CN114162266B - Shore-based intelligent mooring system and method based on-site real-time feedback - Google Patents
Shore-based intelligent mooring system and method based on-site real-time feedback Download PDFInfo
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- CN114162266B CN114162266B CN202111495175.0A CN202111495175A CN114162266B CN 114162266 B CN114162266 B CN 114162266B CN 202111495175 A CN202111495175 A CN 202111495175A CN 114162266 B CN114162266 B CN 114162266B
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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
- B63B21/50—Anchoring arrangements or methods for special vessels, e.g. for floating drilling platforms or dredgers
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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
- B63B21/20—Adaptations of chains, ropes, hawsers, or the like, or of parts thereof
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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
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
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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
- B63B21/20—Adaptations of chains, ropes, hawsers, or the like, or of parts thereof
- B63B2021/203—Mooring cables or ropes, hawsers, or the like; Adaptations thereof
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A30/00—Adapting or protecting infrastructure or their operation
- Y02A30/30—Adapting or protecting infrastructure or their operation in transportation, e.g. on roads, waterways or railways
Abstract
The invention relates to the technical field of ship berthing, in particular to a shore-based intelligent mooring system and a shore-based intelligent mooring method based on-site real-time feedback. According to the shore-based intelligent mooring system and method based on-site real-time feedback, the pulling force borne by the mooring rope can be clearly known by arranging the pulling force sensor, so that the mooring rope can be controlled by the hydraulic control system to be subjected to paying-off or taking-up operation, the mooring rope is always in a set safe pulling force range, the situation that the mooring rope is loosened is avoided, the situation that the mooring rope is too large in pulling force is also avoided, and the safe use of the mooring rope is guaranteed.
Description
Technical Field
The invention relates to the technical field of ship berthing, in particular to a shore-based intelligent mooring system and method based on-site real-time feedback.
Background
Mooring safety influence factors are quite complex, and the influence of natural conditions such as wind, waves, currents and other external natural conditions is also influenced by parameters of ships, docks, mooring forms and the like. Under certain conditions of the wharf and the ship, mooring ropes and external environmental conditions play a decisive role in mooring safety. Under the action of certain wave conditions, the motion amount variation amplitude of certain degrees of freedom of the ship is very large, so that the cable can be loosened and tensioned repeatedly and alternately, the cable force among the cables is very uneven, and high impact tension is easily generated, so that the cable is fatigued, and the risk of cable breakage is caused.
Some ports at home and abroad have cable breakage accidents for many times, and the operation and safety of the wharf are seriously influenced. As a means for improving the mooring condition of the ship in the long-period water area, the constant-tension mooring system not only can reduce the shaking of the ship body, so that the ship is more stable during operation and the operation efficiency is improved, but also can improve the operation condition and increase the allowed operation days under the current standard by improving the shaking degree of the ship body. As a novel mooring and sway reduction means applied to a long-period water area, the constant tension mooring system can well improve the existing wharf, has the characteristics of relatively low improvement cost investment and environmental protection, and has wide prospects in wharf operation of long-period wave water areas.
The existing constant tension mooring system is mostly a mooring winch, constant tension is kept unchanged by slowly winding and unwinding a rope, the constant tension mooring system is effective in keeping constant tension during small-amplitude movement, but the structure has small influence on the inherent period of a coupling system formed by the mooring system and a floating body, and the mooring winch is mostly applied to the processes of hoisting operation and the like. This configuration is not suitable when the mooring vessel has a large range of motion.
Disclosure of Invention
The invention aims to provide a shore-based intelligent mooring system and method based on-site real-time feedback so as to solve the problems in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme: the utility model provides a bank base intelligence mooring system based on real-time feedback in scene, includes that hydraulic control system, force sensor, flexible arm threshold value design module, high strength hawser select module and force threshold value design module, hydraulic control system and external main control unit signal connection, force sensor's output and hydraulic control system's input signal connection, flexible arm threshold value design module and external main control unit signal connection, the high strength hawser is selected module and external main control unit signal connection, force threshold value design module's output and external main control unit signal connection.
