CN112339913A

CN112339913A - Method and device for releasing hanging cable of ship, terminal equipment and storage medium

Info

Publication number: CN112339913A
Application number: CN202011079367.9A
Authority: CN
Inventors: 邝月华; 李小龙; 邝广绅
Original assignee: Zhuhai Yunzhou Intelligence Technology Ltd
Current assignee: Zhuhai Yunzhou Intelligence Technology Ltd
Priority date: 2020-10-10
Filing date: 2020-10-10
Publication date: 2021-02-09
Anticipated expiration: 2040-10-10
Also published as: CN112339913B

Abstract

The application is suitable for the technical field of automatic control of ships, and particularly relates to a method and a device for releasing a hanging cable of a ship, terminal equipment and a storage medium. The method controls the ship to retreat by a first target distance and stop running when the cable of the ship is hung, controls the winch of the ship to retract and detects whether the cable of the ship still hangs in the winch retracting process, if the cable of the ship still hangs, the ship retreats repeatedly until the cable is not detected after the winch of the ship retracts, manual control is reduced, automatic releasing of the hanging cable of the ship is achieved, and the method is simple and convenient to operate and high in accuracy.

Description

Method and device for releasing hanging cable of ship, terminal equipment and storage medium

Technical Field

The application belongs to the technical field of ship automation control, and particularly relates to a method and a device for disconnecting a hanging cable of a ship, terminal equipment and a storage medium.

Background

The ship carries the hawser usually, be used for pulling aquatic object etc. winch on the ship is used for realizing taking in and putting the cable of hawser, when hawser or hawser pull the object and hang seabed barrier (hang the cable promptly), the pulling force increase that hawser and winch received, should in time release the processing, manned ship controls the ship through the crew usually and releases, the operation is complicated, the precision is lower, and unmanned ship needs operator remote control ship to release, the operation precision is lower, and probably cause the secondary to twine because of the misoperation.

Disclosure of Invention

The embodiment of the application provides a method and a device for releasing a hanging cable of a ship, a terminal device and a storage medium, and can solve the problem that in the prior art, when the ship hangs the cable, the hanging-releasing operation accuracy is low.

In a first aspect, an embodiment of the present application provides a method for releasing a mooring line of a ship, where the method includes:

when the mooring rope of the ship is detected to be hung, controlling the ship to retreat for a first target distance and then stopping running;

controlling a winch of the vessel to perform a first pull-in on the cable;

and if the cable is detected to be hung during the first cable retracting process of the winch for the cable, the ship is operated again, the ship is controlled to retreat for a first target distance, and then the operation is stopped until the cable is detected not to be hung during the winch cable retracting process, and the cable is not hung and represents that the cable is disconnected.

In a second aspect, embodiments of the present application provide a line disconnect device for a vessel, the line disconnect device comprising:

the backward control module is used for controlling the ship to backward for a first target distance and then stop running when the mooring rope of the ship is detected to be hung;

the cable retracting control module is used for controlling a winch of the ship to perform first cable retracting on the cable;

and the return execution module is used for re-operating the ship if the cable hanging of the cable is detected in the first cable retracting process of the cable by the winch, and stopping operation after the control is executed in a return mode after the ship retreats for a first target distance until the cable is detected to be not hung in the winch cable retracting process, and the cable not hanging represents the cable hanging and releasing.

In a third aspect, an embodiment of the present application provides a terminal device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor, when executing the computer program, implements the cable release method according to the first aspect.

In a fourth aspect, the present application provides a computer-readable storage medium, which stores a computer program, and when the computer program is executed by a processor, the computer program implements the method for releasing a cable according to the first aspect.

In a fifth aspect, embodiments of the present application provide a computer program product, which, when run on a terminal device, causes the terminal device to perform the cable untwisting method according to the first aspect.

