 3.5 and a cockpit working platform 3.6;
the power supply regulation and control unit 3.5 is respectively connected with the control unit 3.1, the area transmission unit 3.2, the coordinate receiving unit 3.3, the coordinate alarm unit 3.4 and the cockpit workbench 3.6;
the power supply regulation and control unit 3.5 is used for carrying out coordination control and communication management on the control unit 3.1, the area transmission unit 3.2, the coordinate receiving unit 3.3, the coordinate alarm unit 3.4 and the cockpit workbench 3.6;
and the cockpit workbench 3.6 is used for displaying accurate position information of water leakage.
The cockpit workstation 3.6 provides a graphical interface from the computer vision processing of the lidar 1.3 to assist the control personnel in setting leak repair commands, performing leak diagnostic tests, operating process equipment, and generating reports and historical data.
The power supply regulation and control unit 3.5 is composed of a Deltav system, and provides a system identifier for the cockpit workbench 3.6 at random, and the identifier needs to be inserted into a parallel printing port of a server (one of 6 Deltav workstations) and serves as a unique identification device for allowing an operator to perform operations such as installation, downloading and the like on the leakage repairing central control system.
The control unit 3.1 is formed by a separate ethernet local area network on a ship and other execution devices of the system according to the invention. The control unit 3.1 is used for realizing communication between the Deltav controller and the cockpit workbench 3.6 and executing equipment (movement of the mechanical arm 1.1 on the track 1.2, extension action of the mechanical arm 1.1, extension action of the extension tube 4.5 and contraction control of the leakage stoppage blanket 4.1) decision-making to finally realize automatic leakage stoppage.
The regional transmission unit 3.2 obtains the positional information of the water leakage region by analyzing the signal gathered water quantity and the water content monitoring time in the water leakage information transmitted by the water leakage sensor 2, and then transmits the positional information to the central control system 3, so that the laser radar 1.3 on the mechanical arm 1.1 can scan the regional position, and finally the accurate positional information of the water leakage is obtained.
The coordinate receiving unit 3.3 consists of an input and an output interface and an optional power supply unit. After the accurate position information of water leakage is transmitted to the central control system, through a series of information processing, the accurate coordinate of water leakage is transmitted to the mechanical arm 1.1 by the leakage coordinate receiving unit 3.3 to enable the mechanical arm to perform relevant activities.
The coordinate alarm unit 3.4 mainly analyzes whether the ship leaks water or not through the water leakage information, and defaults that the ship has a water leakage risk if the sensor is immersed in water and the water coverage range is large. At the moment, the coordinate alarming unit 3.4 sends out a water leakage alarm to the cockpit workbench, so that the related staff can quickly check the water leakage of the ship body.
As shown in fig. 3 to 6, the robot arm unit 1 includes: the device comprises a mechanical arm 1.1, a track 1.2 and a laser radar 1.3;
the track 1.2 is arranged along the outer edge of the ship deck 5 and is annular;
the top clamping end of the mechanical arm 1.1 is connected with the top end of the leakage blocking unit 4, and the mechanical arm 1.1 can be stretched or folded under the driving of the central control system 3;
the base of the mechanical arm 1.1 is slidably mounted on a track 1.2, and the mechanical arm 1.1 and the plugging unit 4 can move along the track 1.2 along the outer edge of a ship deck 5 under the driving of a central control system 3;
the laser radar 1.3 is arranged at the joint of the leakage stopping unit 4 and the mechanical arm 1.1, and the laser radar 1.3 can acquire accurate position information of water leakage under the driving of the central control system 3;
the leaking stoppage unit 4 includes: 4.1 of a plugging blanket, 4.2 of a rotating shaft, 4.3 of a motor, 4.4 of a bracket fixing rod and 4.5 of an extension tube;
the upper end of the telescopic pipe 4.5 is connected with the top clamping end of the mechanical arm 1.1, and the telescopic pipe 4.5 can be stretched under the driving of the central control system 3;
the lower end of the extension tube 4.5 is fixedly connected with a bracket fixing rod 4.4, the rotating shaft 4.2 and the motor 4.3 are both arranged on the bracket fixing rod 4.4), and the plugging blanket 4.1 is wound on the rotating shaft 4.2;
driven by the central control system 3, the motor 4.3 drives the rotating shaft 4.2 to rotate, so that the leaking stoppage blanket 4.1 is unfolded or folded.
