CN116198660A - Ship mooring rope tension detection and automatic adjustment method and system - Google Patents
Ship mooring rope tension detection and automatic adjustment method and system Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
- G01L5/04—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring tension in flexible members, e.g. ropes, cables, wires, threads, belts or bands
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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
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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
- B63B21/16—Tying-up; Shifting, towing, or pushing equipment; Anchoring using winches
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B45/00—Arrangements or adaptations of signalling or lighting devices
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- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
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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
- B63B2021/003—Mooring or anchoring equipment, not otherwise provided for
- B63B2021/007—Remotely controlled subsea assistance tools, or related methods for handling of anchors or mooring lines, e.g. using remotely operated underwater vehicles for connecting mooring lines to anchors
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- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
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Abstract
The invention discloses a ship cable tension detecting and automatic adjusting method and a system, wherein the method comprises the following steps: s1, stress detection: adopting a stress detection formula to detect the stress of the cables at the bow, in the ship and at the stern of the ship, S2, deducing the maximum tension Fmax of the cables, S3, determining the actual tension actual of the cables according to the cable tension node value, and calculating the ratio actual/Fmax of the cable tension to the maximum tension Fmax; the technology of the invention can measure the tightening force state of the mooring rope in real time, reduces the possibility of artificial misjudgment and missed judgment, and improves the safety of ship operation; 2. work efficiency is improved: the traditional technology needs to observe and adjust the state of the cable manually, and the technology can improve the working efficiency and accuracy by automatically controlling the tightening force of the cable.
Description
Technical Field
The invention relates to the technical field of marine vessel water transportation production and safety, in particular to a method and a system for detecting and automatically adjusting ship mooring rope tension.
Background
During the berthing of the ship, the dynamic change of the tightening force of the mooring rope caused by the tide fluctuation and the ship loading and unloading ship body fluctuation ensures that the stress of the mooring rope is dynamically changed, personnel can manually and empirically adjust the tightening force of the mooring rope according to the tightness degree of the mooring rope, the time and the tightening force are uncontrollable, the transition of the mooring rope is extremely easy to occur, the ship is affected by damp water, the crotch distance is large, the mooring rope is impacted, the mooring rope is broken, and the collision accident caused by the ship drifting in a channel occurs.
Therefore, a ship mooring rope tension detection and automatic adjustment method and a system are provided.
Disclosure of Invention
In view of the foregoing, it is desirable to provide a method and a system for detecting and automatically adjusting a ship cable tension, so as to solve or alleviate the technical problems existing in the prior art, and at least provide a beneficial choice;
the technical scheme of the embodiment of the invention is realized as follows: in a first aspect, a method for detecting and automatically adjusting a ship rope tension, wherein the method for automatically adjusting comprises the following steps:
and (5) installing a cable tightening force feedback device module: pressure sensors and cable adjustment mechanisms are mounted on the vessel's lines and connected to the line tightening force feedback modules.
Cable tightening force feedback module calibration: the pressure sensor is calibrated using a standard calibrator to ensure measurement accuracy.
And (3) connecting a system power supply: and the cable tightening force feedback device module, the wireless control module and the power supply of the Siemens PLC are well connected.
And (3) system connection: the wireless control module is connected to the Siemens PLC controller.
And (3) installing a ship cable operating room: the cloud terminal comprises a mounting terminal, a cloud operation module and an alarm module, and the mounting terminal, the cloud operation module and the alarm module are connected.
The ship cable operation chamber is connected with: the terminals in the vessel line operating room are connected to the siemens PLC controller.
Cable tightening force feedback module measurement: when the cable is started, the pressure sensor measures the tension of the cable and transmits the result to the cable adjusting mechanism.
And (5) cable tightening force adjustment: the cable adjusting mechanism controls the tension of the cable according to the measurement result so as to keep the tension within a proper range.