Compared with the prior art, the embodiment of the application has the advantages that: this application only retreats first target distance and stop motion when the hawser of ship hangs the cable, and the winch of control ship is taken and whether still exists the cable of hanging at the hawser that the in-process detected the ship of taking cable at the winch, if the hawser of ship still hangs the cable, and the cable is not detected to hang after the winch of repeated ship backset is taken to the ship, reduces artificially and controls, has realized that the automation of ship string cable is released, easy operation, convenience and accuracy are higher.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.

Fig. 1 is a schematic flow chart of a method for releasing a mooring cable of a ship according to an embodiment of the present application;

fig. 2 is a schematic flow chart of a method for releasing a mooring line of a ship according to a second embodiment of the present application;

fig. 3 is an exemplary view of a cable in a cable-hanging state according to the second embodiment of the present application;

fig. 4 is an exemplary diagram of a cable in an unhooking state according to the second embodiment of the present application;

FIG. 5 is an exemplary diagram of an underwater object disengaged from an obstacle according to the second embodiment of the present application;

FIG. 6 is a diagram of an example of the success of the cable detachment provided in the second embodiment of the present application;

fig. 7 is a schematic structural view of a mooring releasing device of a ship according to a third embodiment of the present application;

fig. 8 is a schematic structural diagram of a terminal device according to a fourth embodiment of the present application;

in the figure, 1 is a ship, 2 is a cable, 3 is an underwater object, and 4 is an obstacle.

Detailed Description

In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.

It will be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.

It should also be understood that the term "and/or" as used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.

As used in this specification and the appended claims, the term "if" may be interpreted contextually as "when", "upon" or "in response to" determining "or" in response to detecting ". Similarly, the phrase "if it is determined" or "if a [ described condition or event ] is detected" may be interpreted contextually to mean "upon determining" or "in response to determining" or "upon detecting [ described condition or event ]" or "in response to detecting [ described condition or event ]".

Furthermore, in the description of the present application and the appended claims, the terms "first," "second," "third," and the like are used for distinguishing between descriptions and not necessarily for describing or implying relative importance.

Reference throughout this specification to "one embodiment" or "some embodiments," or the like, means that a particular feature, structure, or characteristic described in connection with the embodiment is included in one or more embodiments of the present application. Thus, appearances of the phrases "in one embodiment," "in some embodiments," "in other embodiments," or the like, in various places throughout this specification are not necessarily all referring to the same embodiment, but rather "one or more but not all embodiments" unless specifically stated otherwise. The terms "comprising," "including," "having," and variations thereof mean "including, but not limited to," unless expressly specified otherwise.

The method for releasing a ship from a hanging cable provided by the embodiment of the present application may be applied to a terminal device such as a desktop computer, a notebook computer, an ultra-mobile personal computer (UMPC), and the like, and the embodiment of the present application does not limit the specific type of the terminal device.

In order to explain the technical means of the present application, the following description will be given by way of specific examples.

Referring to fig. 1, which is a schematic flowchart of a method for releasing a mooring line of a ship according to an embodiment of the present disclosure, the method for releasing a mooring line is applied to a terminal device, where the terminal device may be a control device of a ship, and the ship may be an unmanned ship or a manually controlled ship, and as shown in fig. 1, the method for releasing a mooring line includes:

and step S101, when the mooring rope of the ship is detected to be hung, controlling the ship to retreat for a first target distance and then stopping running.

Wherein, the hawser can be used to pull underwater object, and when the ship was sailed, underwater object or hawser met the obstacle and probably appeared that underwater object is blockked or the hawser hangs the condition of obstacle, and the one end of hawser is hung, and the ship is connected to the other end of hawser, and the ship can lead to the hawser fracture if continuing to travel this moment, and the winch also can't be retrieved the hawser, and this process is the hawser and hangs the cable promptly.

The first target distance is a distance value set according to actual requirements, the stopping of the ship after the ship retreats by the first target distance may be that the ship stops after moving in a direction opposite to the sailing direction by the first target distance from a position where the cable is detected to be hung, and the stopping of the operation may be that the position of the ship is fixed, for example, the ship is kept at the position of retreating by the first target distance.