Preferably, the hydraulic control system comprises a hydraulic telescopic rod, a quick-release buckle and a high-strength cable, the hydraulic telescopic rod is installed on the port ground, the quick-release buckle is installed at the output end of the telescopic arm, and one end of the high-strength cable is connected with the quick-release buckle.
Preferably, hydraulic telescoping rod and flexible arm threshold value design module signal connection, force sensor is installed to the output of flexible arm, force sensor and the buckle signal connection that breaks away from fast, after pulling force reached the certain degree, force sensor just can start the buckle that breaks away from fast, the one end that the buckle that breaks away from fast was kept away from to the high strength hawser is connected with boats and ships.
A shore-based intelligent mooring method based on-site real-time feedback comprises the following steps:
s1, collecting data
Establishing a wave mathematical and power flow mathematical model at the berth to obtain a wave condition and a power flow condition at the berth; and collecting the wind speed and wind direction data of the berth.
S2, acquiring hydrodynamic parameters of the berthed ship
Establishing a mathematical model of the ship, the fender and the mooring system to obtain the additional mass m and the hydrostatic rigidity K of the ship S And the overall stiffness K of the mooring system m ；
S3, selecting a mooring rope
Wherein M is the mass in the ship's air; m is the additional mass in the water; k S Is the hydrostatic stiffness; k m Is the overall stiffness provided by the mooring system.
Calculating the inherent period T of the whole ship and the mooring system according to the formula (1), if the period T and the berth wave period T wave Approaching, then changing the overall stiffness K of the mooring system m To avoid the wave period in the harbor; the recommended overall mooring stiffness can then be given in this way, giving the strength of the cable (minimum breaking force T) and the number of cables n to be laid;
s4, determining the stroke of the telescopic arm
According to mathematical models of a ship, a fender and a mooring system, analyzing amplitudes A1 and A2 of the swaying motion and the surging motion, and providing data for the design of a stroke threshold L of the telescopic arm;
wherein, a ij Is the inertial mass matrix of the vessel, m ij (t) is an additional mass of the vesselQuantity matrix, K ij (t) is a delay function matrix, C ij As a hydrostatic force recovery matrix, F i (t) is an external excitation force, X j And (t) is a ship displacement matrix.
Delay function matrix K ij (t) is:
the external exciting force is composed of the following parts:
F i (t)＝F Wave (t)+F C (t)+F Wind (t)+F Fender (t)+F Mooring (t) wherein F Wave The wave force to which the vessel is subjected, F C Is the flow force to which the vessel is subjected, F Wind Is the wind load to which the vessel is subjected, F Fender Is the impact force to which the ship is subjected, F Mooring Is the mooring force.
Knowing the wave and flow conditions and the mooring layout design in the port, the wind, wave and flow loads and the tension provided by the mooring system can be obtained, the equation (2) can be solved, and the swaying motion amplitude A1 and the surging motion amplitude A2 of the ship can be obtained, when the device is used at a berth with large swaying motion, the stroke threshold value 2A1 of the telescopic arm is more than L and less than 2.5A1; when the device is used at a berth with large surging motion, the stroke threshold value 2A2 of the telescopic arm is more than L and less than 2.5A2;
s5, establishing a system
According to the mooring operation specification, the pulling force of the mooring rope is not more than 45% of the minimum breaking force T, and in consideration of the problems of safety and the service life of the high-strength mooring rope, the F1 is more than 0.2T and less than or equal to 0.4T; when the actually measured tension F2 is larger than F1, the contraction arm is extended, so that the actually measured tension of the mooring rope is in a safe working range; on the contrary, when the actually measured tension F2 is less than F1, the telescopic arm is retracted; if the telescopic arm is extended and the maximum stroke of the telescopic arm is reached, the actually measured pull force of the mooring rope cannot return to the safe working range, an alarm prompt is sent out, and the quick mooring rope releasing operation is prepared.
Preferably, the wave mathematical model established in S1 needs to be arranged according to a conventional mooring line and the overall natural period of the ship and the mooring system is analyzed according to relevant data of the ship at the port and the wave height and wave frequency characteristics at the berth.
