CN110816750A - Anchoring device and anchoring method thereof - Google Patents

Abstract

The invention discloses an anchoring device and an anchoring method, the anchoring device comprises an anchor, an anchor chain and a chain maker, the anchor and the anchor chain are connected in a detachable mode, the chain maker is used for locking the anchor chain, the anchoring device also comprises a shipborne control terminal, the anchor comprises a cone shell, a first detector, a second detector, a third detector, a fixed support, a motor, a transmission shaft, a first clapboard, a second clapboard, a blade driver and n blades, the invention firstly ensures the angle of the cone shell relative to the seabed, then n blades are embedded into the seabed to realize fixation, the n blades are distributed along a circle, when the water flow direction is locally and greatly changed, the anchor holding force of the anchor on the seabed is kept larger than the pulling force from a ship, the included angle between the anchor chain and the anchor is difficult to change greatly, the angle and the direction of the acting force between the anchor and the seabed can be kept stable basically, and the position of the anchor on the seabed is difficult to change; its advantage is high anchoring stability.

Description

Anchoring device and anchoring method thereof

Technical Field

The invention relates to an anchoring technology, in particular to an anchoring device and an anchoring method thereof.

Background

With the rapid development of the shipping industry, ships, as main carriers of marine transportation, face higher and higher performance requirements, wherein the safety performance requirements are paid much attention. In recent years, safety accidents at sea frequently occur, besides human factors, certain inherent defects of ship systems attract attention, and how to improve the safety performance of ships by improving the equipment becomes a key point in the design process of the ship equipment.

The mooring device serves as one of the important components of the vessel for achieving mooring of the vessel. During the anchoring stage of the ship, the problem of anchor walking occurs occasionally. The anchor walking generally occurs in the uncontrollable stage of the ship, so the collision risk of the ship running on the sea is increased to a certain extent due to the anchor walking; besides, the anchor walking affects the utilization rate of the anchor area: the ship can be influenced by wind and waves in the anchoring process, a probability movable circle which is located on the sea level, takes the ship sea anchor as the center of a circle and has an indefinite radius is approximately generated, and due to the existence of anchor walking risks, the area covered by the movable circle due to the movement of the center of a circle directly influences the number of anchoring ships which can be accommodated in the anchor ground with a fixed sea area at the same time. Therefore, how to improve the stability of the anchoring device and reduce the problem of anchor walking in the anchoring stage of the ship becomes one of the problems to be solved urgently in the current ship design.

The anchoring device is used for anchoring and breaking down of ship and mainly comprises an anchor, an anchor chain and a chain stopper, wherein the anchor is connected with the ship through the anchor chain, and the chain stopper locks the anchor chain. The anchor is the core component of the anchoring device. In the existing anchoring device, an anchor is engaged into the sea bottom by utilizing a fluke part arranged on the anchor to realize the acquisition of holding power. When the existing anchoring device realizes anchoring, firstly, a chain making device is loosened to enable an anchor chain to be in a free state, then the anchor pulls the anchor chain into water along with gravity, when the anchor is sunk to the sea bottom, a fluke part is meshed into the sea bottom to generate holding power, at the moment, the anchor chain takes the anchor as a fixed column and forms a certain angle with the anchor, a ship is tied on the water surface, and anchoring is finished. Existing mooring arrangements achieve vessel immobilization via forces between the chain and the anchor and between the fluke of the anchor and the seabed. Due to the fact that the environment of the water area changes at multiple ends, when the water flow direction changes locally and greatly, the ship can generate large displacement on the water surface along with the water flow, the position of the anchor chain changes along with the position of the ship, the included angle between the anchor chain and the anchor can also change greatly, the anchor chain can pull the anchor, the posture of the anchor fluke embedded into the seabed changes, the angle and the direction of acting force between the anchor and the seabed are changed, the holding power of the anchor fluke is reduced greatly, and anchor walking is caused.

Disclosure of Invention

One of the technical problems to be solved by the invention is to provide a mooring device with higher mooring stability.