The mechanical arm 1.1 adopts a joint type hydraulic mechanical arm, and compared with motor transmission, the hydraulic transmission has the outstanding advantages of large load, compact structure, stable transmission and the like under the same power, and the load-dead weight ratio has obvious advantages. The mechanical arm 1.1 adopts a reciprocating linear hydraulic oil cylinder as a power source. The hydraulic mechanical arm has the advantages of small volume, light weight, simple and compact structure, and capability of realizing direct drive between the oil cylinder and the arm rod without other transmission mechanisms, so the hydraulic mechanical arm has the outstanding advantages of large load bearing ratio, stable transmission and less mechanical loss. According to the structure of the ship, a blade type hydraulic swing oil cylinder is used as a two-joint hydraulic mechanical arm for driving a joint, and two swing cylinders forming the joint are installed in the same direction, so that the ship board can be conveniently stretched. Considering the weight of the plugging blanket 4.1 and its working environment, a hydraulic cylinder of the W14L-1 series may be selected. The movable end of the mechanical arm 1.1 is provided with four sliding blocks adaptive to the sliding rails, can receive a position instruction transmitted by a central control system, and performs position deployment by using a numerical control technology. Meanwhile, the two joints of the mechanical arm 1.1 can be folded and contracted when no water leakage occurs, so that the space occupied by the mechanical arm 1.1 on the deck is reduced. The working radius of the mechanical arm 1.1 is changed according to the tonnage of the ship, the arm rod is made of a material with higher strength, and if the mechanical arm is a large ship, the arm rod needs to be thickened.
The track 1.2 adopts DH550, DH550 belongs to the super strength ship and ocean engineering and uses the structural steel, requires mechanical properties as follows according to GB 712-2000: DH550 (thickness is less than or equal to 50mm) has yield strength of 550MPa, tensile strength of 670-. Track 1.2 comprises two guide rails, and the installation of outside on the deck, it is continuous and incessant and the rounding off department is slick and sly, such shape not only makes the arm can move around the slide rail whole circle, is favorable to increasing the home range of arm moreover, makes arm unit 1 more comprehensive effective, has improved the holistic flexibility of system moreover. In addition, a plurality of mechanical arms 1.1 can be arranged on the track 1.2 to work simultaneously. The feeding motion of the workbench in the X direction is realized through a linear guide rail pair and a ball screw pair; according to the structural characteristics, the mechanical arm 1.1 can freely move on the guide rail. Considering that the workbench has large influence on the joint surface of the guide rail and is not convenient for realizing the loading of the guide rail, the workbench is directly removed during the design, and the guide rail is moved through the sliding plate. Therefore, the moving device of the mechanical arm 1.1 adopts a double-guide-rail four-slide block structure and is connected with four slide blocks by utilizing slide plates.
The laser radar 1.3 is a single-beam laser radar. The advantages of single-beam lidar are particularly evident, with extremely high resolution, including range, angular and velocity resolution; its anti-interference ability is strong, and it is favourable for normal operation in complex natural condition or war. The single-beam laser radar has rich information quantity, can directly acquire information such as distance, angle, reflection intensity, speed and the like of a target to generate a multi-dimensional image of the target, and the advantages completely meet the requirements of leak scanning positioning and phase presenting. The single-beam laser radar is arranged at the joint of the mechanical arm 1.1 and the telescopic pipe 4.5. During operation, the laser radar 1.3 scans the relevant ship body, so that the leakage opening is accurately positioned. Meanwhile, the computer vision technology is adopted to convert the machine vision of the laser radar into an image observed by human eyes and reflected on the cockpit workbench 3.6.
The leakage stoppage blanket 4.1 is a heavy leakage stoppage blanket which is woven by steel cables into a net, the periphery of the heavy leakage stoppage blanket is inlaid with steel cables, and the heavy leakage stoppage blanket is sewn by PVC coating waterproof canvas, and the size of the heavy leakage stoppage blanket is determined according to the tonnage of a ship. One end of the heavy leaking stoppage blanket is provided with a traction rod with ball casters and a placing groove of the traction rod, so that the heavy leaking stoppage blanket can be smoothly flattened along a ship board during leaking stoppage. Although the heavy type leaking stoppage blanket can not tightly block the broken hole, the water inflow of the broken hole can be greatly reduced, and conditions are created for further adopting leaking stoppage measures. When not in use, the plugging blanket is rolled in the plugging blanket rolling device.