Preferably, the cable in the S2 selects the wave height and wave frequency characteristics of the position to be tested at the berth and the integral inherent period formed by the ship and the mooring system, if the periods of the wave height and the wave frequency characteristics are close to each other, large low-frequency motion is easily generated, the amplitude A of the motion is analyzed, and reference is provided for the design of the stroke threshold L of the telescopic arm.
Preferably, the extension and retraction of the telescopic arm in S3 are performed by a hydraulic telescopic rod, the tension in S3 is detected by a tension sensor, and the cable in S3 is paid off and is performed by a wire guide wheel.
Preferably, the cable in S3 is connected to a quick release buckle, and the quick release buckle in S3 is connected to the tension sensor.
Compared with the prior art, the invention has the beneficial effects that:
1. according to the shore-based intelligent mooring system and method based on the field real-time feedback, the pulling force borne by the mooring rope can be clearly known by arranging the pulling force sensor, so that the mooring rope can be controlled by the hydraulic control system to be subjected to paying-off or taking-up operation, the mooring rope is always in a set safe pulling force range, the condition that the mooring rope is loosened is avoided, the condition that the mooring rope is too large in pulling force is also avoided, and the safe use of the mooring rope is guaranteed.
2. According to the shore-based intelligent mooring system and method based on-site real-time feedback, the stretching deformation stress of the mooring rope caused by the displacement of the ship is transferred to the movement of the telescopic arm through the arrangement of the telescopic arm, the restraining rigidity of the whole ship and the mooring system is enhanced through the high-strength mooring rope, and the motion amplitude of the ship is effectively restrained.
3. According to the shore-based intelligent mooring system and method based on-site real-time feedback, the buckle is quickly separated from the hydraulic control system, so that the mooring rope can be untied in time when the paying-off operation cannot be carried out, and the problem of cable rope breakage is avoided.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the description below are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a technical route flow diagram of the present invention;
FIG. 2 is a schematic view of a conventional mooring line arrangement for a dock-moored vessel of the present invention;
fig. 3 is a schematic view of the dock installation of the present invention;
FIG. 4 is a perspective view of the telescopic structure of the present invention;
FIG. 5 is a graph comparing the surging time history of a conventional mooring line of a moored vessel of the present invention with the surging motion time history of the moored vessel of the present invention;
fig. 6 is a graph comparing the pull time of the mooring line of a conventional mooring line of a moored vessel of the present invention with the pull time of the mooring line after the present invention is applied.
In the figure: hydraulic telescoping rod 1, flexible arm 2, break away from buckle 3 fast, high strength hawser 4, stand 5, wire wheel 6.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to 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.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
Referring to fig. 1-6, the present invention provides a technical solution: the utility model provides a bank base intelligence mooring system based on-the-spot real-time feedback, including hydraulic control system, tension sensor, flexible arm threshold value design module, high strength hawser is selected module and tension threshold value design module, hydraulic control system and external main control unit signal connection, tension sensor's output and hydraulic control system's input signal connection, flexible arm threshold value design module and external main control unit signal connection, high strength hawser is selected module and external main control unit signal connection, tension threshold value design module's output and external main control unit signal connection.
Hydraulic control system includes hydraulic telescoping rod 1, flexible arm 2, break away from buckle 3 fast, high strength hawser 4, stand 5 and wire wheel 6, hydraulic telescoping rod 1 is installed in harbour ground, flexible arm 2 is installed in hydraulic telescoping rod 1's output, break away from buckle 3 fast and install in flexible arm 2's output, high strength hawser 4's one end is connected with the buckle 3 that breaks away from fast, stand 5 is installed in harbour ground, wire wheel 6 is installed in the outer wall of stand 5, hydraulic telescoping rod 1 and flexible arm threshold value design module signal connection, force sensor is installed to flexible arm 2's output, force sensor and the 3 signal connection of buckle that break away from fast.
A shore-based intelligent mooring method based on-site real-time feedback comprises the following steps:
s1, collecting data
Establishing a wave mathematical and power flow mathematical model at the berth to obtain a wave condition and a power flow condition at the berth; and collecting the wind speed and wind direction data of the berth.