Optionally, when it is detected that the line of the vessel is hung, controlling the vessel to retreat by the first target distance and stop the operation comprises:

when the fact that the mooring rope of the ship is hung is detected, a prompt signal is sent to target equipment, and the prompt signal is used for prompting the mooring rope to be hung;

and if a cable-off signal fed back by the target equipment is received, controlling the ship to move backwards for a first target distance and then stopping running.

The method comprises the steps of detecting that a mooring rope is hung in the running process of a ship, sending a prompt signal to target equipment, wherein the target equipment can be a remote control platform of the ship, for example, the ship is an unmanned ship, and sending the prompt signal to the remote control platform when the mooring rope is hung so as to prompt the mooring rope to hang the mooring rope.

After receiving the prompt signal, the target device may determine whether to feed back the cable-hanging and releasing signal to the terminal device according to a selection of an operator, and of course, the target device may also determine whether to feed back the cable-hanging and releasing signal to the terminal device according to a preset logic, for example, the preset logic may be: after the target equipment receives the preset time of the prompt signal, the target equipment does not receive the selection of an operator, and the target equipment directly feeds back a cable hanging release signal to the terminal equipment; and after receiving a cable release signal fed back by the target equipment, controlling the ship to retreat for a first target distance and then stopping running.

Optionally, this embodiment further includes:

acquiring the water flow speed;

if the water flow speed is zero, determining that the first preset distance is a first target distance;

if the water flow speed is not zero, acquiring the water flow direction and the navigation direction of the ship;

and if the water flow direction is the same as the navigation direction, determining that the second preset distance is the first target distance, and if the water flow direction is opposite to the navigation direction, determining that the third preset distance is the first target distance, wherein the first preset distance is smaller than the second preset distance and larger than the third preset distance.

The first target distance can be adjusted according to the current water flow speed of the area where the ship is located, when the water flow direction is the same as the sailing direction, namely, when the ship flows downstream, the mooring rope deviates along the water flow direction (namely, the mooring rope deviates towards the sailing direction) due to the acting force of the water flow on the mooring rope, and in order to better realize the disconnection of the hanging cable, the ship needs to retreat by a longer distance (namely, a second preset distance); when the water flow direction is opposite to the sailing direction, namely when the water flow direction is opposite to the sailing direction, the mooring rope deviates along the water flow direction (namely the mooring rope deviates in the opposite direction of the sailing direction) due to the acting force of the water flow on the mooring rope, and when the ship retreats for a small distance (namely a third preset distance), the mooring rope can be well disengaged; when the water flow speed is zero, the mooring rope is not impacted by water flow, the mooring rope cannot deviate forwards or backwards, the ship retreats by a first preset distance, the mooring rope can be well detached, and the first preset distance is smaller than a second preset distance and is larger than a third preset distance.

And step S102, controlling a winch of the ship to perform first cable collection on the cable.

The first cable retracting of the winch for the cable can mean that the winch drags the cable, and the length of the cable under water is shortened; after the ship retreats for a first target distance and stops running, two conditions exist between an underwater object or a cable and an obstacle, namely the first condition: under the condition that an underwater object or a cable is separated from a barrier, the cable can be disconnected by controlling the winch to retract; in the second case: the underwater object or cable is not yet detached from the obstacle, in which case the control winch pull-in will cause the cable to tighten and the cable cannot be detached from the obstacle.

And S103, detecting whether the cable is hung or not in the first cable retracting process of the winch for the cable.

And if the cable hanging is detected in the process of carrying out the first cable retracting on the cable by the winch, the ship is operated again, and the ship is controlled to move back by the first target distance and then stops operating.

The detection of the cable hanging during the first cable retracting process of the winch may mean that an underwater object or the cable is not separated from an obstacle, the cable is tightened in the winch cable retracting process, that is, the cable is still in a cable hanging state, the winch cable retracting process returns to the control to control the ship to retreat by the first target distance and then stop running (step S101), and step S102 is executed again until the detection of the cable not hanging during the winch cable retracting process reaches the first condition in step S102.

And step S104, determining that the cable is successfully disconnected.