When the leakage stopping unit 4 is not in operation, the leakage stopping blanket 4.1 is coiled on the rotating shaft, and when the leakage stopping unit is in operation, the motor 4.3 rotates to drive the rotating shaft 4.2 to act on the leakage stopping blanket, and the traction of the traction rod is added to completely unfold the leakage stopping blanket. The plugging unit 4 is connected with the mechanical arm by a section of telescopic pipe 4.5. The telescopic pipe 4.5 is an electric control telescopic cylindrical rod, which is beneficial to increasing the working radius of the mechanical arm 1.1 and reducing the volume occupied by the mechanical arm unit 1 and the plugging unit 4 in the non-working state.
The water leakage sensor 2 is a line type water leakage sensor and is arranged in a groove at the joint of a ship board 6 and a deck 5 of a ship.
The water leakage sensor 2 adopts a positioning water leakage sensor XW-PC-3, the water leakage sensor 2 is a line type water leakage sensor, and a water leakage detection alarm can monitor a water leakage induction line with the length of 150 meters. By utilizing a liquid conduction principle, detecting whether water exists by using an electrode, generating an alarm by an XW-PC-3 leakage liquid positioning controller once liquid is detected, triggering a relay and generating no-voltage contact closure; the XW-PC-3 liquid leakage positioning controller adopts a modbus RTU (ASCII) protocol and is communicated with the liquid leakage monitoring system through an RS485 interface. Thereby achieving the purpose of water leakage signal transmission. After the signal is transmitted to the central control system 3, the initial alarm position is determined according to the time sequence of the detected water leakage signal, so that the water leakage area can be roughly determined.
The water leakage sensor 2 is laid on the cargo hold ground for a circle along the inner side of the ship board 6, and a cargo hold deck with a groove is designed at the part connected with the ship board 6 to achieve a better monitoring effect. The sensor 2 that leaks like this inlays in the floor in other words, is less than ground, and rivers can flow to the recess because of the action of gravity, and the weeping response line of being convenient for of this structure is laid, and makes rivers change the flow direction weeping response line, has improved the monitoring effect of weeping response line.
As shown in fig. 2, the method for stopping leakage of a ship according to the present invention includes:
the water leakage sensor 2 monitors ship water leakage information and sends the ship water leakage information to the central control system 3; the ship water leakage information comprises water leakage area position information;
the central control system 3 drives the mechanical arm unit 1 and the plugging unit 4 to reach the position of the water leakage area corresponding to the position information of the water leakage area according to the position information of the water leakage area;
after the mechanical arm unit 1 reaches the position of the water leakage area, acquiring accurate position information of water leakage, and returning the accurate position information of water leakage to the central control system 3; the water leakage accurate position information comprises water leakage accurate coordinates;
the central control system 3 drives the mechanical arm unit 1 to control the leakage stoppage unit 4 to perform leakage stoppage according to the accurate coordinate of the leakage.
The central control system (3) judges whether the ship leaks water according to the accurate water leakage coordinates;
and if the water leaks from the ship, sending alarm information to a central console of the ship.
When water enters the ship cargo hold, the water leakage sensor 2 triggers the water leakage sensor to alarm after detecting water leakage, and meanwhile, the water leakage sensor 2 transmits the position information of the water leakage alarm point to the central control system 3. The central control system 3 starts a water leakage alarm after receiving the signal, identifies an initial alarm area through analysis, transmits a corresponding instruction, and moves the mechanical arm unit 1 to a corresponding position. When the mechanical arm unit 1 moves to a specified area and extends out, the precise coordinates are detected by using a single-beam laser radar and fed back to the central control system 3. Meanwhile, the mechanical arm unit 1 starts to carry out the placement work of the leakage stoppage unit 4 according to the position coordinate measured by the radar, the extension tube 4.5 extends, and the leakage stoppage blanket 4.1 is unfolded. And the control personnel immediately go to the cargo compartment water leakage position to check the condition after receiving the coordinates and the graphic signals returned by the radar at the cab worktable 3.6. If the controller finds that the water leaks in the cargo hold after checking the water in the cargo hold, the water leakage sensor 2 and the mechanical arm unit 1 can be closed; if external water leaks, the plugging work in the cabin is started until the plugging is finished, the mechanical arm unit 1 is closed, the water leakage alarm is turned off, and the whole process is finished after the state of the water leakage sensor 2 is detected.
The water leakage sensor 2 and the whole set of alarm mechanism can find the water leakage condition of the ship more timely and accurately. The invention can effectively prolong the plugging time and reduce the plugging difficulty, thereby improving the plugging efficiency. The invention reduces the dependence on operators to a certain extent, and realizes semi-automation of the whole plugging process. The invention accurately judges the water leakage position by using advanced technologies such as laser radar and the like.