S2, acquiring hydrodynamic parameters of the berthing ship
Establishing a mathematical model of the ship, the fender and the mooring system to obtain the additional mass m and the hydrostatic rigidity K of the ship S And the overall stiffness K of the mooring system m 。
S3, selecting a mooring rope
Wherein M is the mass in the ship's air; m is the additional mass in the water; k S Is the hydrostatic stiffness; k is m Is the overall stiffness provided by the mooring system.
Calculating the integral inherent period T of the ship and the mooring system according to the formula (1), and if the period T and the berth wave period T wave Approaching, then changing the overall stiffness K of the mooring system m To avoid the wave period in the harbor; the recommended overall mooring stiffness can then be given in this way, giving the strength of the cable (minimum breaking force T) and the number of cables n that need to be laid.
S4, determining the stroke of the telescopic arm
According to mathematical models of a ship, a fender and a mooring system, analyzing amplitudes A1 and A2 of the swaying motion and the surging motion, and providing data for the design of a stroke threshold L of the telescopic arm;
wherein, a ij Is the inertial mass matrix of the vessel, m ij (t) is an additional mass matrix of the vessel, K ij (t) is a delay function matrix, C ij As a hydrostatic force recovery matrix, F i (t) is an external excitation force, X j And (t) is a ship displacement matrix.
Delay function matrix K ij (t) is:
the external exciting force is composed of the following parts:
F i (t)＝F Wave (t)+F C (t)+F Wind (t)+F Fender (t)+F Mooring (t)
wherein, F Wave The wave force to which the vessel is subjected, F C Is the flow force to which the vessel is subjected, F Wind Is the wind load to which the vessel is subjected, F Fender The impact force to which the ship is subjected, F Mooring Is the mooring force.
Knowing the wave and flow conditions and the mooring layout design in the port, the wind, wave and flow loads and the tension provided by the mooring system can be obtained, the equation (2) can be solved, and the swaying motion amplitude A1 and the surging motion amplitude A2 of the ship can be obtained, when the device is used at a berth with large swaying motion, the stroke threshold value 2A1 of the telescopic arm is more than L and less than 2.5A1; when the device is used at a berth with large surging motion, the stroke threshold value 2A2 < L < 2.5A2 of the telescopic arm.
S5, establishing a system
According to the mooring operation specification, the pulling force of the mooring rope is not more than 45% of the minimum breaking force T, and in consideration of the problems of safety and the service life of the high-strength mooring rope, the F1 is more than 0.2T and less than or equal to 0.4T; when the actually measured tension F2 is larger than F1, the contraction arm is extended, so that the actually measured tension of the mooring rope is in a safe working range; on the contrary, when the actually measured tension F2 is less than F1, the telescopic arm is retracted; and if the telescopic arm is extended and the maximum stroke of the telescopic arm is reached, the actually measured pull force of the mooring rope cannot return to the safe working range, an alarm prompt is sent out, and the quick mooring rope releasing operation is prepared.
The device can realize that the mooring rope is subjected to a constant safe tension range F, the breaking force of the mooring rope is T0, and the maximum tension of the mooring rope is not more than 50% of the minimum breaking force according to the specification requirement, so that F is not more than 0.40X T0 for safety; the stroke of the telescopic arm needs to be larger than the maximum amplitude of the movement of the ship, the device senses that the tension on the mooring rope changes within a certain range through the sensor, and when the tension is larger than F, the control system sends out a command of contracting the telescopic arm or sending out the telescopic arm until the tension returns to the set range again.