The technical scheme adopted by the invention for solving one of the technical problems is as follows: a mooring device comprises an anchor, an anchor chain and a chain maker, wherein the anchor is detachably connected with the anchor chain, the chain maker is used for locking the anchor chain, the mooring device further comprises a shipborne control terminal, the anchor comprises a cone shell, a first detector, a second detector, a third detector, a fixed support, a motor, a transmission shaft, a first partition plate, a second partition plate, a blade driver and n blades, n is an integer which is more than or equal to 4 and less than or equal to 8, the bottom of the cone shell faces upwards, the first partition plate and the second partition plate are arranged in the cone shell, the first partition plate is positioned above the second partition plate, and the first partition plate and the second partition plate divide the inner space of the cone shell into a first chamber, a second chamber and a third chamber from top to bottom, the fixed support and the motor are positioned in the first cavity, the fixed support is installed on the conical shell, the motor is installed on the fixed support, the motor and the shipborne control terminal are communicated through a wireless network, the blade driver is positioned in the second cavity, the blade driver is installed on the conical shell, a cavity is arranged in the blade driver, the transmission shaft extends into the cavity, n grooves which are communicated with the cavity and extend along the up-and-down direction are uniformly arranged on the side wall of the blade driver at intervals, n blades are respectively hinged on the transmission shaft and extend to the outer side of the blade driver from the n grooves in a one-to-one correspondence manner, and n openings are formed in the conical shell, the n openings correspond to the n grooves one by one, in an initial state, the n blades are positioned in the second cavity, when the motor rotates forwards, the conveying shaft rotates forwards synchronously, the n blades are limited by the grooves where the n blades are positioned to rotate relative to the synchronous shaft, at the moment, the n blades can correspondingly extend out of the conical shell from the n openings arranged on the conical shell one by one, when the motor rotates reversely, the conveying shaft rotates reversely synchronously, the n blades are limited by the grooves where the n blades are positioned to rotate relative to the synchronous shaft, and at the moment, the n blades can correspondingly retract into the conical shell from the n openings arranged on the conical shell one by one; the first detector is used for detecting an included angle between the direction of the cone shell entering the seabed plane and the seabed plane, the second detector is used for detecting a positive rotation angle of the motor, the third detector is used for detecting a reverse rotation angle of the motor, the first detector, the second detector and the third detector are respectively communicated with the shipborne control terminal through a wireless network, and a seabed reference angle range, a positive rotation angle range and a reverse rotation angle range are inserted into the shipborne control terminal;

when a ship is anchored, a worker unlocks the chain maker, inserts the conical shell into the seabed, detects an included angle between the direction of the conical shell entering the seabed plane and the seabed plane by the first detector and sends the included angle to the shipborne control terminal, the shipborne control terminal judges whether the included angle is within the range of inserted seabed reference angle, if the included angle exceeds the range of inserted seabed reference angle, the shipborne control terminal sends a seabed insertion failure signal to inform the worker, the worker unloads the conical shell again after anchoring, if the included angle is within the range of inserted seabed reference angle, the shipborne control terminal controls the motor to start to rotate forwards, and the second detector detects the rotated angle of the motor from the beginning to the stopping of rotation and sends the rotated angle to the shipborne control terminal, the shipborne control terminal judges whether the angle falls into the range of the forward rotation angle of the motor, if so, the blade is inserted into the sea bottom after extending out of the conical shell from the n openings in a one-to-one correspondence manner, the anchoring is successful, the shipborne control terminal controls the motor to stop working, the shipborne control terminal sends a signal of successful anchoring to inform a worker, the anchoring is finished, if not, the process that the blade extends out of the conical shell from the n openings in a one-to-one correspondence manner and is inserted into the sea bottom is blocked, the shipborne control terminal controls the motor to stop working, the shipborne control terminal sends a signal of failed anchoring to inform the worker, and the worker adjusts the position of the ship and then carries out anchoring again;

when a ship leaves, the ship-borne control terminal controls the motor to rotate reversely, the third detector detects the rotating angle of the motor when the motor rotates to stop rotating and sends the rotating angle to the ship-borne control terminal, the ship-borne control terminal judges whether the rotating angle falls in the range of the motor reverse rotation angle, if the rotating angle falls in the range, the ship-borne control terminal indicates that the n blades are successfully withdrawn from the n openings in a one-to-one correspondence mode, the ship-borne control terminal controls the motor to stop working, the ship-borne control terminal sends a signal for successfully removing anchoring to inform a worker, the ship leaves after the worker recovers anchors, if the rotating angle does not fall in the range, the process that the n blades are withdrawn from the n openings in the one-to-one correspondence mode into the cone shells is blocked, anchoring failure is removed, and the ship-borne control terminal controls the motor to stop working, and the shipborne control terminal sends out a signal for releasing the mooring failure to inform a worker, the worker releases the connection between the anchor chain and the anchor and leaves after the anchor is abandoned.

The anchor also comprises a puncture needle which is fixedly arranged at the top of the conical shell.

The reference angle range for inserting the seabed is 80-100 degrees, the forward rotation angle range is 50-70 degrees, and the reverse rotation angle range is 50-70 degrees.