Judging the stress state of a cable: and judging the stress state of the cable according to the previous judging standard. If the stress of the cable is normal, the cable can continue to work; if the cable is stressed and early-warned, the state of the cable needs to be monitored; if the stress of the cable is too large, stopping working and checking are needed;
a ship cable tension detection and automatic adjustment method specifically comprises the following steps:
s1, stress detection: and adopting a stress detection formula to detect stress of the mooring ropes at the bow, in the ship and at the stern of the ship, wherein the stress detection formula is as follows:
σ＝M*y/I
sigma: cable stress (Pa); m: cable bending moment (n·m); y: distance (m) from any point on the cable cross section to the neutral axis; i: moment of inertia (m) 4 )
S2, deducing the maximum tension Fmax of the cable, and adopting the following formula:
Fmax＝(σs/n)*π*d^2/4
n: the safety coefficient of the cable; σs: tensile strength of the cable material; d: the diameter of the cable;
s3, determining an actual tension force actual of the cable according to the cable tension node value, calculating a ratio actual/Fmax of the cable tension to a maximum tension Fmax, and executing the following operations according to the ratio:
the ratio is smaller than 1, and the work is continued;
the ratio is greater than or equal to 1, and the work is stopped.
Preferably, in the step S1, a cable tightening force feedback device is used to perform stress detection on the cable, where:
the cable tightening force feedback device comprises a pressure sensor and a cable adjusting mechanism;
the pressure sensor is used for detecting the tension of the cable;
the cable adjusting mechanism is used for loosening and tightening or releasing the tension degree of the cable.
Preferably, when the cable adjusting mechanism adjusts the tension of the cable, a PLC controller is used for controlling the start and stop of the cable device, and a wireless control module is used for carrying out signal interaction with a ship cable operation room, wherein the method comprises the following steps:
the pressure sensor transmits signals to the PLC through one wireless control module, and the PLC transmits signals to the terminal of the ship mooring rope operation chamber through the other wireless control module.
Preferably, in the step S3, when the ratio of the cable tension to the maximum tension Fmax is smaller than 1, the method further includes:
actual/Fmax <0.9: the mooring rope is stressed normally and works continuously;
0.9.ltoreq.actual/Fmax <1.0: the stress of the cable is early-warned, and the state of the cable is controlled.
Preferably, when calculating the ratio of the cable tension to the maximum tension Fmax, the method further comprises the following steps:
the PLC detects the stress conditions of the front, middle and tail parts of one or more hulls, and specifically comprises the following steps:
s1, reading actual stress actual of a cable and maximum allowable stress Fmax of the cable;
s2, calculating the Ratio of actual/Fmax, and storing the result in a variable Ratio;
s3, executing the following steps according to the variable Ratio:
if Ratio is less than 0.9, the Warning and Stop signals are set to 0, which means that the stress of the cable is normal;
if Ratio is greater than or equal to 0.9 and less than 1.0, setting a Warning signal to be 1 to indicate the stress early Warning of the cable, and adjusting the cable through a cable adjusting mechanism without stopping working;
if Ratio is greater than or equal to 1.0, both the Warning signal and the Stop signal are set to 1, which means that the cable is stressed too much, and the operation is stopped and the inspection is performed.
On the other hand, the invention also provides a ship mooring rope tension detecting and automatic adjusting system, which comprises:
the stress detection and adjustment module is used for detecting and adjusting the stress of the mooring ropes at the bow, in the ship and at the stern of the ship;
the cable maximum tension calculation module is used for calculating the maximum tension of the cable;
the acquisition module is used for acquiring the type of the cable and the actual tension of the cable;
the ratio calculating module is used for calculating the ratio between the actual tension of the cable and the maximum tension and automatically adjusting the tension state of the ship cable according to the ratio.
Preferably, the stress detection and adjustment module comprises a cable tightening force feedback device, wherein the cable tightening force feedback device comprises a pressure sensor and a cable adjusting mechanism;
the pressure sensor is used for detecting the tension of the cable;
the cable adjusting mechanism is used for loosening and tightening or releasing the tension degree of the cable.
Preferably, the cable tension control device further comprises a wireless control module, wherein the wireless control module is used for transmitting a cable tension signal and a cable tension adjustment signal.
Preferably, the cable tension monitoring device further comprises an alarm module used for warning when the cable tension exceeds a threshold value.
Preferably, the system further comprises a cloud operation module for transmitting and storing the current ship mooring rope tension data and the remote terminal through signals.
