CN113401282A - Anchoring device, anchoring control method and electronic equipment - Google Patents
Anchoring device, anchoring control method and electronic equipment Download PDFInfo
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- CN113401282A CN113401282A CN202110883811.0A CN202110883811A CN113401282A CN 113401282 A CN113401282 A CN 113401282A CN 202110883811 A CN202110883811 A CN 202110883811A CN 113401282 A CN113401282 A CN 113401282A
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- 238000004873 anchoring Methods 0.000 title claims abstract description 209
- 238000000034 method Methods 0.000 title claims abstract description 63
- 230000007613 environmental effect Effects 0.000 claims abstract description 37
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 23
- 238000004891 communication Methods 0.000 claims abstract description 11
- 238000005516 engineering process Methods 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 7
- 238000004590 computer program Methods 0.000 description 3
- 230000035882 stress Effects 0.000 description 2
- 239000000725 suspension Substances 0.000 description 2
- 230000032683 aging Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000000802 evaporation-induced self-assembly Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B21/00—Tying-up; Shifting, towing, or pushing equipment; Anchoring
- B63B21/22—Handling or lashing of anchors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B79/00—Monitoring properties or operating parameters of vessels in operation
- B63B79/10—Monitoring properties or operating parameters of vessels in operation using sensors, e.g. pressure sensors, strain gauges or accelerometers
- B63B79/15—Monitoring properties or operating parameters of vessels in operation using sensors, e.g. pressure sensors, strain gauges or accelerometers for monitoring environmental variables, e.g. wave height or weather data
Abstract
The invention provides an anchoring device, an anchoring control method and electronic equipment, wherein the device comprises: an anchor machine and a controller; the controller is in communication connection with the anchor machine and the control system of the ship; the controller is used for receiving an anchoring instruction from the control system, acquiring environmental information of the current position of the ship after receiving the anchoring instruction, calculating anchoring length according to the environmental information, and controlling the anchor machine to carry out anchoring according to the anchoring length and a preset anchoring speed; wherein the environmental information comprises water depth information and wind speed information. An object of an embodiment of the present invention is to provide an anchoring device, an anchoring control method, and an electronic apparatus, so as to provide an anchoring technology with higher safety and reliability.
Description
Technical Field
The invention relates to the technical field of ship intelligence, in particular to an anchoring device, an anchoring control method and electronic equipment.
Background
At present, the anchoring operation needs to be completed by multiple persons. In the process of the anchoring operation, at least two persons are required to participate, one person carries out observation and command, and the other person is responsible for the brake operation of the anchor machine. Operators need to be closely matched, and various anchoring accidents can be caused by carelessness of the operators or improper anchoring methods and the like.
In the conventional anchoring process, the anchoring length of the anchor chain needs to be estimated by an operator according to the water depth of an anchoring ground and by combining operation experience. The anchor water depth data are obtained by inquiring literature statistical records through operators, the data accuracy is poor, and the prediction error of the anchoring length is easily caused. Furthermore, the anchoring speed in the anchoring process also needs to be manually controlled.
On the whole, the current ship anchoring mode also has the problems of low intelligent degree and great influence by human factors, so that the safety and reliability of the current ship anchoring cannot be ensured.
Disclosure of Invention
In view of the above, the present invention provides an anchoring device, an anchoring control method and an electronic apparatus, so as to improve the safety and reliability of a ship anchoring process.
In a first aspect, an embodiment of the present invention provides an anchoring device, where the device is provided on a ship, and the device includes: an anchor machine and a controller; the controller is in communication connection with the anchor machine and the control system of the ship; the controller is used for receiving an anchoring instruction from the control system, acquiring environmental information of the current position of the ship after receiving the anchoring instruction, calculating anchoring length according to the environmental information, and controlling the anchor machine to carry out anchoring according to the anchoring length and a preset anchoring speed; wherein the environmental information comprises water depth information and wind speed information.