Compared with the prior art, the anchoring device has the advantages that by arranging the shipborne control terminal, the anchor comprises a cone shell, a first detector, a second detector, a third detector, a fixed support, a motor, a transmission shaft, a first partition plate, a second partition plate, a blade driver and n blades, wherein n is an integer which is more than or equal to 4 and less than or equal to 8, the bottom of the cone shell is upward, the first partition plate and the second partition plate are arranged in the cone shell, the first partition plate is positioned above the second partition plate, the first partition plate and the second partition plate divide the inner space of the cone shell into a first chamber, a second chamber and a third chamber from top to bottom, the fixed support and the motor are positioned in the first chamber, the fixed support is arranged on the cone shell, the motor is arranged on the fixed support, the motor is communicated with the shipborne control terminal through a wireless network, the blade driver is positioned in the second chamber, the blade driver is installed on the conical shell, a cavity is arranged in the blade driver, the transmission shaft extends into the cavity, n grooves which are communicated with the cavity and extend in the vertical direction are uniformly arranged on the side wall of the blade driver at intervals, n blades are respectively hinged on the transmission shaft and extend to the outer side of the blade driver from the n grooves in a one-to-one correspondence mode, n openings are arranged on the conical shell, the n blades are located in the second cavity in the initial state, when the motor rotates forwards, the transmission shaft rotates forwards synchronously, the n blades are limited by the grooves where the blades are located to rotate relative to the synchronous shaft, at the moment, the n blades can extend out of the conical shell from the n openings arranged on the conical shell in a one-to-one correspondence mode, when the motor rotates reversely, the transmission shaft rotates reversely synchronously, the n blades are limited by the grooves where the blades are located to rotate relative to the synchronous shaft, and at the moment, the n blades can be retracted into the conical shell from the n openings arranged on the conical; the device comprises a first detector, a second detector, a third detector, a shipborne control terminal and a control system, wherein the first detector is used for detecting an included angle between the direction of a cone shell entering a seabed plane and the seabed plane, the second detector is used for detecting a forward rotation angle of a motor, the third detector is used for detecting a reverse rotation angle of the motor, the first detector, the second detector and the third detector are respectively communicated with the shipborne control terminal through a wireless network, and a seabed reference angle range, a forward rotation angle range and a reverse rotation angle range are inserted into the shipb; when anchoring a ship, a worker unlocks the chain making device and throws the conical shell, the conical shell is inserted into the seabed, the first detector detects an included angle between the direction of the conical shell entering the seabed plane and sends the included angle to the shipborne control terminal, the shipborne control terminal judges whether the included angle is within the range of inserted seabed reference angle, if the included angle is beyond the range of inserted seabed reference angle, the shipborne control terminal sends a seabed insertion failure signal to inform the worker, the worker unlocks the conical shell again after receiving the anchor, if the included angle is within the range of inserted seabed reference angle, the shipborne control terminal controls the motor to start to rotate forwards, the second detector detects the rotated angle from the beginning to the stopping of rotation and sends the rotated angle to the shipborne control terminal, the shipborne control terminal judges whether the angle falls into the range of the forward rotation angle of the motor, the n blades extend out of the conical shells from the n openings in a one-to-one correspondence manner and then are embedded into the sea bottom, anchoring is successful, the shipborne control terminal controls the motor to stop working, the shipborne control terminal sends a signal of successful anchoring to inform workers of completing anchoring, if the blades do not fall into the conical shells, the process that the n blades extend out of the conical shells from the n openings in a one-to-one correspondence manner and are embedded into the sea bottom is blocked, the shipborne control terminal controls the motor to stop working, the shipborne control terminal sends a signal of failed anchoring to inform the workers, and the workers adjust the positions of the ships and then anchor again; when the ship leaves, the ship-borne control terminal controls the motor to rotate reversely, the third detector detects the rotating angle of the motor when the motor rotates to stop rotating and sends the rotating angle to the ship-borne control terminal, the ship-borne control terminal judges whether the angle falls in the range of the motor reverse rotating angle, if the rotating angle falls in the range, the angle indicates that the n blades are successfully retracted into the cone shell from the n openings in a one-to-one correspondence mode, the ship-borne control terminal controls the motor to stop working, the ship-borne control terminal sends a signal for successfully releasing the anchoring to inform a worker, the worker retracts the anchor and then leaves, if the rotating angle does not fall in the range, the process that the n blades are retracted into the cone shell from the n openings in the one-to-one correspondence mode is blocked, the anchoring failure is released, the ship-borne control terminal controls the motor to stop working, the ship-borne control terminal sends a signal for releasing the anchoring failure to inform the, therefore, the angle of the conical shell relative to the seabed is ensured firstly, then the conical shell is embedded into the seabed to realize fixation through the n blades, the n blades are distributed along the circumference, so that the anchor has larger anchor holding power on the seabed, when the water flow direction is locally and greatly changed, the anchor holding power of the anchor on the seabed is kept to be larger than the pulling force from a ship, the included angle between an anchor chain and the anchor is difficult to greatly change, the angle and the direction of the acting force between the anchor and the seabed can be basically kept stable, the position of the anchor on the seabed is difficult to change, and the anchoring stability is higher.

The second technical problem to be solved by the present invention is to provide a mooring method for a mooring device with high mooring stability.