While the present invention has been described with reference to the embodiments shown in the drawings, the present invention is not limited to the embodiments, which are illustrative and not restrictive, and it will be apparent to those skilled in the art that various changes and modifications can be made therein without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (10)
1. A ship plugging system, comprising, mounted in a ship: the device comprises a mechanical arm unit (1), a water leakage sensor (2), a central control system (3) and a leakage stopping unit (4);
the leaking stoppage unit (4) includes: a leakage stoppage blanket (4.1), a rotating shaft (4.2) and a motor (4.3);
the central control system (3) is respectively connected with the mechanical arm unit (1), the water leakage sensor (2) and the leakage stopping unit (4), and the leakage stopping unit (4) is connected with the mechanical arm unit (1);
the water leakage sensor (2) is used for monitoring ship water leakage information and sending the ship water leakage information to the central control system (3); the ship water leakage information comprises water leakage area position information;
the central control system (3) is used for driving the mechanical arm unit (1) and the plugging unit (4) to reach the position of the water leakage area corresponding to the position information of the water leakage area according to the position information of the water leakage area;
the mechanical arm unit (1) is used for acquiring accurate water leakage position information after reaching the position of the water leakage area and returning the accurate water leakage position information to the central control system (3); the water leakage accurate position information comprises water leakage accurate coordinates;
the central control system (3) is also used for driving the mechanical arm unit (1) to control the leakage stoppage unit (4) to perform leakage stoppage according to the accurate coordinate of the leakage;
the motor (4.3) drives the rotating shaft (4.2) to rotate by the driving of the central control system (3), so that the leaking stoppage blanket (4.1) is unfolded or folded.
2. The ship leakage blocking system of claim 1, wherein the central control system (3) is further configured to determine whether the ship leaks water according to the accurate coordinates of the water leakage;
and if the water leaks from the ship, sending alarm information to a central console of the ship.
3. Marine plugging system according to claim 2, wherein said central control system (3) comprises: the system comprises a control unit (3.1), an area transmission unit (3.2), a coordinate receiving unit (3.3) and a coordinate alarming unit (3.4);
the area transmission unit (3.2), the coordinate receiving unit (3.3) and the coordinate alarming unit (3.4) are respectively connected with the control unit (3.1);
the area transmission unit (3.2) and the coordinate receiving unit (3.3) are also connected with the mechanical arm unit (1); the coordinate alarm unit (3.4) is also connected with the central console;
the area transmission unit (3.2) is used for transmitting the position information of the water leakage area to the mechanical arm unit (1);
the coordinate receiving unit (3.3) is used for transmitting the accurate coordinate of the water leakage to the mechanical arm unit (1);
the control unit (3.1) is used for driving the mechanical arm unit (1) and the plugging unit (4) to reach the position of the water leakage area corresponding to the position information of the water leakage area according to the position information of the water leakage area;
the mechanical arm unit (1) is driven to control the leakage stopping unit (4) to stop leakage according to the accurate coordinate of the leakage;
the coordinate alarm unit (3.4) is used for judging whether the ship leaks water according to the accurate water leakage coordinates; and if the water leaks from the ship, sending alarm information to a central console of the ship.
4. Marine plugging system according to claim 3, wherein said central control system (3) further comprises: a power supply regulation and control unit (3.5) and a cockpit working platform (3.6);
the power supply regulation and control unit (3.5) is respectively connected with the control unit (3.1), the area transmission unit (3.2), the coordinate receiving unit (3.3), the coordinate alarm unit (3.4) and the cockpit workbench (3.6);
the power supply regulation and control unit (3.5) is used for carrying out coordination control and communication management on the control unit (3.1), the area transmission unit (3.2), the coordinate receiving unit (3.3), the coordinate alarm unit (3.4) and the cockpit workbench (3.6);
and the cockpit workbench (3.6) is used for presenting accurate position information of water leakage.
5. Marine plugging system according to claim 1, wherein said robot arm unit (1) comprises: the robot comprises a mechanical arm (1.1), a track (1.2) and a laser radar (1.3);
the track (1.2) is installed along the outer edge of the ship deck (5) and is annular;
the top clamping end of the mechanical arm (1.1) is connected with the top end of the leakage blocking unit (4), and the mechanical arm (1.1) can be stretched or folded under the driving of the central control system (3);
the base of the mechanical arm (1.1) is arranged on the track (1.2) in a sliding manner, and the mechanical arm (1.1) and the plugging unit (4) can move along the track (1.2) along the outer edge of the ship deck (5) under the driving of the central control system (3);
the laser radar (1.3) is arranged at the joint of the leakage stopping unit (4) and the mechanical arm (1.1), and the laser radar (1.3) can acquire accurate position information of water leakage through driving of the central control system (3).
