CN112455602B

CN112455602B - Control method of automatic connecting device of towline for unmanned towboat

Info

Publication number: CN112455602B
Application number: CN202011380334.8A
Authority: CN
Inventors: 王昱博; 王建华; 冯居; 郑翔; 姜洪岩; 王柱亚
Original assignee: Shanghai Maritime University
Current assignee: Shanghai Maritime University
Priority date: 2020-11-30
Filing date: 2020-11-30
Publication date: 2022-02-15
Anticipated expiration: 2040-11-30
Also published as: CN112455602A

Abstract

The invention discloses a control method of an automatic connecting device of a towrope for an unmanned towboat, which mainly comprises a control method flow of the automatic connecting device of the towrope. The control method of the invention is based on an automatic connecting device of a towing cable for an unmanned towboat, which comprises an intelligent trolley and a trolley moving guide rail. The intelligent trolley comprises a trolley base, an upper-layer fixed building, a towing cable fixing circular ring and a guide rail locking device. The trolley base comprises an intelligent system which comprises a trolley control center, a power supply module and a detection module, wherein the trolley control center is communicated with the shore operation center through a wireless network, and the detection module is used for detecting the position of a towing cable and detecting whether the connection is successful. The trolley moving guide rail is laid on a deck of the tugboat around the periphery of the tugboat and is encircled into a circular ring shape for the intelligent trolley to run and fix. The control method can realize remote control of the shore end to the intelligent trolley end, the connection instruction is transmitted to the control center of the trolley, and after the trolley receives the connection instruction, the towing cable between the unmanned tug and the towed vessel is automatically received and released according to the connection process.

Description

Control method of automatic connecting device of towline for unmanned towboat

Technical Field

The present invention relates to a control method of an automatic connection device, and more particularly, to a control method of an automatic connection device of a streamer for an unmanned towboat.

Background

The towing vessel is connected with the towed vessel by using a towing cable to carry out towing work. The towing cable between the towing vessel and the towed vessel still uses manual receiving and releasing, however, the method has great safety hazards, and especially in the case of poor weather conditions and sea conditions, the working efficiency of the towing vessel is affected. Therefore, there is a need for a device that can automatically retract and deploy a streamer without manual operation.

The device needs to be automatically operated and comprises an operating system, so that a proper control method needs to be designed in combination with the device to realize the automatic operation of the device.

Disclosure of Invention

In view of the above, in order to overcome the defects of manual streamer receiving and releasing, the invention designs a control method of an automatic connection device for a streamer of an unmanned towboat, and provides a new idea and way for researching a control method for automatic streamer folding and unfolding between the unmanned towboat and a towboat.

In order to solve the problems, the technical scheme adopted by the invention is that the intelligent trolley is applied, and the control center of the intelligent trolley is utilized to complete the receiving and releasing of the towing cable between the unmanned towboat and the towed boat.

In order to achieve the purpose, the invention adopts the following technical scheme: a control method of an automatic connecting device of a towline for an unmanned towline comprises the structure of the connecting device and the control method flow of the automatic connecting device of the towline.

The automatic connecting device of the towline for the unmanned towboat comprises an intelligent trolley and a trolley moving guide rail. The intelligent trolley comprises a trolley base, an upper-layer fixed building, a towing cable fixing circular ring and a guide rail locking device. The trolley base comprises an intelligent system which comprises a trolley control center, a power supply module and a detection module, wherein the trolley control center is communicated with the shore operation center through a wireless network, and the detection module is used for detecting the position of a towing cable and detecting whether the connection is successful. The trolley moving guide rail is laid on a deck of the tugboat around the periphery of the tugboat and is encircled into a circular ring shape for the intelligent trolley to run and fix.

The bank end comprises a monitoring command center and a user.

The intelligent trolley end comprises a control center, a power supply module, a navigation module, a detection module, a connection module and the like.