The second technical solution adopted by the present invention to solve the above technical problems is: a method of mooring an anchoring device according to claim 1, comprising a mooring process and a debarking process;

the anchoring process specifically comprises the following steps:

1.1, unlocking the chain making device;

1.2, throwing the conical shell to enable the conical shell to be inserted into the sea bottom;

1.3, the first detector is controlled to be started through the shipborne control terminal, and the first detector detects an included angle between the direction of the cone shell entering the seabed plane and sends the included angle to the shipborne control terminal;

1.4, the shipborne control terminal judges an included angle sent by the first detector:

if the included angle exceeds the range of the inserted seabed reference angle, the shipborne control terminal sends a seabed insertion failure signal to inform workers, the workers receive anchors and then return to the step (2) to cast the conical shell again;

if the included angle is within the range of inserted seabed reference angle, the shipborne control terminal controls the motor to start to rotate forwards, the shipborne control terminal controls the second detector to detect the rotated angle of the motor from the beginning to the stop of rotation and sends the detected angle to the shipborne control terminal, the shipborne control terminal judges whether the angle falls into the range of the angle of the forward rotation of the motor, if the angle falls into the range of the angle of the forward rotation of the motor, the angle indicates that n blades extend out of the conical shell from n openings in a one-to-one correspondence manner and then are embedded into the seabed, anchoring is successful, the shipborne control terminal controls the motor to stop working, the shipborne control terminal sends an anchoring success signal to inform a worker, the worker locks an anchor chain to complete anchoring, if the angle does not fall, the process that n blades extend out of the conical shell from n openings in a one-to-one correspondence manner and are blocked, the shipborne control terminal controls the motor to stop working, sends out a mooring failure signal to inform workers, and returns to the step (1) to carry out mooring again after the workers adjust the position of the ship after taking off the anchor;

the anchoring releasing process specifically comprises the following steps:

2.1, the shipborne control terminal controls the motor to reversely rotate;

2.2, the shipborne control terminal controls the third detector to detect the rotating angle when the motor rotates to stop rotating and sends the rotating angle to the shipborne control terminal;

2.3, the shipborne control terminal judges the angle detected by the third detector:

if the angle detected by the third detector is within the range of the motor reversal angle, the angle indicates that the blades are successfully retracted into the cone shell from the openings of the blades, the shipborne control terminal controls the motor to stop working, the shipborne control terminal sends a signal for successfully releasing the anchoring to inform a worker, and the worker retracts the anchor and then leaves the ship,

if the angle detected by the third detector is within the range of the motor reversal angle, the process that the n blades are correspondingly withdrawn from the n openings into the cone shell in a one-to-one mode is blocked, anchoring failure is removed, the shipborne control terminal controls the motor to stop working, the shipborne control terminal sends out a signal for removing the anchoring failure to inform a worker, the worker starts the shipborne control terminal again, the step 2.1-the step 2.3 are repeated for at most three times, if the anchoring failure is still removed, the worker removes the connection between the anchor chain and the anchor, and leaves after the anchor is removed.

Compared with the prior art, the anchoring method has the advantages that the anchoring device is improved, the shipborne control terminal is arranged in the anchoring device, the anchor comprises a cone shell, a first detector, a second detector, a third detector, a fixed support, a motor, a transmission shaft, a first partition plate, a second partition plate, a blade driver and n blades, n is an integer which is more than or equal to 4 and less than or equal to 8, the bottom of the cone shell faces upwards, the first partition plate and the second partition plate are arranged in the cone shell, the first partition plate is positioned above the second partition plate, the first partition plate and the second partition plate divide the inner space of the cone shell into a first chamber, a second chamber and a third chamber from top to bottom, the fixed support and the motor are positioned in the first chamber, the fixed support is arranged on the cone shell, the motor is arranged on the fixed support, the motor is communicated with the shipborne control terminal through a wireless network, the blade driver is positioned in the second cavity, the blade driver is installed on the conical shell, a cavity is arranged in the blade driver, the transmission shaft extends into the cavity, n grooves which are communicated with the cavity and extend along the vertical direction are uniformly arranged on the side wall of the blade driver at intervals, n blades are respectively hinged on the transmission shaft and extend to the outer side of the blade driver from the n grooves in a one-to-one correspondence mode, n openings are arranged on the conical shell, the n blades correspond to the n grooves one by one, in the initial state, the n blades are positioned in the second cavity, when the motor rotates forwards, the transmission shaft rotates forwards synchronously, the n blades rotate relative to the synchronous shaft under the limitation of the grooves, at the moment, the n blades can extend out of the conical shell from the n openings arranged on the conical shell in a one-to-one correspondence mode, when the motor rotates backwards, the transmission shaft rotates reversely synchronously, and the n blades are limited by the grooves where the, at the moment, the n blades can be correspondingly retracted into the conical shell from the n openings arranged on the conical shell one by one; the device comprises a first detector, a second detector, a third detector, a shipborne control terminal and a control system, wherein the first detector is used for detecting an included angle between the direction of a cone shell entering a seabed plane and the seabed plane, the second detector is used for detecting a forward rotation angle of a motor, the third detector is used for detecting a reverse rotation angle of the motor, the first detector, the second detector and the third detector are respectively communicated with the shipborne control terminal through a wireless network, and a seabed reference angle range, a forward rotation angle range and a reverse rotation angle range are inserted into the shipb; when anchoring a ship, a worker unlocks the chain making device and throws the conical shell, the conical shell is inserted into the seabed, the first detector detects an included angle between the direction of the conical shell entering the seabed plane and sends the included angle to the shipborne control terminal, the shipborne control terminal judges whether the included angle is within the range of inserted seabed reference angle, if the included angle is beyond the range of inserted seabed reference angle, the shipborne control terminal sends a seabed insertion failure signal to inform the worker, the worker unlocks the conical shell again after receiving the anchor, if the included angle is within the range of inserted seabed reference angle, the shipborne control terminal controls the motor to start to rotate forwards, the second detector detects the rotated angle from the beginning to the stopping of rotation and sends the rotated angle to the shipborne control terminal, the shipborne control terminal judges whether the angle falls into the range of the forward rotation angle of the motor, the n blades extend out of the conical shells from the n openings in a one-to-one correspondence manner and then are embedded into the sea bottom, anchoring is successful, the shipborne control terminal controls the motor to stop working, the shipborne control terminal sends a signal of successful anchoring to inform workers of completing anchoring, if the blades do not fall into the conical shells, the process that the n blades extend out of the conical shells from the n openings in a one-to-one correspondence manner and are embedded into the sea bottom is blocked, the shipborne control terminal controls the motor to stop working, the shipborne control terminal sends a signal of failed anchoring to inform the workers, and the workers adjust the positions of the ships and then anchor again; when the ship leaves, the ship-borne control terminal controls the motor to rotate reversely, the third detector detects the rotating angle of the motor when the motor rotates to stop rotating and sends the rotating angle to the ship-borne control terminal, the ship-borne control terminal judges whether the angle falls in the range of the motor reverse rotating angle, if the rotating angle falls in the range, the angle indicates that the n blades are successfully retracted into the cone shell from the n openings in a one-to-one correspondence mode, the ship-borne control terminal controls the motor to stop working, the ship-borne control terminal sends a signal for successfully releasing the anchoring to inform a worker, the worker retracts the anchor and then leaves, if the rotating angle does not fall in the range, the process that the n blades are retracted into the cone shell from the n openings in the one-to-one correspondence mode is blocked, the anchoring failure is released, the ship-borne control terminal controls the motor to stop working, the ship-borne control terminal sends a signal for releasing the anchoring failure to inform the, therefore, the angle of the conical shell relative to the seabed is ensured firstly, then the conical shell is embedded into the seabed to realize fixation through the n blades, the n blades are distributed along the circumference, when the water flow direction is locally and greatly changed, the anchor holding force of the anchor on the seabed is kept to be larger than the pulling force from a ship, the included angle between the anchor chain and the anchor is difficult to greatly change, the angle and the direction of the acting force between the anchor and the seabed can be basically kept stable, the position of the anchor on the seabed is difficult to change, and the anchoring stability is high.