When the high-strength mooring rope is used, the ship can rock and move under the traction of sea wind and sea waves, when the ship moves, the high-strength mooring rope can be pulled, the high-strength mooring rope can be tightened, when the high-strength mooring rope is tightened, the tension sensor can detect the tension of the high-strength mooring rope, and if the tension of the high-strength mooring rope reaches the agenda degree, the output end of the hydraulic telescopic rod can push the telescopic arm to extend, so that the tension of the actually-measured mooring rope is within a safe working range; on the contrary, then withdraw flexible arm, if extension shrink arm, when reaching the maximum stroke of flexible arm, force sensor detects the hawser pulling force and also fails to get back to in the safe working range, then send the warning suggestion, and with the external master controller of data transmission, external master controller opens the buckle that breaks away from fast, make hawser and flexible arm separation, the cracked condition of hawser appears in avoiding appearing, break away from the buckle fast through the installation in hydraulic control system, can be when unable unwrapping wire operation, in time untie the hawser, thereby avoid the cracked problem of hawser to take place.
Fig. 5 and fig. 6 are comparative diagrams of the effects after the implementation, and it can be seen from the diagrams that after the invention is used, the amplitude of the surging motion of the ship is reduced by 30%, and the tension of the mooring rope is well adjusted, in the original mooring rope mode, the tension of the mooring rope floats from 0 to nearly 40t, the change range is very fast, and at the same time, the mooring rope is in a loose state at a short time, the tension is 0, and the rule of reciprocating all the time is very bad for the service life of the mooring rope; after the invention is used, the change amplitude of the pull force of the cable is small and is constant around 30t, which is beneficial to reducing the fatigue damage of the cable.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. The term "comprising", without further limitation, means that the element so defined is not excluded from the group consisting of additional identical elements in the process, method, article, or apparatus that comprises the element.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (6)
1. The utility model provides a bank base intelligence mooring system based on-the-spot real-time feedback, includes that hydraulic control system, force transducer, flexible arm threshold value design module, high strength hawser select module and pulling force threshold value design module, its characterized in that: the hydraulic control system is in signal connection with an external main controller, the output end of the tension sensor is in signal connection with the input end of the hydraulic control system, the telescopic arm threshold value design module is in signal connection with the external main controller, the high-strength cable selecting module is in signal connection with the external main controller, and the output end of the tension threshold value design module is in signal connection with the external main controller;
the hydraulic control system comprises a hydraulic telescopic rod (1), a telescopic arm (2), a quick release buckle (3), a high-strength cable (4), an upright post (5) and a guide wire wheel (6), wherein the hydraulic telescopic rod (1) is installed on the port ground, the telescopic arm (2) is installed at the output end of the hydraulic telescopic rod (1), the quick release buckle (3) is installed at the output end of the telescopic arm (2), one end of the high-strength cable (4) is connected with the quick release buckle (3), the upright post (5) is installed on the port ground, and the guide wire wheel (6) is installed on the outer wall of the upright post (5);
the hydraulic telescopic rod (1) is in signal connection with the telescopic arm threshold value design module, the output end of the telescopic arm (2) is provided with a tension sensor, and the tension sensor is in signal connection with the quick release buckle (3).
2. A shore-based intelligent mooring method based on-site real-time feedback is characterized in that: the method comprises the following steps:
s1, collecting data
Establishing a wave mathematical and power flow mathematical model at the berth to obtain a wave condition and a power flow condition at the berth; collecting the wind speed and wind direction data of the berth;
s2, acquiring hydrodynamic parameters of the berthing ship
Establishing a mathematical model of the ship, the fender and the mooring system to obtain the additional mass m and the hydrostatic stiffness K of the ship S And the overall stiffness K of the mooring system m ；
S3, selecting a mooring rope