Alarm processing: when the stress state of the cable reaches the early warning or is overlarge, the alarm module can give an alarm to remind an operator to take necessary measures.
In another aspect, a system for detecting and automatically adjusting the tension of a marine line includes the following functional steps:
s1, measuring by a cable tightening force feedback device module: when the PLC controller is started, a command is sent to the cable tightening force feedback module to request measurement. After the cable tightening force feedback device module receives the instruction, the cable tension value measured by the pressure sensor is read and transmitted to the PLC.
S2, cable tightening force adjustment: the PLC controller compares the cable tension value with a set threshold value, and if the cable tension value is larger than the set threshold value, the cable is excessively stressed and needs to be adjusted. The PLC controller will send instructions to the cable adjustment mechanism requesting it to perform cable slackening or tightening. The cable adjusting mechanism can adjust the length of the cable according to the instruction so as to achieve the purpose that the tension value of the cable is stabilized within the set threshold range.
S3, judging the stress state of the cable and carrying out alarm processing: according to the previous judging standard, the PLC controller can judge the stress state of the cable. If the cable is stressed normally, the PLC controller can continue to wait for the next measurement and record the state of the cable. If the cable is subjected to the stress early warning, the PLC controller can send a command to an alarm module of the ship cable operation chamber, send an alarm of the cable subjected to the stress early warning and prompt an operator to pay attention to monitoring the cable state. If the stress of the cable is too large, the PLC controller can send a command to an alarm module of the ship cable operation chamber, send an alarm that the stress of the cable is too large, and stop the operation of the winch adjusting mechanism so as to avoid cable breakage or other dangers. At this time, the operator needs to stop the operation of the ship in time and perform operations such as inspection, maintenance, and replacement of the rope, thereby ensuring the safety of the ship.
Compared with the prior art, the invention has the beneficial effects that:
1. the overall safety is improved: the traditional technology can only judge whether the safety is ensured by manually observing the state of the cable, but the technology can measure the tightening force state of the cable in real time, thereby reducing the possibility of manual misjudgment and missed judgment and improving the safety of ship operation;
2. work efficiency is improved: the state of the cable is required to be observed and regulated manually in the traditional technology, and the technology can improve the working efficiency and accuracy by automatically controlling the tightening force of the cable;
3. labor cost is reduced: the traditional technology requires special staff to observe and adjust the state of the cable, but the technology can realize automatic control, thereby reducing labor cost;
4. improving data reliability: the technology can measure the tightening force state of the cable in real time, and processes and stores data through the PLC, so that the reliability and the precision of the data are improved, and the subsequent data analysis and optimization are facilitated;
5. remote monitoring is realized: the technology can realize remote monitoring and control through wireless connection with the PLC and the operation room, so that the systematic flow work of the whole wharf is more convenient and flexible.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings that are required in the embodiments or the technical descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a modular schematic of the present invention;
FIG. 2 is a modular schematic of the cable tightening force feedback device of the present invention;
FIG. 3 is a functional block programming diagram of the PLC controller for judging the stress state of a cable;
fig. 4 is a programming chart of a comparison instruction and a logic operation instruction for judging the stress state of a cable by the PLC.
Reference numerals: 1. a cable tightening force feedback device; 101. a pressure sensor; 102. a cable adjusting mechanism; 2. a vessel line handling chamber; 201. a terminal; 202. the cloud operation module; 203. an alarm module; 3. a PLC controller; 4. and a wireless control module.