If the winch detects that the cable is not hung in the first cable retracting process of the winch, the winch can retract the cable completely, namely the cable is successfully released.

Optionally, during the first cable-retracting process of the cable by the winch, the method includes:

acquiring a first pulling force of a winch;

judging whether the first tension is greater than a tension threshold value;

if the first tension is larger than the tension threshold, determining that the cable is hung on the cable;

and if the first tension is smaller than or equal to the tension threshold, determining that the cable is not hung.

The winch is provided with a tension sensor, when the winch is used for cable collection, namely in the cable collection process of the winch, the tension sensor detects the tension of the winch in real time, the tension in the cable collection process of the winch is called as a first tension to distinguish the tension of the winch detected in other states, and when the first tension value exceeds a tension threshold value, the cable collection cannot be continued, namely a cable is hung on a cable; in the winch cable collecting process, the first tension value does not exceed the tension threshold value, the cable is considered to be not hung, and the winch can collect all the cables.

The embodiment of the application controls the ship to retreat by a first target distance and stop running when the mooring rope of the ship is hung, controls the winch of the ship to retract and detects whether the mooring rope of the ship still has the hanging rope in the process of carrying out first retraction on the mooring rope by the winch, if the mooring rope of the ship still hangs the mooring rope, the ship retreats repeatedly until the winch of the ship retracts and does not detect the hanging rope, namely, the mode of retreating the ship-the winch retracting (not releasing) -only retreating the ship- … -the winch retracting (releasing the hanging rope) is adopted to control the release of the mooring rope, manual control is reduced, automatic releasing of the mooring rope of the ship is realized, and the operation is simple, convenient and high in accuracy.

Referring to fig. 2, which is a schematic flow chart of a method for releasing a mooring line of a ship according to a second embodiment of the present application, as shown in fig. 2, the method for releasing a mooring line may include the following steps:

and step 201, when the condition that the cable of the ship is hung is detected, controlling the ship to retreat, and acquiring a second tension of the winch in the process of retreating the ship.

The method comprises the following steps of controlling the ship to retreat, wherein the pull force borne by a winch, namely a second pull force, is detected in real time, and the included angle between a cable and the retreating direction is changed from less than 90 degrees to more than or equal to 90 degrees in the retreating process of the ship; referring to fig. 3, which is an exemplary view of a cable in a towing state, a cable 2 on a vessel 1 towing an underwater object 3 to be stopped by an obstacle 4, wherein an angle of the cable 2 to a backward direction is less than 90 ° indicating that the obstacle 4 is underwater behind the vessel 1, referring to fig. 4, which is an exemplary view of a cable in an unladen state, wherein an angle of the cable 2 to the backward direction is 90 ° indicating that the obstacle 4 is directly below the vessel 1, referring to fig. 5, which is an exemplary view of an underwater object being detached from the obstacle, wherein an angle of the cable 2 to the backward direction is more than 90 ° indicating that the obstacle 4 is underwater in front of the vessel 1; therefore, when the angle between the cable and the retreating direction is larger than 90 °, if one end of the cable is still hung on the obstacle, the pulling force applied to the winch by the ship in the retreating process is larger and larger.

And S202, judging whether the second pulling force of the winch is greater than a pulling force threshold value.

And detecting the second tension in real time in the process of backing the ship and comparing the second tension with a tension threshold value in real time.

And step S203, if the second tension is smaller than or equal to the tension threshold, controlling the ship to continue to retreat until the ship retreats by the first target distance and then stops running.

And in the process of backward movement of the ship, the second pulling force is continuously smaller than or equal to the pulling force threshold value, which indicates that the included angle between the mooring rope and the backward movement direction is smaller than 90 degrees, the barrier is still positioned under the water behind the ship, and the mooring rope cannot be separated from the barrier when the winch is hauled or the ship moves forwards, so that the ship is controlled to continue backward movement until the ship moves backwards by the first target distance and stops running.

And step S204, controlling a winch of the ship to perform first cable collection on the cable.

Step S205, detecting whether the cable is hung or not in the first cable retracting process of the winch for the cable.