With reference to the first aspect, embodiments of the present invention provide a first possible implementation manner of the first aspect, wherein the anchor machine includes a sprocket clutch, a driving motor, and a brake module; the chain wheel clutch, the driving motor and the brake module are all connected with the controller; the controller is also used for controlling the opening and closing of the chain wheel clutch, the brake module and the driving motor; the controller is also used for adjusting the anchoring speed of the anchor chain by controlling the rotating speed of the driving motor.
With reference to the first aspect, an embodiment of the present invention provides a second possible implementation manner of the first aspect, where the apparatus further includes: a chain stopper; the anchor chain is discharged from the anchor machine and then is sent out through the chain stopper; the chain stopper is connected with the controller; the controller is also used for controlling the chain stopper to be opened and closed.
In a second aspect, the present invention provides an anchoring method, wherein the method is applied to the anchoring device according to any one of the first aspect to the second possible implementation manner of the first aspect; the method comprises the following steps: receiving an anchoring instruction sent by a control system of a ship; acquiring environmental information of the current position of the ship; the environment information comprises water depth information and wind speed information; calculating the anchoring length according to the environment information; and controlling the anchor machine to carry out anchoring according to the anchoring length and the preset anchoring speed.
With reference to the second aspect, an embodiment of the present invention provides a first possible implementation manner of the second aspect, where after the step of calculating the anchor dropping length according to the environment information, the method further includes: acquiring the current start-stop states of the driving motor, the sprocket clutch, the brake module and the chain stopper; based on the current opening and closing state, the driving motor is sequentially controlled to start, the sprocket clutch is controlled to close, the brake module is controlled to open, and the chain stopper is controlled to open.
With reference to the second aspect, an embodiment of the present invention provides a second possible implementation manner of the second aspect, where the step of calculating the anchoring length according to the environment information includes: determining the horizontal external force borne by the ship according to the environmental information; the anchored length is determined based on the horizontal external force.
With reference to the second aspect, the embodiment of the present invention provides a third possible implementation manner of the second aspect, wherein the step of controlling the anchor machine to perform anchoring according to the anchoring length and the preset anchoring speed includes: acquiring the real-time rotating speed of a driving motor; determining the current anchoring real-time speed according to the real-time rotating speed; judging whether the real-time speed exceeds the preset anchoring speed or not; if not, determining the current anchoring real-time length based on the real-time speed; judging whether the real-time length reaches the anchoring length; and if so, controlling the anchor machine to stop anchoring.
With reference to the second aspect, an embodiment of the present invention provides a fourth possible implementation manner of the second aspect, where the step of controlling the anchorage machine to stop the anchoring includes: judging whether an anchor chain ring of the anchor chain completely falls into a chain groove of the chain stopper; if not, controlling the anchor machine to release the anchor chain according to a preset weak amplitude so as to enable the anchor chain ring of the anchor chain to completely fall into the chain groove of the chain stopper and controlling the chain stopper to be closed.
With reference to the second aspect, an embodiment of the present invention provides a fifth possible implementation manner of the second aspect, where after the step of controlling the anchor machine to stop anchoring, the method further includes: and sequentially controlling the brake module to be closed, controlling the driving motor to be closed, controlling the sprocket clutch to be opened and controlling the anchor machine to stop.
In a third aspect, an embodiment of the present invention further provides an electronic device, where the electronic device includes a processor and a memory, where the memory stores computer-executable instructions that can be executed by the processor, and the processor executes the computer-executable instructions to implement the anchor control method according to any one of the fifth possible implementation manners of the second aspect to the second aspect.
The embodiment of the invention has the following beneficial effects:
the anchoring device, the anchoring control method and the electronic equipment provided by the embodiment of the invention comprise: an anchor machine and a controller; the controller is in communication connection with the anchor machine and the control system of the ship; the controller is used for receiving an anchoring instruction from the control system, acquiring environmental information of the current position of the ship after receiving the anchoring instruction, calculating anchoring length according to the environmental information, and controlling the anchor machine to carry out anchoring according to the anchoring length and a preset anchoring speed; wherein the environmental information comprises water depth information and wind speed information. The device is used for controlling the anchoring process of the anchor machine by arranging the controller, and writing the anchoring control flow into the controller in a programming mode, so that the automation of anchoring control is realized, wherein the anchoring length of the anchor chain is obtained by calculating in real time based on the environmental information of the current position of the ship, and the anchoring length is not required to be acquired by depending on human experience; the anchoring speed is automatically monitored through the controller, and the brake control is not needed by human experience, so that the potential safety hazard caused by artificial control for anchoring is relieved, and the safety and the reliability of the anchoring process are improved.