Detailed Description
In order that the above objects, features and advantages of the invention will be readily understood, a more particular description of the invention will be rendered by reference to the appended drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. This invention may be embodied in many other forms than described herein and similarly modified by those skilled in the art without departing from the spirit of the invention, whereby the invention is not limited to the specific embodiments disclosed below;
it should be noted that the terms "first," "second," "symmetric," "array," and the like are used merely for distinguishing between description and location descriptions, and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of features indicated. Thus, a feature defining "first," "symmetry," or the like, may explicitly or implicitly include one or more such feature; also, where certain features are not limited in number by words such as "two," "three," etc., it should be noted that the feature likewise pertains to the explicit or implicit inclusion of one or more feature quantities;
in the present invention, unless expressly stated or limited otherwise, a first feature "up" or "down" a second feature may be the first and second features in direct contact, or the first and second features in indirect contact via an intervening medium. Moreover, a first feature being "above," "over" and "on" a second feature may be a first feature being directly above or obliquely above the second feature, or simply indicating that the first feature is level higher than the second feature. The first feature being "under", "below" and "beneath" the second feature may be the first feature being directly under or obliquely below the second feature, or simply indicating that the first feature is less level than the second feature; meanwhile, all axial descriptions such as X-axis, Y-axis, Z-axis, one end of X-axis, the other end of Y-axis, or the other end of Z-axis are based on a cartesian coordinate system.
In the present invention, unless explicitly specified and limited otherwise, terms such as "mounted," "connected," "secured," and the like are to be construed broadly; for example, the connection can be fixed connection, detachable connection or integrated molding; the connection may be mechanical, direct, welded, indirect via an intermediate medium, internal communication between two elements, or interaction between two elements. The specific meaning of the terms described above in the present invention will be understood by those skilled in the art from the specification and drawings in combination with specific cases.
In the prior art, during the berthing of a ship, the dynamic change of the tightening force of the mooring rope caused by the tide fluctuation and the ship loading and unloading ship body fluctuation ensures that the stress of the mooring rope is dynamically changed, personnel manually adjusts according to the tightness of the mooring rope by experience, the time and the tightening force are uncontrollable, the transition and the loosening of the mooring rope are extremely easy to occur, the ship is influenced by the tide, the crotch distance is large, the impact on the mooring rope and the collapse of the mooring rope occur, and the collision accident caused by the ship drifting in a channel occurs; for this reason, referring to fig. 1-4, the present invention provides a technical solution to solve the above technical problems: a ship mooring rope tension detecting and automatic adjusting system and a specific use method thereof;
in some embodiments of the present application, please refer to fig. 1 in combination: in this embodiment, the manner in which the lines in the bow, in the stern and in the stern of a ship are connected is shown by way of example; wherein, three groups of cables are respectively matched with a cable tightening force feedback device 1, and the cable tightening force feedback device 1 comprises a pressure sensor 101 and a cable adjusting mechanism 102; the cable adjusting mechanism 102 is used for loosening and tightening or winding and unwinding the tension of the cable, and the pressure sensor 101 is used for detecting the tension of the cable; meanwhile, the number of the pressure sensors 101 is two; after the PLC 3 reads the values of the two pressure sensors 101, then a comparison functional block is called to judge whether the current actual tension exceeds 90% of the preset maximum tension, functional blocks for setting alarm and stopping work are respectively called, and corresponding processing is carried out according to the judging result;
in this solution, each pressure sensor 101 first performs a stress evaluation of the current cable; the formula is:
σ＝M*y/I
wherein M is the maximum bending moment born by the rope, y is the distance between the maximum distance central axis of the section of the rope, and I is the moment of inertia of the section of the rope.
According to the above formula, the maximum tensile force Fmax of the cable can be further deduced, and assuming that the maximum bending moment born by the cable is Mmax, the cable diameter is d, and the tensile strength of the rope material is σs, the maximum tensile force of the cable is:
Fmax＝(σs/n)*π*d^2/4
n: the safety coefficient of the cable; σs: tensile strength of the cable material; d: the diameter of the cable;
wherein, actual/Fmax <0.9: the mooring rope is stressed normally and works continuously;
0.9.ltoreq.actual/Fmax <1.0: the stress of the cable is early-warned, and the state of the cable is controlled;
Fatual/Fmax. Gtoreq.1.0: the cable is stressed too much, stops working and is checked;
the above formula cooperates with the PLC controller 3 to monitor and control the actual situation. Specifically, the actual tension value of the cable is fed back to the PLC controller 3 with the pressure sensor 101. The PLC 3 calculates the maximum tension of the cable according to the formula, compares the maximum tension with the actual tension, and controls the starting and stopping of the cable twisting device according to the comparison result, thereby ensuring the safe operation of the cable.