Drawings

Figure 1 is a perspective view of the anchor of the mooring device of the present invention;

FIG. 2 is an exploded view of the anchor of the mooring device of the present invention;

FIG. 3 is a block diagram of the blade driver, blades and drive shaft in the anchor of the anchoring device of the present invention;

FIG. 4 is a top view of the structure of FIG. 3 in an initial state;

FIG. 5 is a top plan view of the structure of FIG. 3 in a moored state;

Detailed Description

The invention discloses a mooring device, which is described in further detail below with reference to the accompanying embodiment.

Example (b): as shown in the figure, the anchoring device comprises an anchor, an anchor chain and a chain maker, wherein the anchor and the anchor chain are connected in a detachable mode, the chain maker is used for locking the anchor chain, the anchoring device further comprises a shipborne control terminal, the anchor comprises a cone shell 1, a first detector 2, a second detector, a third detector, a fixed support 3, a motor 4, a transmission shaft 5, a first partition plate 6, a second partition plate 7, a blade driver 8 and n blades 9, n is an integer which is more than or equal to 4 and less than or equal to 8, the bottom of the cone shell 1 faces upwards, the first partition plate 6 and the second partition plate 7 are arranged in the cone shell 1, the first partition plate 6 is positioned above the second partition plate 7, the first partition plate 6 and the second partition plate 7 divide the inner space of the cone shell 1 into a first cavity, a second cavity and a third cavity from top to bottom, the fixed support 3 and the motor 4 are positioned in the first cavity, the fixed support 3 is installed on the cone shell, the motor 4 is arranged on the fixed support 3, the motor 4 and the ship-borne control terminal communicate through a wireless network, the blade driver 8 is positioned in the second cavity, the blade driver 8 is arranged on the conical shell, a cavity is arranged in the blade driver 8, the transmission shaft 5 extends into the cavity, n grooves 10 which are communicated with the cavity and extend along the vertical direction are uniformly arranged on the side wall of the blade driver 8 at intervals, n blades 9 are respectively hinged on the transmission shaft 5 and extend to the outer side of the blade 9 driver from the n grooves 10 in a one-to-one correspondence manner, n openings 11 are arranged on the conical shell and correspond to the n grooves 10 in a one-to-one correspondence manner, in the initial state, the n blades 9 are positioned in the second cavity, when the motor 4 rotates forwards, the transmission shaft rotates forwards synchronously, the n blades 9 rotate relative to the synchronous shaft under the limitation of the grooves 10, at the moment, the n blades 9 can extend out of the conical shell from the n openings 11 arranged on, when the motor 4 rotates reversely, the transmission shaft 5 rotates reversely synchronously, the n blades 9 rotate relative to the synchronous shaft under the limitation of the slots 10 where the n blades 9 are located, and at the moment, the n blades 9 can be correspondingly retracted into the conical shell from the n openings 11 arranged on the conical shell one by one; the first detector 2 is used for detecting an included angle between the direction of the cone shell 1 entering the seabed plane and the seabed plane, the second detector is used for detecting a forward rotation angle of the motor 4, the third detector is used for detecting a reverse rotation angle of the motor 4, the first detector 2, the second detector and the third detector are respectively communicated with the shipborne control terminal through a wireless network, and a seabed inserting reference angle range, a forward rotation angle range and a reverse rotation angle range are arranged in the shipborne control terminal;