If the cable is detected to be hung during the first cable retracting process of the winch on the cable, the ship is operated again, and the process returns to the step S201.

The contents of step S204 and step S205 are the same as those of step S102 and step S103, and reference may be made to the description of step S102 and step S103, which is not repeated herein. Further, step S201, step S202, step S203, step S204, and step S205 need to be executed in order.

And step S206, if the second pulling force is larger than the pulling force threshold value, stopping running the ship.

Wherein, in the control ship process of backing off, detect that second pulling force is greater than the pulling force threshold value, show that hawser and the contained angle of the direction of backing off are greater than 90, and the barrier is in the ship the place ahead underwater this moment, and the hawser still hangs on the barrier, and backing off of ship can't solve the hawser and hang the cable, in order to avoid continuing to back off and breaking the hawser or pulling bad winch, need stop running the ship.

And step S207, controlling the winch to lay the cable for the target length.

The target length is set according to actual requirements, and the application is not limited. Because the ship is the obstacle hung when sailing forward, consequently, the ship backs and shows that hawser and contained angle of retreating direction are greater than 90 when the second pulling force appears and is greater than the pulling force threshold value, and the obstacle is under water in ship the place ahead, and control ship stop motion and control winch can make the tight hawser pine of taking off to the hawser cable laying, and then makes the hawser or the underwater object of hanging originally on the obstacle can be followed the obstacle and loosened.

And S208, controlling the ship to retreat by a second target distance, and controlling the winch to perform second cable retracting on the cable.

After the mooring rope or the underwater object is loosened from the obstacle, the ship is controlled to continuously retreat for a certain distance, so that the mooring rope or the underwater object is far away from the obstacle, and then the winch is controlled to retract, so that the cable can be hung and loosened.

And step S209, detecting whether the cable is hung or not in the process of carrying out second cable retracting on the cable by the winch.

Step S209 is similar to step S103, and reference may be made to the description of step S103, which is not repeated herein. Further, step S201, step S202, step S206, step S207, step S208, and step S209 need to be executed in order.

And step S210, determining that the cable release is successful.

If the cable is not hung in the process of carrying out the first cable retracting on the cable by the winch or the cable is not hung in the process of carrying out the second cable retracting on the cable by the winch, determining that the cable is successfully released; referring to fig. 6, the illustration shows that the cable is released successfully, and at this time, the underwater object 3 is separated from the obstacle 4, so that the cable is released.

And step S211, if the cable is hung, outputting alarm information.

In practical application, after the control ship retreats by the second target distance, the cable or the underwater object may still be hung on the obstacle, and the control winch is still unable to release the cable, so that if the cable hanging is detected in the second cable collecting process of the control winch on the cable, alarm information is output to prompt a corresponding operator, for example, by detecting the pulling force in the cable collecting process of the winch in real time, when the pulling force exceeds the pulling force threshold value, the cable is still hung, alarm information is output to a remote control console, and the operator is prompted to perform manual intervention and the like.

According to the embodiment of the application, the pulling force received by the winch in the process of ship retreating is detected, when the pulling force received by the winch is larger than the pulling force threshold value, the process of winch unwinding, ship retreating and winch retracting is started to release the mooring rope, the process of controlling the ship to hang the mooring rope and release the mooring rope is more reasonable, the automatic releasing capacity of the ship is enhanced, and the applicability of the method for hanging the mooring rope and releasing the mooring rope is improved.

Fig. 7 shows a schematic structural diagram of a mooring releasing device of a vessel according to a third embodiment of the present application, where the mooring releasing device is applied to a terminal device, and for convenience of explanation, only the parts related to the third embodiment of the present application are shown.

Referring to fig. 7, the cable release device includes:

the first backward control module 71 is used for controlling the ship to backward for a first target distance and then stop running when the mooring rope of the ship is detected to be hung;

a cable retracting control module 72 for controlling a winch of the ship to perform a first cable retracting operation on the cable;

and the return execution module 73 is used for re-operating the ship if the cable hanging is detected in the first cable retracting process of the winch on the cable, and returning to execute control to stop operation after the ship retreats for the first target distance until the cable not hanging is detected in the winch cable retracting process, wherein the cable not hanging represents that the cable hanging is released.