Exemplary embodiments
It will be appreciated that in this embodiment, parameters such as different materials, models and diameters (cm), strands, extensibility (%), tensile strength (ton) of the cables are affected by the above formula, so that these parameters are taken into consideration, and overall adjustment is performed by the formula, so that the determination criteria are applicable to cables of different materials, models and diameters (cm), strands, extensibility (%), tensile strength (ton);
by way of example, assuming that the current cable is a galvanized steel wire rope, its diameter is 1cm, the number of strands is 6, and the elongation is 0.1%; the material is assumed to be common carbon steel, the yield strength is 300MPa, and the safety coefficient n is 5.
According to the formula
Fmax＝(σs/n)*π*d^2/4
The method comprises the following steps:
Fmax＝(300MPa/5)*π*(1cm)^2/4＝942.48N
therefore, when the force applied to the steel wire rope is not more than 942.48N, the stress state is normal, and if the force exceeds the range, the state of the rope needs to be monitored, and if the force is too high, the operation needs to be stopped and the inspection is performed;
in some embodiments of the present application, please refer to fig. 1-4 in combination: the pressure sensor 101 transmits signals to the PLC controller 3 through one wireless control module 4, and the PLC controller 3 transmits signals to the terminal 201 of the ship cable operation chamber 2 through the other wireless control module 4;
the ship cable operating room 2 further comprises an alarm module 203 connected with the terminal 201 for warning;
specific:
(1) The pressure sensor 101 transmits a cable tightening force sensing signal to the PLC 3 through a wireless control module 4;
(2) The PLC 3 transmits the rope tightening force information to the terminal 201 of the ship rope operation chamber 2 through another wireless control module 4;
(3) The terminal 201 records the cable tightening force information in a local memory, and transmits the information to the cloud through the cloud operation module 202;
(4) At the cloud, the cable tightening force information is stored in a database and is further processed and analyzed;
(5) When the cable tightening force exceeds a preset threshold, the cloud end automatically sends early warning information to a specified mobile phone or an email;
(6) When the tightening force of the cable reaches or exceeds the maximum threshold, the cloud end can automatically trigger an alarm processing program to inform relevant personnel to perform corresponding operations, such as stopping work and checking.
By way of example, assuming the cable material is steel strand, model 6 x 37+fc, diameter 3.5cm, strand number 6, elongation 0.5%; according to the formula:
Fmax＝(σs/n)*π*d^2/4
Fmax＝(2160MPa/6)*3.14*(3.5cm)^2/4＝12179.38kN
thus, the maximum load capacity of this cable is 12179.38kN.
When the pressure sensor 101 detects that the rope tightening force exceeds a preset threshold value, a signal is automatically sent to the PLC controller 3, and the PLC controller 3 sends the signal to the terminal 201 of the ship rope operation chamber 2 through the wireless control module 4. The terminal 201 records the cable tightening force information in a local memory, and transmits the information to the cloud through the cloud operation module 202; at the cloud end, the cable tightening force information is stored in a database and further processed and analyzed. If the cable tightening force exceeds a preset threshold, the cloud end automatically sends early warning information to a specified mobile phone or email. If the cable tightening force reaches or exceeds the maximum threshold, the cloud end automatically triggers an alarm processing program to inform relevant personnel to perform corresponding operations, such as stopping work and checking.
In some embodiments of the present application, please refer to fig. 3-4 in combination: for programming of the PLC controller 3, its overall functional operating state is as follows:
a method for detecting and automatically adjusting a ship cable tension, comprising a system according to claims 1-6, characterized in that: one of the PLC controllers (3) is used for detecting the stress conditions of the front, middle and tail parts of one or more ship bodies; wherein:
s1, a PLC (programmable logic controller) 3 reads actual stress actual of a cable and maximum allowable stress Fmax of the cable;
s2, PLC control (3, calculating the Ratio of actual/Fmax and storing the result in a variable Ratio;
s3, the PLC 3 judges whether Ratio is smaller than 0.9, if yes, the Warning and Stop signals are set to 0, and the fact that the stress of the cable is normal is indicated;
s4, if Ratio is greater than or equal to 0.9 and less than 1.0, setting a Warning signal to be 1 to indicate the stress early Warning of the cable, and adjusting the cable through the cable adjusting mechanism 102 without stopping working;
s5, if Ratio is greater than or equal to 1.0, setting both the Warning signal and the Stop signal to be 1, which means that the stress of the cable is overlarge and the cable needs to be stopped and checked.