Wherein M is the mass in the ship's air; m is the additional mass in the water; k S Is the hydrostatic stiffness; k is m Is the overall stiffness provided by the mooring system;
calculating the inherent period T of the whole ship and the mooring system according to the formula (1), if the period T and the berth wave period T wave Approaching, then changing the overall stiffness K of the mooring system m To avoid the wave period in the harbor; then, the recommended total mooring stiffness can be given according to the above, the strength of the cable and the number n of the cables needing to be arranged are given, and the strength of the cable is the minimum breaking force T;
s4, determining the stroke of the telescopic arm
According to mathematical models of a ship, a fender and a mooring system, analyzing amplitudes A1 and A2 of the swaying motion and the surging motion, and providing data for the design of a stroke threshold L of the telescopic arm;
wherein, a ij Is the inertial mass matrix of the vessel, m ij (t) is an additional mass matrix of the vessel, K ij (t) is a delay function matrix, C ij As a hydrostatic force recovery matrix, F i (t) is an external excitation force, X j (t) is a ship displacement matrix;
delay function matrix K ij (t) is:
the external exciting force is composed of the following parts:
F i (t)＝F Wave (t)+F C (t)+F Wind (t)+F Fender (t)+F Mooring (t)
wherein, F Wave The wave force to which the vessel is subjected, F C Is the flow force to which the vessel is subjected, F Wind Is the wind load to which the vessel is subjected, F Fender The impact force to which the ship is subjected, F Mooring Is mooring force;
knowing the storm flow conditions and the mooring layout design in the port, the load of the storm, wave and flow and the tension provided by the mooring system can be obtained, the equation (2) is solved, the amplitude A1 of the swaying motion and the amplitude A2 of the surging motion of the ship can be obtained, and when the hydraulic telescopic rod is used at a berth position with large swaying motion, the stroke threshold value 2A1 of the telescopic arm is more than L and less than 2.5A1; when the hydraulic telescopic rod is used at a berth with large surging motion, the stroke threshold value of the telescopic arm is more than 2A2 and less than 2.5A2;
s5, establishing a system
According to the mooring operation specification, the pulling force of the mooring rope is not more than 45% of the minimum breaking force T, and in consideration of the problems of safety and the service life of the high-strength mooring rope, the F1 is more than 0.2T and less than or equal to 0.4T; when the actually measured tension F2 is larger than F1, the contraction arm is extended, so that the actually measured tension of the mooring rope is in a safe working range; on the contrary, when the actually measured tension F2 is less than F1, the telescopic arm is retracted; and if the telescopic arm is extended and the maximum stroke of the telescopic arm is reached, the actually measured pull force of the mooring rope cannot return to the safe working range, an alarm prompt is sent out, and the quick mooring rope releasing operation is prepared.
3. The shore-based intelligent mooring method based on-site real-time feedback according to claim 2, characterized in that: in the S1, the wave mathematical model is established according to relevant data of a ship berthing port, wave height and wave frequency characteristics at the berthing position are analyzed, the mathematical model of the ship and the mooring system is established according to traditional mooring line arrangement, and the whole inherent period formed by the ship and the mooring system is analyzed.
4. The shore-based intelligent mooring method based on-site real-time feedback according to claim 2, characterized in that: and in S2, selecting the wave height and wave frequency characteristics of the berth position to be tested and the integral inherent period formed by the ship and the mooring system by the cable, easily generating large-amplitude low-frequency motion if the periods of the two are close to each other, analyzing the amplitude A of the motion, and providing reference for the design of the stroke threshold L of the telescopic boom.
5. The shore-based intelligent mooring method based on-site real-time feedback according to claim 2, characterized in that: and the extension and retraction of the telescopic arm in the S5 work through a hydraulic telescopic rod, the tension in the S5 is detected through a tension sensor, and the cable paying-off in the S5 works through a wire guide wheel.
6. The shore-based intelligent mooring method based on-site real-time feedback according to claim 2, characterized in that: and the cable in the S3 is connected with the quick release buckle, and the quick release buckle in the S3 is connected with the tension sensor.