when a ship is anchored, a worker unlocks the chain making device and throws the conical shell, the conical shell is inserted into the seabed, the first detector 2 detects an included angle between the direction of the conical shell 1 entering the seabed plane and sends the included angle to the shipborne control terminal, the shipborne control terminal judges whether the included angle is within the reference angle range of the inserted seabed, if the included angle exceeds the reference angle range of the inserted seabed, the shipborne control terminal sends a seabed insertion failure signal to inform the worker, the worker releases the conical shell again after receiving the anchor, if the included angle is within the reference angle range of the inserted seabed, the shipborne control terminal controls the motor 4 to start to rotate forwards, the second detector detects the rotated angle of the motor 4 from the beginning of rotation to the stopping of rotation and sends the rotated angle to the shipborne control terminal, and the shipborne control terminal judges whether the angle falls into, if the blades fall into the sea, the n blades 9 extend out of the conical shells from the n openings 11 in a one-to-one correspondence mode and are embedded into the sea bottom, anchoring is successful, the shipborne control terminal controls the motor 4 to stop working, the shipborne control terminal sends a signal of successful anchoring to inform workers of anchoring, anchoring is completed, if the blades do not fall into the sea, the process that the n blades 9 extend out of the conical shells from the n openings 11 in a one-to-one correspondence mode and are embedded into the sea bottom is blocked, the shipborne control terminal controls the motor 4 to stop working, the shipborne control terminal sends a signal of failed anchoring to inform the workers of anchoring, and the workers adjust the positions of the;

when a ship leaves, the shipborne control terminal controls the motor 4 to rotate reversely, the third detector detects the rotating angle of the motor 4 when the motor 4 rotates to stop rotating and sends the rotating angle to the shipborne control terminal, the shipborne control terminal judges whether the rotating angle falls within the range of the reverse rotating angle of the motor 4, if the rotating angle falls into the range, the shipborne control terminal indicates that the n blades 9 are successfully retracted into the cone shells 1 from the n openings 11 one by one, the shipborne control terminal controls the motor 4 to stop working, the shipborne control terminal sends a signal for releasing anchoring success to inform a worker, the ship leaves after the worker retrieves anchors, if the rotating angle does not fall into the range, the process that the n blades 9 are retracted into the cone shells 1 from the n openings 11 one by one is blocked, the anchoring failure is released, the shipborne control terminal controls the motor 4 to stop working, the shipborne control terminal sends a signal for releasing anchoring failure to inform the worker, and the anchor is abandoned and then the system leaves.

In this embodiment, the anchor further comprises a spike 12, the spike 12 being fixedly arranged at the top of the conical housing 1.

In the embodiment, the reference angle for inserting the seabed is 80-100 degrees, the forward rotation angle is 50-70 degrees, and the reverse rotation angle is 50-70 degrees.

The invention also discloses an anchoring method of the anchoring device, which is further described in detail by combining the embodiment of the attached drawings.

Example (b): as shown in the figure, a mooring method of the anchoring device of claim comprises a mooring process and a mooring releasing process;

the anchoring process specifically comprises the following steps:

1.1, unlocking the chain making device;

1.2, throwing the conical shell to enable the conical shell to be inserted into the seabed;

1.3, controlling a first detector 2 to be started through a shipborne control terminal, detecting an included angle between the direction of a cone shell 1 entering a seabed plane and the seabed plane by the first detector 2, and sending the included angle to the shipborne control terminal;

1.4, the shipborne control terminal judges an included angle sent by the first detector 2:

if the included angle exceeds the range of the inserted seabed reference angle, the shipborne control terminal sends a seabed insertion failure signal to inform workers, the workers take the anchor, and then the step (2) is returned to throw the conical shell again;

if the included angle is within the range of inserted seabed reference angle, the shipborne control terminal controls the motor 4 to start to rotate forwards, the shipborne control terminal controls the second detector to detect the rotated angle of the motor 4 from the beginning to the stop of rotation and sends the angle to the shipborne control terminal, the shipborne control terminal judges whether the angle falls into the range of the angle of the forward rotation of the motor 4, if the angle falls into the range, the angle indicates that the n blades 9 extend out of the conical shells from the n openings 11 one by one and then are embedded into the seabed, the anchoring is successful, at the moment, the shipborne control terminal controls the motor 4 to stop working, the shipborne control terminal sends a signal of successful anchoring to inform a worker, the worker locks the anchor chain to finish anchoring, if the angle does not fall, the process that the n blades 9 extend out of the conical shells from the n openings 11 one by one is blocked, and, the shipborne control terminal sends out a mooring failure signal to inform workers, and the workers adjust the positions of ships after taking off the anchors and then return to the step (1) to carry out mooring again;

the anchoring releasing process specifically comprises the following steps:

2.1, the shipborne control terminal controls the motor 4 to rotate reversely;

2.2, the shipborne control terminal controls the third detector to detect the rotating angle of the motor 4 when the motor stops rotating and sends the rotating angle to the shipborne control terminal;

2.3, the shipborne control terminal judges the angle detected by the third detector:

if the angle detected by the third detector is in the range of the reverse rotation angle of the motor 4, the angle indicates that the n blades 9 are successfully retracted into the cone shell 1 from the n openings 11 in a one-to-one correspondence manner, the shipborne control terminal controls the motor 4 to stop working, the shipborne control terminal sends a signal for successfully releasing the anchoring to inform a worker, the worker retracts the anchor and then the ship leaves,

if the angle detected by the third detector is within the range of the reverse rotation angle of the motor 4, the process that the n blades 9 are correspondingly withdrawn into the cone shell 1 from the n openings 11 in a one-to-one mode is blocked, anchoring failure is removed, the shipborne control terminal controls the motor 4 to stop working, the shipborne control terminal sends a signal for removing the anchoring failure to inform a worker, the worker starts the shipborne control terminal again, the step 2.1-the step 2.3 are repeated for at most three times, if the anchoring failure is still removed, the worker removes the connection between the anchor chain and the anchor and leaves after the anchor is removed.

Claims (4)

1. A mooring device comprises an anchor, an anchor chain and a chain maker, wherein the anchor is detachably connected with the anchor chain, the chain maker is used for locking the anchor chain, and the mooring device is characterized by further comprising a shipborne control terminal, the anchor comprises a cone shell, a first detector, a second detector, a third detector, a fixed support, a motor, a transmission shaft, a first partition plate, a second partition plate, a blade driver and n blades, n is an integer which is more than or equal to 4 and less than or equal to 8, the bottom of the cone shell faces upwards, the first partition plate and the second partition plate are arranged in the cone shell, the first partition plate is positioned above the second partition plate, and the first partition plate and the second partition plate divide the inner space of the cone shell into a first chamber, a second chamber and a third chamber from top to bottom, the fixed support and the motor are positioned in the first cavity, the fixed support is installed on the conical shell, the motor is installed on the fixed support, the motor and the shipborne control terminal are communicated through a wireless network, the blade driver is positioned in the second cavity, the blade driver is installed on the conical shell, a cavity is arranged in the blade driver, the transmission shaft extends into the cavity, n grooves which are communicated with the cavity and extend along the up-and-down direction are uniformly arranged on the side wall of the blade driver at intervals, n blades are respectively hinged on the transmission shaft and extend to the outer side of the blade driver from the n grooves in a one-to-one correspondence manner, and n openings are formed in the conical shell, the n openings correspond to the n grooves one by one, in an initial state, the n blades are positioned in the second cavity, when the motor rotates forwards, the conveying shaft rotates forwards synchronously, the n blades are limited by the grooves where the n blades are positioned to rotate relative to the synchronous shaft, at the moment, the n blades can correspondingly extend out of the conical shell from the n openings arranged on the conical shell one by one, when the motor rotates reversely, the conveying shaft rotates reversely synchronously, the n blades are limited by the grooves where the n blades are positioned to rotate relative to the synchronous shaft, and at the moment, the n blades can correspondingly retract into the conical shell from the n openings arranged on the conical shell one by one; the first detector is used for detecting an included angle between the direction of the cone shell entering the seabed plane and the seabed plane, the second detector is used for detecting a positive rotation angle of the motor, the third detector is used for detecting a reverse rotation angle of the motor, the first detector, the second detector and the third detector are respectively communicated with the shipborne control terminal through a wireless network, and a seabed reference angle range, a positive rotation angle range and a reverse rotation angle range are inserted into the shipborne control terminal;

when a ship is anchored, a worker unlocks the chain maker, inserts the conical shell into the seabed, detects an included angle between the direction of the conical shell entering the seabed plane and the seabed plane by the first detector and sends the included angle to the shipborne control terminal, the shipborne control terminal judges whether the included angle is within the range of inserted seabed reference angle, if the included angle exceeds the range of inserted seabed reference angle, the shipborne control terminal sends a seabed insertion failure signal to inform the worker, the worker unloads the conical shell again after anchoring, if the included angle is within the range of inserted seabed reference angle, the shipborne control terminal controls the motor to start to rotate forwards, and the second detector detects the rotated angle of the motor from the beginning to the stopping of rotation and sends the rotated angle to the shipborne control terminal, the shipborne control terminal judges whether the angle falls into the range of the forward rotation angle of the motor, if so, the blade is inserted into the sea bottom after extending out of the conical shell from the n openings in a one-to-one correspondence manner, the anchoring is successful, the shipborne control terminal controls the motor to stop working, the shipborne control terminal sends a signal of successful anchoring to inform a worker, the anchoring is finished, if not, the process that the blade extends out of the conical shell from the n openings in a one-to-one correspondence manner and is inserted into the sea bottom is blocked, the shipborne control terminal controls the motor to stop working, the shipborne control terminal sends a signal of failed anchoring to inform the worker, and the worker adjusts the position of the ship and then carries out anchoring again;