Specifically, please refer to fig. 3:
s1, defining the following variables:
actual: the actual stress (ton) of the cable;
fmax: the maximum allowable stress (ton) of the cable;
warning: the cable state early warning signal is 1 for early warning of cable stress, and 0 for normal cable stress;
stop: a cable state stop signal, wherein if the cable state stop signal is 1, the cable is stressed too much, the operation is required to be stopped and the cable is checked, and if the cable state stop signal is 0, the cable is stressed normally;
s2, judging the stress state of the cable by using a comparison instruction:
program description:
first row: reading actual stress actual of the cable and maximum allowable stress Fmax of the cable;
second row: calculating the Ratio of actual/Fmax, and storing the result in a variable Ratio;
third row: judging whether Ratio is less than 0.9, if yes, setting the Warning and Stop signals to 0, and indicating that the stress of the cable is normal;
fourth row: if Ratio is greater than or equal to 0.9 and less than 1.0, a Warning signal is set to be 1, so that the cable is subjected to stress early Warning, but the working is not required to be stopped;
fifth line: if Ratio is greater than or equal to 1.0, both the Warning signal and the Stop signal are set to be 1, which means that the cable is stressed too much and the cable needs to be stopped and checked;
specifically, in the functional block diagram, after receiving an external input signal, the main program invokes a functional block for reading the first pressure sensor 101 and a functional block for reading the second pressure sensor 101. After the values of the two sensors are read, a comparison functional block is called to judge whether the current actual tension exceeds 90% of the preset maximum tension (namely, whether the cable stress early warning or the cable stress is overlarge occurs) and then functional blocks for setting an alarm and stopping working are called respectively, and corresponding processing is carried out according to the judging result;
s3, please refer to FIG. 4:
the program consists of three parts, namely an input module, an intermediate processing module and an output module. The specific implementation principle is as follows:
an input module: the input module contains two input signals: actual and Fmax represent the actual and maximum forces of the cable, respectively. These signals may be acquired by sensors or other devices and passed into the PLC through the PLC input module interface;
and an intermediate processing module: the intermediate processing module processes the input signal and compares the processed result with threshold values of 0.9 and 1.0 to judge the stress state of the cable. This module comprises the following steps:
(1) Dividing actual by Fmax to obtain the ratio of the actual stress to the maximum stress of the cable, and storing the ratio into a variable ratio;
(2) Comparing the variable ratio with a threshold value of 0.9 through a comparison instruction (CMP) to obtain a comparison result CMP1;
(3) Comparing the variable ratio with a threshold value of 1.0 through a comparison instruction (CMP) to obtain a comparison result CMP2;
(4) Performing AND operation on the comparison results cmp1 AND cmp2 through a logic operation instruction (AND) to obtain an output signal Fstatus of the stress state;
and an output module: the output module outputs the stress state obtained by the intermediate processing module to external equipment or an interface so as to realize corresponding application functions. In this programming frame, the output module contains only one output signal Fstatus, which is output through the PLC output module interface.
In summary, the programming frame judges the stress state of the cable by acquiring the actual stress and the maximum stress of the cable and comparing the ratio of the actual stress and the maximum stress. The thresholds 0.9 and 1.0 can be adjusted according to actual conditions so as to meet the requirements of different scenes.
By way of example, assuming now that a vessel is resting on a quay, the vessel's mooring line is already deployed; the PLC 3 is required to monitor the stress state of the cable and judge whether the cable is required to be stopped according to the formulated judgment standard; the following are the detailed steps of this simulation scenario:
defining cable parameters: first, various parameters of the cable are defined, including material, diameter, number of strands, elongation and tensile strength. Assuming that the cable material is a steel wire rope, the diameter is 4 cm, 6 strands are provided, the elongation is 0.1%, and the tensile strength is 100 tons;
definition of PLC controller 3: the PLC controller 3 is used to monitor the stress state of the cable. The model number of the selected PLC controller 3 is assumed to be Siemens S7-1200. The stress state of the cable is monitored through the program, and whether the cable needs to be stopped or not is judged according to the judging standard.