6. Marine leak stoppage system according to claim 5, wherein the leak stoppage unit (4) further comprises: a bracket fixing rod (4.4) and an extension tube (4.5);
the upper end of the telescopic pipe (4.5) is connected with the top clamping end of the mechanical arm (1.1), and the telescopic pipe (4.5) can be stretched under the driving of the central control system (3);
the lower end of the extension tube (4.5) is fixedly connected with a support fixing rod (4.4), the rotating shaft (4.2) and the motor (4.3) are both arranged on the support fixing rod (4.4), and the leakage stoppage blanket (4.1) is wound on the rotating shaft (4.2).
7. Marine leak stoppage system according to claim 1, wherein the water leakage sensor (2) is a line type water leakage sensor installed in a groove at the connection of the side (6) and the deck (5) of the marine vessel.
8. Marine leak stoppage system according to claim 6, wherein said mechanical arm (1.1) is a joint-type hydraulic mechanical arm;
the track (1.2) consists of two guide rails; the base of the mechanical arm (1.1) adopts a double-guide-rail four-slider structure;
the laser radar (1.3) is a single-beam laser radar;
the leakage stoppage blanket (4.1) is a heavy leakage stoppage blanket.
9. A method of plugging a ship, comprising:
the water leakage sensor (2) monitors ship water leakage information and sends the ship water leakage information to the central control system (3); the ship water leakage information comprises water leakage area position information;
the central control system (3) drives the mechanical arm unit (1) and the plugging unit (4) to reach the position of the water leakage area corresponding to the position information of the water leakage area according to the position information of the water leakage area;
after the mechanical arm unit (1) reaches the position of the water leakage area, acquiring accurate water leakage position information, and returning the accurate water leakage position information to the central control system (3); the water leakage accurate position information comprises water leakage accurate coordinates;
the central control system (3) drives the mechanical arm unit (1) to control the leakage stopping unit (4) to stop leakage according to the accurate coordinate of the leakage; the motor (4.3) of the leakage stopping unit (4) drives the rotating shaft (4.2) of the leakage stopping unit (4) to rotate by the driving of the central control system (3), so that the leakage blanket (4.1) of the leakage stopping unit (4) is unfolded or folded.
10. The method for plugging the ship according to claim 9, wherein the central control system (3) judges whether the ship leaks water according to the accurate coordinates of the water leakage;
and if the water leaks from the ship, sending alarm information to a central console of the ship.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910708942.8A CN110356528B (en) | 2019-08-01 | 2019-08-01 | Ship leakage stopping system and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910708942.8A CN110356528B (en) | 2019-08-01 | 2019-08-01 | Ship leakage stopping system and method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110356528A CN110356528A (en) | 2019-10-22 |
| CN110356528B true CN110356528B (en) | 2021-05-18 |
Family
ID=68223003
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910708942.8A Active CN110356528B (en) | 2019-08-01 | 2019-08-01 | Ship leakage stopping system and method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110356528B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113401301A (en) * | 2021-07-22 | 2021-09-17 | 北京丰润铭科贸有限责任公司 | Method for coping with cabin damage and water leakage by using novel maritime work robot |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101624088A (en) * | 2008-07-07 | 2010-01-13 | 林忠 | Fast escape method for ship in water: leaking stoppage (crevasse) repair technique |
| CN204775903U (en) * | 2015-07-15 | 2015-11-18 | 中国人民解放军总后勤部军事交通运输研究所 | Locking device is fixed a position fast to leaking stoppage umbrella |
| CN106428455A (en) * | 2016-12-05 | 2017-02-22 | 武汉理工大学 | Intelligent self-repairing device for hull |
| CN206243406U (en) * | 2016-12-02 | 2017-06-13 | 长兴大河造船有限公司 | A kind of anti-sinking system of ship |
| RU2652537C1 (en) * | 2017-05-19 | 2018-04-26 | Федеральное автономное учреждение "25 Государственный научно-исследовательский институт химмотологии Министерства обороны Российской Федерации" | Device for temporary plugging of holes with torn edges in liquid-filled rigid hollow products |