Optionally, the return execution module 73 includes:

the first obtaining unit is used for obtaining a first pulling force of the winch;

the first judging unit is used for judging whether the first pulling force is greater than a pulling force threshold value or not;

the first determining unit is used for determining that the cable is hung if the first pulling force is larger than a pulling force threshold value;

and the second determining unit is used for determining that the cable is not hung if the first tension is less than or equal to the tension threshold.

Optionally, the first reverse control module 71 includes:

the second acquisition unit is used for controlling the ship to retreat and acquiring a second tension of the winch in the process of the ship retreating;

the second judging unit is used for judging whether the second pulling force of the winch is greater than a pulling force threshold value or not;

and the backing control unit is used for controlling the ship to continue backing if the second tension is smaller than or equal to the tension threshold value until the ship stops running after backing for the first target distance.

Optionally, the cable releasing device further includes a second backward control module, and the second backward control module includes:

the stopping control unit is used for stopping running the ship if the second tension is larger than the tension threshold;

the cable laying control unit is used for controlling the winch to lay the cable to the target length;

a retreat control unit for controlling the ship to retreat by a second target distance;

and the cable retracting control unit is used for controlling the winch to perform second cable retracting on the cable.

Optionally, the streamlining control unit is further configured to:

detecting whether the cable is hung or not;

and if the cable is hung on the cable, outputting alarm information.

Optionally, the first fallback control module 71 is specifically configured to:

Optionally, the cable releasing device further comprises:

the flow velocity acquisition module is used for acquiring the water flow velocity;

the distance determining unit is used for determining that the first preset distance is the first target distance if the water flow speed is zero; if the water flow speed is not zero, acquiring the water flow direction and the navigation direction of the ship; and if the water flow direction is the same as the navigation direction, determining that the second preset distance is the first target distance, and if the water flow direction is opposite to the navigation direction, determining that the third preset distance is the first target distance, wherein the first preset distance is smaller than the second preset distance and larger than the third preset distance.

It should be noted that, because the above-mentioned information interaction between the modules, the execution process, and other contents are based on the same concept as the method embodiment of the present application, specific functions and technical effects thereof may be specifically referred to a part of the method embodiment, and details are not described herein again.

Fig. 8 is a schematic structural diagram of a terminal device according to a fourth embodiment of the present application. As shown in fig. 8, the terminal device 8 of this embodiment includes: at least one processor 80 (only one processor is shown in fig. 8), a memory 81 and a computer program 82 stored in the memory 81 and executable on the at least one processor 80, the processor 80 implementing the steps of the method of mooring unthreading a vessel of the above described embodiment when executing the computer program 82.

The terminal device may include, but is not limited to, a processor 80, a memory 81. Those skilled in the art will appreciate that fig. 8 is merely an example of the terminal device 8, and does not constitute a limitation of the terminal device 8, and may include more or less components than those shown, or combine some components, or different components, such as an input-output device, a network access device, and the like.

The Processor 80 may be a Central Processing Unit (CPU), and the Processor 80 may also be other general purpose processors, Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field Programmable Gate Arrays (FPGAs) or other Programmable logic devices, discrete Gate or transistor logic devices, discrete hardware components, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.

The storage 81 may in some embodiments be an internal storage unit of the terminal device 8, such as a hard disk or a memory of the terminal device 8. The memory 81 may be an external storage device of the terminal device 8 in other embodiments, such as a plug-in hard disk provided on the terminal device 8, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like. Further, the memory 81 may also include both an internal storage unit of the terminal device 8 and an external storage device. The memory 81 is used for storing an operating system, an application program, a BootLoader (BootLoader), data, and other programs, such as program codes of a computer program. The memory 81 may also be used to temporarily store data that has been output or is to be output.