Priority Applications (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111495175.0A CN114162266B (en) | 2021-12-08 | 2021-12-08 | Shore-based intelligent mooring system and method based on-site real-time feedback |
| PCT/CN2022/080049 WO2023103193A1 (en) | 2021-12-08 | 2022-03-10 | Shore-based intelligent mooring system and method based on real-time onsite feedback |
| ZA2023/00484A ZA202300484B (en) | 2021-12-08 | 2023-01-11 | Shore-based intelligent mooring system and method based on on-site real-time feedback |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111495175.0A CN114162266B (en) | 2021-12-08 | 2021-12-08 | Shore-based intelligent mooring system and method based on-site real-time feedback |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114162266A CN114162266A (en) | 2022-03-11 |
| CN114162266B true CN114162266B (en) | 2022-11-15 |
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| CN202111495175.0A Active CN114162266B (en) | 2021-12-08 | 2021-12-08 | Shore-based intelligent mooring system and method based on-site real-time feedback |
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| Country | Link |
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| CN (1) | CN114162266B (en) |
| WO (1) | WO2023103193A1 (en) |
| ZA (1) | ZA202300484B (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116198660A (en) * | 2023-03-07 | 2023-06-02 | 华能太仓港务有限责任公司 | Ship mooring rope tension detection and automatic adjustment method and system |
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| CN101876167A (en) * | 2009-09-30 | 2010-11-03 | 中交水运规划设计院有限公司 | Rope tying method of wharf mooring system |
| CN105314067A (en) * | 2015-11-02 | 2016-02-10 | 上海中船船舶设计技术国家工程研究中心有限公司 | Device and method for mooring ship |
| CN105438399A (en) * | 2015-08-21 | 2016-03-30 | 河海大学 | Physical model of mooring ship and test method of physical model |
| CN107268523A (en) * | 2017-05-15 | 2017-10-20 | 沪东中华造船(集团)有限公司 | A kind of pair of ship and the pier mooring method leaned on |
| CN109146179A (en) * | 2018-08-23 | 2019-01-04 | 交通运输部天津水运工程科学研究所 | Coastal port shipping work condition monitoring method for early warning |
| CN111444624A (en) * | 2020-04-03 | 2020-07-24 | 交通运输部天津水运工程科学研究所 | Method and system for judging safety of operation state of ship berthing in port area |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| NL2002680C2 (en) * | 2009-03-27 | 2010-09-28 | Konink Roeiers Vereeniging Eendracht | A hydraulic mooring cable holding device. |
| CA2862625A1 (en) * | 2012-01-31 | 2013-08-08 | Keith Gill | Load compensating mooring hooks |
| CN203519351U (en) * | 2013-08-30 | 2014-04-02 | 广州广船国际股份有限公司 | Loading device for mooring test |
| KR102557243B1 (en) * | 2018-11-26 | 2023-07-18 | 데이진 가부시키가이샤 | Mooring line monitoring system, mooring management system, mooring line monitoring method, and mooring management method |
| CN112050740A (en) * | 2020-09-03 | 2020-12-08 | 交通运输部天津水运工程科学研究所 | Mooring safety monitoring and early warning system |
| CN214930431U (en) * | 2021-04-15 | 2021-11-30 | 交通运输部天津水运工程科学研究所 | Automatic berthing device |
-
2021
- 2021-12-08 CN CN202111495175.0A patent/CN114162266B/en active Active
-
2022
- 2022-03-10 WO PCT/CN2022/080049 patent/WO2023103193A1/en unknown
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2023
- 2023-01-11 ZA ZA2023/00484A patent/ZA202300484B/en unknown
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101876167A (en) * | 2009-09-30 | 2010-11-03 | 中交水运规划设计院有限公司 | Rope tying method of wharf mooring system |
| CN105438399A (en) * | 2015-08-21 | 2016-03-30 | 河海大学 | Physical model of mooring ship and test method of physical model |
| CN105314067A (en) * | 2015-11-02 | 2016-02-10 | 上海中船船舶设计技术国家工程研究中心有限公司 | Device and method for mooring ship |
| CN107268523A (en) * | 2017-05-15 | 2017-10-20 | 沪东中华造船(集团)有限公司 | A kind of pair of ship and the pier mooring method leaned on |
| CN109146179A (en) * | 2018-08-23 | 2019-01-04 | 交通运输部天津水运工程科学研究所 | Coastal port shipping work condition monitoring method for early warning |
| CN111444624A (en) * | 2020-04-03 | 2020-07-24 | 交通运输部天津水运工程科学研究所 | Method and system for judging safety of operation state of ship berthing in port area |
Also Published As
| Publication number | Publication date |
|---|---|
| ZA202300484B (en) | 2023-08-30 |
| CN114162266A (en) | 2022-03-11 |
| WO2023103193A1 (en) | 2023-06-15 |
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