Additional features and advantages of the present disclosure will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the above-described techniques of the present disclosure.
In order to make the aforementioned objects, features and advantages of the present disclosure more comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a schematic view of an anchoring device according to an embodiment of the present invention;
fig. 2 is a schematic view of a use scenario of an anchoring device according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of an anchoring method according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of an anchoring process according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.
Icon: 101-an anchor machine; 102-a controller; 201-a ship; 202-an anchoring device; 203-chain stopper; 51-a memory; 52-a processor; 53-bus; 54-communication interface.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the conventional anchoring process, the anchoring length of the anchor chain needs to be estimated by an operator according to the water depth of an anchoring ground and by combining operation experience. The anchor water depth data are obtained by inquiring literature statistical records through operators, the data accuracy is poor, and the prediction error of the anchoring length is easily caused. Furthermore, the anchoring speed in the anchoring process also needs to be manually controlled. Therefore, the conventional anchoring process has the problems of low intelligent degree and large influence of human factors, and the safety and reliability of the current ship anchoring cannot be ensured.
Based on the above, the embodiments of the present invention provide an anchoring device, an anchoring control method, and an electronic device, which can alleviate the above technical problems, and not only obtain the environmental information of the current position of the ship through a controller, calculate the anchoring length according to the environmental information, but also control an anchor machine to perform anchoring according to the anchoring length and a preset anchoring speed, so that the intelligent degree of anchoring is improved, and the influence of human factors is small, thereby improving the safety and reliability of current ship anchoring. For the understanding of the embodiment, a detailed description will be given of an anchoring device disclosed in the embodiment of the present invention.
Example 1
An embodiment of the present invention provides an anchoring device, as shown in fig. 1, which is a schematic diagram of an anchoring device provided in an embodiment of the present invention, and includes: an anchor machine 101 and a controller 102.
In this embodiment, the windlass includes a sprocket clutch, a drive motor, and a brake module. The chain wheel clutch, the driving motor and the brake module are all connected with the controller. The controller is also used for controlling the opening and closing of the chain wheel clutch, the brake module and the driving motor. The controller is also used for adjusting the anchoring speed of the anchor chain by controlling the rotating speed of the driving motor.
Here, the sprocket clutch and the brake module may be a driving sprocket clutch and brake module or a pneumatic type sprocket clutch and brake module.
In one possible implementation manner, the Controller may be a PLC (Programmable logic Controller), a single chip, or other Programmable control device.
The controller 102 is communicatively coupled to the anchor 101 and the control system of the vessel. The controller 102 is configured to receive an anchoring instruction from the control system, acquire environmental information of a current position of the ship after receiving the anchoring instruction, calculate an anchoring length according to the environmental information, and control the anchor machine 101 to perform anchoring according to the anchoring length and a preset anchoring speed. Wherein the environmental information comprises water depth information and wind speed information.
Here, when the ship is anchored, the horizontal tension is generated after the anchor is thrown into the sea bottom, and the maximum holding force is exerted, and it is required that the released anchor chain has a part lying on the sea bottom in addition to the suspended anchor chain. The holding power of the anchor is now in fact the sum of the holding power of the anchor itself and the holding power of the anchor chain lying on the seabed. The step of calculating the anchoring length according to the environment information comprises the following steps: first, the holding power of the anchor itself and the holding power of the anchor chain on the seabed are determined by the seabed geology. And then the horizontal external force borne by the ship can be calculated according to the wind speed information. And finally, calculating the length of the anchor chain by combining the holding power of the anchor and the holding power of the anchor chain lying on the seabed with the horizontal external force and the water depth information of the ship.
In this embodiment, the anchor machine may be a hydraulic anchor machine or an electric anchor machine.