The shore end and the intelligent trolley end are in wireless network communication, the shore end sends a control command to a control center of the intelligent trolley end, the control center distributes the command to each module, and the intelligent trolley end executes a towing cable connection command sent by the shore end and feeds the state back to the shore end in real time.

According to the towing cable winding and unwinding device, the control method of the connecting device can be used for carrying out autonomous receiving on the towing cable according to whether a receiving task is executed or not, the device is simple, the operation is convenient, the requirements for fast and accurate winding and unwinding of the towing cable are met, the unmanned and intelligent development direction of a towing ship is complied with, modification and upgrading are carried out on the basis of the original towing cable winding and unwinding device, manual control is not needed, and the defects existing in the traditional towing cable winding and unwinding mode are overcome.

Based on the technical scheme, the invention has the advantages that: the control method of the automatic connecting device of the towline for the unmanned towboat can realize the automatic connection between the towline and the towboat so as to finish the towing work of the towboat to the towboat and assist the towboat to stop at a wharf or a port. The control method of the towing cable connecting device provided by the design only needs to receive the connecting instruction of the control center through the intelligent trolley for connecting operation, and continuously detects and tracks the towing cable position through the detection module and the like, finally completes the connecting work through the locking device, the whole process is automatically operated through the control method flow, the manual work is not needed, the structural space of the manual operation device on the ship body is simplified, the potential safety hazard existing under the severe weather condition is avoided, and the towing cable is connected more quickly and accurately by using the detection device. Whether the connection process is finished or not is judged through a judgment link in the control method, namely, the connection process is detected through an infrared detection device of a ring on the intelligent trolley, the structure is simple, the operation is convenient, and the connection working process is simplified.

Drawings

FIG. 1 is a schematic structural view of an intelligent trolley connected with a towing cable and a guide rail thereof;

FIG. 2 is a control structure diagram of a bank end and an intelligent car end;

FIG. 3 is a control flow diagram of an automatic streamer connection device.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

The automatic connecting device of the towline for the unmanned towboat comprises an intelligent trolley 1 and a trolley moving guide rail 2 as shown in figure 1. The intelligent trolley 1 comprises a trolley base 5, an upper-layer fixed building 4, a towing cable fixing circular ring 3 and a guide rail locking device 6. The trolley base 1 comprises an intelligent system which comprises a trolley control center, a power supply module and a detection module, wherein the trolley control center is communicated with a shore operation center through a wireless network, and the detection module is used for detecting the position of a towing cable and detecting whether connection is successful. The trolley moving guide rail 2 is laid on a deck of the tugboat around the periphery of the tugboat and is encircled into a circular ring shape for the intelligent trolley 1 to run and fix.

The invention provides a control method for the automatic connecting device of the towline for the unmanned towboat, as shown in figure 2, the invention is a control schematic diagram of an upper computer and a lower computer of the control method, the upper computer is a shore end command control center, the lower computer is an intelligent trolley end, the upper computer and the lower computer realize communication through a wireless network, the flow of the control method of the automatic connecting device of the towline is as shown in figure 3, the unmanned towboat realizes automatic receiving of the towline through the intelligent trolley 1 according to the flow of the control method. The control method of the specific streamer connecting device is as follows:

step 1, a shore end communicates with an intelligent trolley 1 end through a wireless network, the intelligent trolley 1 end receives a towing cable receiving instruction sent to a control center of the intelligent trolley 1 from the shore end, and the intelligent trolley 1 starts to execute a towing cable receiving task;

step 2, detecting the release position of the towing cable through a GPS (global positioning system) and a visual detection system of the trolley 1;

step 3, after the release position of the towing cable is determined, the trolley 1 tracks and drives to the position until the position closest to the release position is reached, then the running is stopped, and the trolley 1 is locked on the fixed guide rail 2 immediately;

step 4, after the trolley 1 is locked, the towing cable fixing circular ring 3 on the trolley 1 starts to run;

step 5, the fixed ring 3 tracks the real-time position and direction of the detected towing cable to rapidly rotate the direction of the ring, waits for the passing of the towing cable, specifically, only a red iron ball target is left in a visual range by a color detection method, and the position and direction of the red iron ball are calculated by utilizing a camera for calibration;

step 6, detecting whether the towing cable passes over the circular ring or not through an infrared detection device on the circular ring 3, if the infrared laser is completely blocked by the towing cable, immediately closing the circular ring 3 to realize locking, clamping the towing cable and completing the receiving of the towing cable; otherwise, continuing to wait for the crossing of the streamer, and if the crossing is not successful, repeating the steps and repositioning to complete the receiving task of the streamer.