| CN108974273A (en) * | 2018-06-11 | 2018-12-11 | 安徽枫雅轩科技信息服务有限公司 | A kind of novel ship Overthrow preventing device |
| RU185634U1 (en) * | 2018-10-29 | 2018-12-13 | Евгений Николаевич Коптяев | SHIP SLIDING STOP |
-
2019
- 2019-08-01 CN CN201910708942.8A patent/CN110356528B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101624088A (en) * | 2008-07-07 | 2010-01-13 | 林忠 | Fast escape method for ship in water: leaking stoppage (crevasse) repair technique |
| CN204775903U (en) * | 2015-07-15 | 2015-11-18 | 中国人民解放军总后勤部军事交通运输研究所 | Locking device is fixed a position fast to leaking stoppage umbrella |
| CN206243406U (en) * | 2016-12-02 | 2017-06-13 | 长兴大河造船有限公司 | A kind of anti-sinking system of ship |
| CN106428455A (en) * | 2016-12-05 | 2017-02-22 | 武汉理工大学 | Intelligent self-repairing device for hull |
| RU2652537C1 (en) * | 2017-05-19 | 2018-04-26 | Федеральное автономное учреждение "25 Государственный научно-исследовательский институт химмотологии Министерства обороны Российской Федерации" | Device for temporary plugging of holes with torn edges in liquid-filled rigid hollow products |
| CN108974273A (en) * | 2018-06-11 | 2018-12-11 | 安徽枫雅轩科技信息服务有限公司 | A kind of novel ship Overthrow preventing device |
| RU185634U1 (en) * | 2018-10-29 | 2018-12-13 | Евгений Николаевич Коптяев | SHIP SLIDING STOP |
Non-Patent Citations (1)
| Title |
|---|
| 客船自动应急抗倾覆装置;付佳文等;《船舶工程》;20170715;第39卷(第S1期);全文 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110356528A (en) | 2019-10-22 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107065878A (en) | A kind of automatic docking system of ship and method | |
| CN104354843B (en) | Coordinate the miniature salvaging drilling equipment of over seat anker and the method for ROV | |
| CN111285259B (en) | System for multiple shore bridges for monitoring floating state and stability of container ship during mooring loading and unloading | |
| CN204184555U (en) | A kind of novel floating drydock | |
| CN110356528B (en) | Ship leakage stopping system and method | |
| CN108622322A (en) | Compensation of undulation accommodation ladder system and control method for marine redundant labor transfer operation | |
| CN107790987B (en) | Automatic butt joint method and equipment suitable for loading and unloading arm of oil delivery pipe of wharf and ship flange | |
| CN107599939A (en) | Hydraulic draining car | |
| CN108375625B (en) | Jacket corrosion detection equipment without magnetic field interference and corrosion detection method | |
| CN114408137A (en) | Electro-hydraulic hybrid crawler-type multifunctional operation-level underwater robot and system | |
| CN112478108A (en) | Method for removing submarine cable obstacles by submarine cable robot | |
| CN211368633U (en) | Offshore oil spill emergency monitoring and disposal complex | |
| CN108411766A (en) | A kind of position compensation extension type is gone on board trestle control system and control method | |
| US11565781B1 (en) | Hybrid-driven mooring chain cleaning and structural inspection underwater robot and working method thereof | |
| KR20200044542A (en) | A crane collision avoidance system and method of the same in a shipyard | |
| KR102137150B1 (en) | Docking guide system of vessel for offshore tower | |
| CN105730634A (en) | Dredged sediment barge | |
| CN206805294U (en) | A kind of automatic docking system of ship | |
| CN211996069U (en) | Bridge underwater detection ship | |
| CN205707189U (en) | A kind of dredged mud barge | |
| CN112946685A (en) | Wharf berthing safety monitoring system and method based on three-dimensional laser radar | |
| CN112050740A (en) | Mooring safety monitoring and early warning system | |
| CN106080991B (en) | It is a kind of to be applicable towboat of 300,000 tons of harbours with simultaneous oil slick recovery function | |
| CN114593892B (en) | Underwater test device for marine equipment and operation method thereof | |
| CN212007731U (en) | Overhaul pool test device of lifeboat |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20230815 Address after: Room 01, Building 4, No. 8 Jinggangshan Road, Suzhou Xitong Technology Industrial Park, Nantong City, Jiangsu Province, 226017 Patentee after: Nantong Qianqian Marine Equipment Engineering Co.,Ltd. Address before: 430070 Hubei Province, Wuhan city Hongshan District Luoshi Road No. 122 Patentee before: WUHAN University OF TECHNOLOGY |