In one possible embodiment, the controller may directly communicate with a control system of the ship to obtain environmental information of the current position of the ship. Alternatively, the controller may be directly connected to a sensor disposed on the ship, and the environmental information of the current position of the ship may be directly acquired by the sensor.
In one possible embodiment, the apparatus further comprises: a chain stopper. The chain stopper is used for stopping the anchor chain and fixing the anchor chain when the ship sails or is anchored. The anchor chain is discharged from the anchor machine and then is sent out through the chain stopper. The chain stopper is connected with the controller. The controller is also used for controlling the chain stopper to be opened and closed. The chain stopper can be opened and closed by connecting the controller with a hydraulic or pneumatic remote controller to control the chain stopper to be opened and closed.
In this embodiment, the chain stopper may be a hydraulic chain stopper or a pneumatic chain stopper.
For easy understanding, fig. 2 is a schematic view of a usage scenario of the anchoring device according to an embodiment of the present invention, and as shown in fig. 2, a ship 201 runs on a water surface, a controller obtains environmental information of a current position of the ship through a control system of the ship, and calculates an anchoring length according to the environmental information. The anchor chain is released from the anchoring device 202 and then sent out through the chain stopper 203, thereby achieving anchoring.
The anchoring device provided by the embodiment of the invention comprises: an anchor machine and a controller; the controller is in communication connection with the anchor machine and the control system of the ship; the controller is used for receiving an anchoring instruction from the control system, acquiring environmental information of the current position of the ship after receiving the anchoring instruction, calculating anchoring length according to the environmental information, and controlling the anchor machine to carry out anchoring according to the anchoring length and a preset anchoring speed; wherein the environmental information comprises water depth information and wind speed information. The device obtains the environmental information of the current position of the ship through the controller, calculates the anchoring length according to the environmental information, and controls the anchor machine to anchor according to the anchoring length and the preset anchoring speed, so that the intelligent degree of anchoring is improved, the influence of human factors is small, and the safety and the reliability of current ship anchoring are improved.
Example 2
On the basis of the anchoring device shown in FIG. 1, the invention also provides an anchoring control method, wherein the method is applied to the anchoring device. As shown in fig. 3, a schematic diagram of an anchoring method according to an embodiment of the present invention is provided, where the method includes:
step S301: and receiving an anchoring instruction sent by a control system of the ship.
In actual operation, the anchoring instruction may be an anchoring instruction sent by an operator on the ship through operating a control system of the ship, or an anchoring instruction sent by the operator remotely through a user terminal.
Step S302: acquiring environmental information of the current position of the ship; wherein the environmental information comprises water depth information and wind speed information.
The mode of acquiring the environmental information of the current position of the ship can be obtained through communication of a control system of the ship, or acquired water depth information and wind speed information are fed back through a sensor arranged on the ship.
Step S303: and calculating the anchoring length according to the environment information.
In this embodiment, the horizontal external force to which the ship is subjected is determined according to the environmental information. The anchored length is then determined based on the horizontal external force.
Specifically, when the ship is anchored, when the anchor is thrown into the sea bottom, a horizontal pulling force is formed, and the holding force exerted at this time is the largest, so that the released anchor chain needs to have a part lying on the sea bottom in addition to the suspended anchor chain.
If the length of the anchor is not enough, the anchor chain is almost thrown out as a suspended part, and the anchor is not normally pulled horizontally but is pulled upwards at the bottom of the water. The greater this upward pulling force, the greater the angle at which the vessel is lifted upward, and the less the anchor will be held. By decomposing the anchor under stress, the horizontal ship-borne tension F1 and the vertical component F2 of the anchor can be obtained. The horizontal stress F1 of the ship can be calculated according to the wind speed information. The sum of the holding power T1 of the anchor and the holding power T2 of the anchor chain lying on the sea bottom is equal to the horizontal force F1 of the ship. The holding power T1 of the anchor and the holding power T2 of the anchor chain lying on the sea bottom are respectively related to the length of the anchor chain lying on the sea bottom and the length of the anchor chain of the suspension part, and the length of the anchor chain lying on the sea bottom and the length of the anchor chain of the suspension part can be calculated based on the force balance analysis of the anchor, so that the anchoring length can be obtained.