In summary, the present invention provides a method for controlling an automatic connection device of a streamer for an unmanned towboat. Different from the traditional connection method, the automatic connection device of the towing cable can complete automatic connection work according to an instruction sent by a control center and a detection device according to the flow of the control method, the whole connection process is completed through an intelligent trolley, manual work is not needed, the structural space of a manual operation device on a ship body is simplified, potential safety hazards existing under the severe weather condition are avoided, and the detection device is used for enabling the towing cable to be connected more quickly and accurately.

Those of ordinary skill in the art will understand that: the figures are for the reader's understanding only and the blocks or flows in the figures are not necessarily required to practice the invention.

While the present invention has been described in detail with reference to the preferred embodiments, it should be understood that the above description should not be taken as limiting the invention. Various modifications and alterations to this invention will become apparent to those skilled in the art upon reading the foregoing description. Accordingly, the scope of the invention should be determined from the following claims.

Claims

1. A control method of an automatic connecting device of a towrope for an unmanned towboat is characterized in that: the shore end transmits the connection instruction to the intelligent trolley end, and the intelligent trolley end performs automatic connection of the towing cables according to the connection flow;

the automatic connecting device of the towrope for the unmanned towboat comprises an intelligent trolley and a trolley moving guide rail; the intelligent trolley comprises a trolley base, an upper layer fixed building, a towing cable fixing circular ring and a guide rail locking device; the trolley base comprises an intelligent system which comprises an intelligent trolley control center, a power supply module and a detection module, wherein the intelligent trolley control center is communicated with the shore operation center through a wireless network; the trolley moving guide rail is laid on a deck of the tugboat around the periphery of the tugboat and is encircled into a ring shape for the running and fixed use of the intelligent trolley;

the control instruction received by the unmanned ship is sent by a monitoring command center and a bank end formed by users;

the intelligent trolley end comprises a control center, a power supply module, a navigation module, a detection module and a connection module;

the control method of the automatic connecting device of the towline for the unmanned towboat comprises the following steps:

step 1, a shore end and an intelligent trolley end communicate through a wireless network, the intelligent trolley end receives a towing cable receiving instruction sent to an intelligent trolley control center from the shore end, and the intelligent trolley starts to execute a towing cable receiving task;

step 2, detecting the release position of the towing cable through a GPS (global positioning system) and a visual detection system of the intelligent trolley;

step 3, after the release position of the towing cable is determined, the intelligent trolley tracks and drives to the position until the intelligent trolley reaches the position closest to the release position, and then the intelligent trolley is locked on the fixed guide rail immediately;

step 4, after the intelligent trolley is locked, a towing cable fixing ring on the intelligent trolley starts to run;

step 5, the streamer cable fixing ring tracks the real-time position and direction of the detected streamer cable, rapidly rotates the streamer cable fixing ring direction, waits for the crossing of the streamer cable, detects the position and direction of the streamer cable through color detection, only leaves a red iron ball target in a visual range, and calculates the position and direction of the red iron ball by utilizing a camera for calibration;

step 6, detecting whether the towing cable crosses the towing cable fixing ring through an infrared detection device on the towing cable fixing ring, if the infrared laser is completely blocked by the towing cable, immediately closing the towing cable fixing ring to realize locking, clamping the towing cable, and completing the receiving of the towing cable; otherwise, continuing to wait for the crossing of the streamer, and if the crossing is not successful, repeating the steps and repositioning to complete the receiving task of the streamer.