when a ship leaves, the ship-borne control terminal controls the motor to rotate reversely, the third detector detects the rotating angle of the motor when the motor rotates to stop rotating and sends the rotating angle to the ship-borne control terminal, the ship-borne control terminal judges whether the rotating angle falls in the range of the motor reverse rotation angle, if the rotating angle falls in the range, the ship-borne control terminal indicates that the n blades are successfully withdrawn from the n openings in a one-to-one correspondence mode, the ship-borne control terminal controls the motor to stop working, the ship-borne control terminal sends a signal for successfully removing anchoring to inform a worker, the ship leaves after the worker recovers anchors, if the rotating angle does not fall in the range, the process that the n blades are withdrawn from the n openings in the one-to-one correspondence mode into the cone shells is blocked, anchoring failure is removed, and the ship-borne control terminal controls the motor to stop working, and the shipborne control terminal sends out a signal for releasing the mooring failure to inform a worker, the worker releases the connection between the anchor chain and the anchor and leaves after the anchor is abandoned.

2. An anchoring device according to claim 1, wherein said anchor further comprises a spike, said spike being fixedly disposed at the top of said tapered housing.

3. An anchoring device according to claim 1, wherein said reference angle of insertion into the sea floor is in the range of 80 to 100 degrees, said normal rotation angle is in the range of 50 to 70 degrees, and said reverse rotation angle is in the range of 50 to 70 degrees.

4. A method of mooring an anchoring device according to claim 1, comprising a mooring process and a debarking process;

the anchoring process specifically comprises the following steps:

1.1, unlocking the chain making device;

1.2, throwing the conical shell to enable the conical shell to be inserted into the sea bottom;

1.3, the first detector is controlled to be started through the shipborne control terminal, and the first detector detects an included angle between the direction of the cone shell entering the seabed plane and sends the included angle to the shipborne control terminal;

1.4, the shipborne control terminal judges an included angle sent by the first detector:

if the included angle exceeds the range of the inserted seabed reference angle, the shipborne control terminal sends a seabed insertion failure signal to inform workers, the workers receive anchors and then return to the step (2) to cast the conical shell again;

if the included angle is within the range of inserted seabed reference angle, the shipborne control terminal controls the motor to start to rotate forwards, the shipborne control terminal controls the second detector to detect the rotated angle of the motor from the beginning to the stop of rotation and sends the detected angle to the shipborne control terminal, the shipborne control terminal judges whether the angle falls into the range of the angle of the forward rotation of the motor, if the angle falls into the range of the angle of the forward rotation of the motor, the angle indicates that n blades extend out of the conical shell from n openings in a one-to-one correspondence manner and then are embedded into the seabed, anchoring is successful, the shipborne control terminal controls the motor to stop working, the shipborne control terminal sends an anchoring success signal to inform a worker, the worker locks an anchor chain to complete anchoring, if the angle does not fall, the process that n blades extend out of the conical shell from n openings in a one-to-one correspondence manner and are blocked, the shipborne control terminal controls the motor to stop working, sends out a mooring failure signal to inform workers, and returns to the step (1) to carry out mooring again after the workers adjust the position of the ship after taking off the anchor;

the anchoring releasing process specifically comprises the following steps:

2.1, the shipborne control terminal controls the motor to reversely rotate;

2.2, the shipborne control terminal controls the third detector to detect the rotating angle when the motor rotates to stop rotating and sends the rotating angle to the shipborne control terminal;

2.3, the shipborne control terminal judges the angle detected by the third detector:

if the angle detected by the third detector is within the range of the motor reversal angle, the angle indicates that the blades are successfully retracted into the cone shell from the openings of the blades, the shipborne control terminal controls the motor to stop working, the shipborne control terminal sends a signal for successfully releasing the anchoring to inform a worker, and the worker retracts the anchor and then leaves the ship,

if the angle detected by the third detector is within the range of the motor reversal angle, the process that the n blades are correspondingly withdrawn from the n openings into the cone shell in a one-to-one mode is blocked, anchoring failure is removed, the shipborne control terminal controls the motor to stop working, the shipborne control terminal sends out a signal for removing the anchoring failure to inform a worker, the worker starts the shipborne control terminal again, the step 2.1-the step 2.3 are repeated for at most three times, if the anchoring failure is still removed, the worker removes the connection between the anchor chain and the anchor, and leaves after the anchor is removed.

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