In practical operation, after the step of calculating the anchoring length according to the environment information, the method further comprises:
first, the current on-off states of the drive motor, the sprocket clutch, the brake module and the chain stopper are obtained.
And then, based on the current opening and closing state, sequentially controlling the driving motor to start, controlling the sprocket clutch to close, controlling the brake module to open and controlling the chain stopper to open.
The step of controlling the chain stopper to be opened is to judge whether the chain stopper is opened or not.
And if so, controlling the anchor machine to actively release the anchor chain.
If not, controlling the anchor machine to pull up the anchor chain, relieving the force of the chain stopper for stopping the anchor chain, and then controlling the chain stopper to open.
Step S304: and controlling the anchor machine to carry out anchoring according to the anchoring length and the preset anchoring speed.
In one embodiment, the step of controlling the anchor machine to perform anchoring according to the anchoring length and the preset anchoring speed comprises the following steps:
step A1: and acquiring the real-time rotating speed of the driving motor.
Step A2: and determining the current anchoring real-time speed according to the real-time rotating speed.
Step A3: and judging whether the real-time speed exceeds the preset anchoring speed or not.
If so, go to step A31: and controlling the driving motor to decelerate.
If not, go to step A32: a real-time length of the current anchor is determined based on the real-time speed.
Step A4: and judging whether the real-time length reaches the anchoring length.
If so, go to step A41: and controlling the anchor machine to stop anchoring.
Here, in the conventional anchoring work, at least two operators are required to participate in the anchoring work, the operators are required to estimate the anchoring length based on the water depth, and different anchoring methods are also selected empirically. Taking the water depth less than 25m as an example: when the anchor is broken, firstly, an operator needs to estimate the broken length based on the water depth, then a common brake breaking method is adopted, namely, the anchor machine is sent to the water surface, the brake band is screwed, and then the brake module is utilized to drive the anchor machine. In the anchoring process, a brake module needs to be manually controlled, the anchoring speed is controlled by adopting a method of releasing the anchor chain discontinuously, and the length of the cast anchor chain needs to be estimated by workers in real time according to experience. The traditional anchoring operation not only needs the intervention of operators, but also has complex anchoring procedures, and in the anchoring process, safety accidents are easily caused by the error of the length estimation of the thrown anchor chain, or the whole anchor chain is thrown out or lost due to the fact that the brake cannot be stopped caused by the aging of the brake module, so that the safety and the reliability of the current ship anchoring cannot be ensured.
In the application, through the steps A1-A41, the controller can judge whether the real-time length reaches the anchoring length in real time, control the anchor machine to stop anchoring, avoid the whole anchor chain from being thrown out or lost due to untimely braking of the anchor machine, and completely control the speed of the anchoring process by the controller, so that the whole anchoring process does not need the intervention of operators, the anchoring program is simple, and the safety and the reliability of the ship anchoring process are improved.
In one embodiment, the anchor machine is controlled to stop anchoring through the following steps B1-B12:
and step B1, judging whether the anchor chain ring of the anchor chain completely falls into the chain groove of the chain stopper.
If so, execute B11: controlling the chain stopper to close.
If not, execute B12: and controlling the anchor machine to release the anchor chain according to a preset weak amplitude so as to enable an anchor chain ring of the anchor chain to completely fall into a chain groove of the chain stopper and control the chain stopper to be closed.
And after the anchor windlass stops anchoring, the brake module is controlled to be closed, the driving motor is controlled to be closed, the sprocket clutch is controlled to be opened, and the anchor windlass is controlled to stop.
For easy understanding, as shown in fig. 4, a schematic diagram of an anchoring process provided for an embodiment of the present invention includes:
step S401: and receiving an anchoring instruction sent by a control system of the ship.
Step S402: environmental information of the current position of the ship is acquired. Wherein the environmental information comprises water depth information and wind speed information.
Step S403: and calculating the anchoring length according to the environment information.
Step S404: the driving motor is sequentially controlled to start, the sprocket clutch is controlled to close, and the brake module is controlled to open.