It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned function distribution may be performed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules, so as to perform all or part of the functions described above. Each functional unit and module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one unit, and the integrated unit may be implemented in a form of hardware, or in a form of software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working processes of the units and modules in the above-mentioned apparatus may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again. The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, all or part of the processes in the methods of the embodiments described above can be implemented by a computer program, which can be stored in a computer readable storage medium and used by a processor to implement the steps of the embodiments of the methods described above. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer readable medium may include at least: any entity or device capable of carrying computer program code, recording medium, computer Memory, Read-Only Memory (ROM), Random-Access Memory (RAM), electrical carrier signals, telecommunications signals, and software distribution media. Such as a usb-disk, a removable hard disk, a magnetic or optical disk, etc. In certain jurisdictions, computer-readable media may not be an electrical carrier signal or a telecommunications signal in accordance with legislative and patent practice.

The present application may also implement all or part of the processes in the method according to the foregoing embodiments, and may also be implemented by a computer program product, when the computer program product runs on a terminal device, the steps in the first method embodiment may be implemented when the terminal device executes the computer program product, or when the computer program product runs on the terminal device, the steps in the second method embodiment may be implemented when the terminal device executes the computer program product.

In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.

Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.

In the embodiments provided in the present application, it should be understood that the disclosed apparatus/terminal device and method may be implemented in other ways. For example, the above-described embodiments of the apparatus/terminal device are merely illustrative, and for example, a module or a unit may be divided into only one logical function, and may be implemented in other ways, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.

Units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.

The above embodiments are only used to illustrate the technical solutions of the present application, and not to limit the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present application and are intended to be included within the scope of the present application.

Claims

1. A method for releasing a mooring line of a vessel, characterized in that the method for releasing a mooring line comprises:

controlling a winch of the vessel to perform a first pull-in on the cable;

2. A method as claimed in claim 1, wherein during the first pull-in of the cable by the winch, the method comprises:

acquiring a first pulling force of the winch;

judging whether the first tension is greater than a tension threshold value;

if the first pulling force is larger than the pulling force threshold value, determining that the cable is hung on the cable;

and if the first pulling force is smaller than or equal to the pulling force threshold value, determining that the cable is not hung on the cable.

3. The method of claim 1, wherein the controlling the vessel to stop after retreating by the first target distance comprises:

controlling the ship to retreat, and acquiring a second tension of the winch in the process of retreating the ship;

judging whether the second pulling force of the winch is greater than a pulling force threshold value or not;

and if the second tension is smaller than or equal to the tension threshold, controlling the ship to continuously retreat until the ship retreats for a first target distance and then stops running.

4. The tether release method of claim 3, further comprising:

if the second tension is larger than the tension threshold value, stopping running the ship;

controlling the winch to lay the cable to the target length;

controlling the ship to retreat by a second target distance;

and controlling the winch to carry out second cable retracting on the cable.

5. The method of claim 4, wherein the controlling the winch to perform the second pull-in process on the cable comprises:

detecting whether the cable is hung or not;

and if the cable is hung on the cable, outputting alarm information.

6. The method of claim 1, wherein controlling the vessel to retract a first target distance and cease operation when the cable of the vessel is detected comprises:

when the fact that the mooring rope of the ship is hung is detected, a prompt signal is sent to target equipment, and the prompt signal is used for prompting the mooring rope hanging;

and if a cable release signal fed back by the target equipment is received, controlling the ship to retreat for a first target distance and then stop running.

7. The tether release method of any one of claims 1 to 6, further comprising:

acquiring the water flow speed;

and if the water flow direction is the same as the navigation direction, determining that a second preset distance is a first target distance, and if the water flow direction is opposite to the navigation direction, determining that a third preset distance is the first target distance, wherein the first preset distance is smaller than the second preset distance and is larger than the third preset distance.

8. A line releasing device for a vessel, characterized in that the line releasing device comprises:

9. A terminal device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor implements the method of releasing a tether as claimed in any one of claims 1 to 7 when executing the computer program.

10. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the method of releasing a mooring line according to any one of claims 1 to 7.