Step S405: and judging whether the chain stopper is opened or not.
If yes, go to step S406: and controlling the anchor machine to actively release the anchor chain.
If not, go to step S4051: the chain stopper is opened.
Step S407: and judging whether the real-time speed of the driving motor exceeds the preset anchoring speed or not.
If so, go to step S4071: the drive motor is controlled to decelerate.
If not, go to step S408: and judging whether the real-time length reaches the anchoring length.
If yes, go to step S409: and controlling the anchor machine to stop anchoring.
If not, step S408 is repeatedly executed until the real-time length reaches the anchored length.
Step S410: and judging whether the anchor chain ring of the anchor chain completely falls into the chain groove of the chain stopper.
If yes, go to step S411: the chain stopper is closed.
If not, go to step S4101: and controlling the anchor machine to release the anchor chain according to a preset weak amplitude so as to enable an anchor chain ring of the anchor chain to completely fall into a chain groove of the chain stopper and control the chain stopper to be closed.
Step S412: and sequentially controlling the brake module to be closed, controlling the driving motor to be closed, controlling the sprocket clutch to be opened and controlling the anchor machine to stop.
The anchoring method provided by the embodiment of the invention is applied to the anchoring device. The method comprises the following steps: receiving an anchoring instruction sent by a control system of a ship; acquiring environmental information of the current position of the ship; the environment information comprises water depth information and wind speed information; calculating the anchoring length according to the environment information; and controlling the anchor machine to carry out anchoring according to the anchoring length and the preset anchoring speed. According to the method, the intelligent control logic for anchoring is adopted to calculate the anchoring length according to the environment information and control the anchor machine to anchor according to the anchoring length and the preset anchoring speed, so that the intelligent degree of anchoring is further improved, and the safety and reliability of current ship anchoring are further improved.
Example 3
The present embodiments provide an electronic device comprising a processor and a memory, the memory storing computer-executable instructions capable of being executed by the processor, the processor executing the computer-executable instructions to implement the steps of the anchoring method.
Referring to fig. 5, a schematic structural diagram of an electronic device is shown, where the electronic device includes: the memory 51 and the processor 52, wherein the memory 51 stores a computer program capable of running on the processor 52, and the processor executes the computer program to realize the steps provided by the anchoring method.
As shown in fig. 5, the apparatus further includes: a bus 53 and a communication interface 54, the processor 52, the communication interface 54 and the memory 51 being connected by the bus 53; the processor 52 is for executing executable modules, e.g. computer programs, stored in the storage 51.
The Memory 51 may include a high-speed Random Access Memory (RAM) and may also include a non-volatile Memory (non-volatile Memory), such as at least one disk Memory. The communication connection between the network element of the system and at least one other network element is realized through at least one communication interface 54 (which may be wired or wireless), and the internet, a wide area network, a local network, a metropolitan area network, and the like can be used.
The bus 53 may be an ISA bus, a PCI bus, an EISA bus, or the like. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one double-headed arrow is shown in FIG. 5, but this does not indicate only one bus or one type of bus.
The memory 51 is used for storing a program, and the processor 52 executes the program after receiving an execution instruction, and the method executed by the anchoring device according to any of the embodiments of the present invention may be applied to the processor 52, or implemented by the processor 52. Processor 52 may be an integrated circuit chip having signal processing capabilities. In implementation, the steps of the above method may be performed by integrated logic circuits of hardware or instructions in the form of software in the processor 52. The Processor 52 may be a general-purpose Processor, and includes a Central Processing Unit (CPU), a Network Processor (NP), and the like; the device can also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field-Programmable Gate Array (FPGA), or other Programmable logic devices, discrete Gate or transistor logic devices, discrete hardware components. The various methods, steps and logic blocks disclosed in the embodiments of the present invention may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of the method disclosed in connection with the embodiments of the present invention may be directly implemented by a hardware decoding processor, or implemented by a combination of hardware and software modules in the decoding processor. The software module may be located in ram, flash memory, rom, prom, or eprom, registers, etc. storage media as is well known in the art. The storage medium is located in the memory 51, and the processor 52 reads the information in the memory 51 and completes the steps of the method in combination with the hardware thereof.
Further, embodiments of the present invention also provide a machine-readable storage medium storing machine-executable instructions that, when invoked and executed by a processor, cause the processor to implement the above-described anchoring method.
The electronic device and the computer-readable storage medium provided by the embodiment of the invention have the same technical characteristics, so the same technical problems can be solved, and the same technical effects can be achieved.
In addition, in the description of the embodiments of the present invention, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative.
Claims (10)
1. An anchoring device, the device being provided on a vessel, the device comprising: an anchor machine and a controller;
the controller is in communication connection with the anchor machine and a control system of the ship;
the controller is used for receiving an anchoring instruction from the control system, acquiring environmental information of the current position of the ship after receiving the anchoring instruction, calculating anchoring length according to the environmental information, and controlling the anchor machine to carry out anchoring according to the anchoring length and a preset anchoring speed; wherein the environment information comprises water depth information and wind speed information.
2. The mooring of claim 1, wherein the mooring includes a sprocket clutch, a drive motor, and a brake module;
the chain wheel clutch, the driving motor and the brake module are all connected with the controller;
the controller is also used for controlling the chain wheel clutch, the brake module and the driving motor to be switched on and off;
the controller is also used for adjusting the anchoring speed of the anchor chain by controlling the rotating speed of the driving motor.
3. The anchoring device of claim 1, further comprising: a chain stopper; the anchor chain is discharged from the anchor machine and then is sent out through the chain stopper;
the chain stopper is connected with the controller;
the controller is also used for controlling the chain stopper to be opened and closed.
4. A method for controlling anchoring, which is applied to the anchoring device according to any one of claims 1 to 3; the method comprises the following steps:
receiving an anchoring instruction sent by a control system of a ship;
acquiring environmental information of the current position of the ship; the environment information comprises water depth information and wind speed information;
calculating the anchoring length according to the environment information;
and controlling the anchor machine to carry out anchoring according to the anchoring length and the preset anchoring speed.
5. The anchor dropping control method according to claim 4, wherein after the step of calculating the anchor dropping length from the environment information, the method further comprises:
acquiring the current start-stop states of a driving motor, a chain wheel clutch, a brake module and a chain stopper;
and based on the current opening and closing state, sequentially controlling the driving motor to start, controlling the sprocket clutch to close, controlling the brake module to open and controlling the chain stopper to open.
6. The anchor handling control method according to claim 4, wherein the step of calculating the anchor handling length based on the environment information includes:
determining the horizontal external force borne by the ship according to the environmental information;
determining the anchored length based on the horizontal external force.
7. The anchoring control method according to claim 4, wherein the step of controlling the anchoring machine to perform anchoring based on the anchoring length and a preset anchoring speed comprises:
acquiring the real-time rotating speed of a driving motor;
determining the current anchoring real-time speed according to the real-time rotating speed;
judging whether the real-time speed exceeds a preset anchoring speed or not;
if not, determining the current anchoring real-time length based on the real-time speed;
judging whether the real-time length reaches the anchoring length;
and if so, controlling the anchor machine to stop anchoring.
8. The anchor handling control method according to claim 7, wherein the step of controlling the anchor handling machine to stop the anchor handling includes:
judging whether an anchor chain ring of the anchor chain completely falls into a chain groove of the chain stopper;
and if not, controlling the anchor machine to release the anchor chain according to a preset weak amplitude so as to enable an anchor chain ring of the anchor chain to completely fall into a chain groove of the chain stopper, and controlling the chain stopper to be closed.
9. The anchor handling control method according to claim 6, wherein after the step of controlling the anchor machine to stop the anchor handling, the method further comprises:
and sequentially controlling the brake module to be closed, controlling the driving motor to be closed, controlling the sprocket clutch to be opened and controlling the anchor windlass to stop.
10. An electronic device, comprising a processor and a memory, the memory storing computer-executable instructions executable by the processor, the processor executing the computer-executable instructions to implement the method of any of claims 4 to 9.
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