Collecting stress data of a cable: a cable tightening force feedback device 1 needs to be installed in the proper position of the cable to collect the stress data of the cable. It is assumed that a pressure sensor 101 is installed for measuring the tension of the cable.
Programming: programming a program in the PLC to monitor the stress state of the cable, wherein the process is as follows:
a. reading cable tension data: the tension data of the cable is read from the pressure sensor.
b. Calculating the maximum tension of the cable: and calculating the maximum tension of the cable according to the material, the diameter, the number of strands and the tensile strength of the cable. From the previous formula, the maximum tension can be obtained as:
Fmax＝(π*d^2/4)*n*σmax
where d is the cable diameter, n is the strand number of the cable, σmax is the tensile strength of the cable.
c. Calculating the actual tension of the cable: dividing the cable tension data read in the step a by the maximum tension of the cable to obtain the actual tension of the cable.
d. Judging the stress state of a cable: and judging the stress state of the cable according to the previous judging standard. If the stress of the cable is normal, the cable can continue to work; if the cable is stressed and early-warned, the state of the cable needs to be monitored; if the cable is stressed too much, it is necessary to stop working and check.
f. Control cable status: and controlling the state of the cable according to the judging result of the stress state of the cable. If the stress of the cable is normal, the PLC 3 can continuously control the working state of the cable; if the cable is stressed and early-warned, the PLC 3 reduces the load of the cable by means of reducing the working load, the working range and the like; if the cable is stressed too much, the PLC 3 can immediately stop the working state of the cable.
g. And outputting alarm information: if the stress state of the cable is early-warning or overlarge, the PLC 3 outputs alarm information through an alarm module 203, an alarm lamp and the like so as to be convenient for relevant personnel to process in time.
The plc controller 3 sends a signal to the terminal 201 of the vessel line operating room 2 via the wireless control module 4. The terminal 201 records the cable tightening force information in a local memory, and transmits the information to the cloud through the cloud operation module 202; at the cloud end, the cable tightening force information is stored in a database and further processed and analyzed. If the cable tightening force exceeds a preset threshold, the cloud end automatically sends early warning information to a specified mobile phone or email. If the cable tightening force reaches or exceeds the maximum threshold, the cloud end automatically triggers an alarm processing program to inform relevant personnel to perform corresponding operations, such as stopping work and checking.
In the scheme, all electric elements of the whole device are powered by mains supply; specifically, the electric elements of the whole device are in conventional electrical connection with the commercial power output port through the relay, the transformer, the button panel and other devices, so that the energy supply requirements of all the electric elements of the device are met.
Preferably, the PLC controller 3 is further configured with an independent wireless transmitting module and a wireless receiving module, and the independent wireless transmitting module sends out an operating or suspending command signal to be transmitted to the wireless receiving module through a medium; when necessary, a worker can input an instruction to the wireless transceiver module through a background wireless remote control device so as to remotely control a controller, and further, all electric elements of the device are remotely controlled to drive according to a related driving mode; meanwhile, the wireless transceiver module can also transmit the relevant coefficients or other information detected by the relevant sensing elements or the servo driving element system in the device to the background staff.
In this scheme, the related conventional technology has the concept of a single-strand cable tension node, and based on different stress conditions, the related conventional technology has a standard response table, as follows:
based on the above, in this embodiment, parameters such as different materials, models and diameters (cm), strand numbers, extensibility (%), tensile strength (tons) of the cables are affected by the above formulas, so that these parameters are taken into consideration, and overall adjustment is performed by the present formulas, so that the determination criteria are applicable to cables of different materials, models and diameters (cm), strand numbers, extensibility (%), tensile strength (tons); therefore, the numerical value of the tension node of the single-strand cable in the prior art can also be carried out with and solved by corresponding formulas, and corresponding driving mode operation is carried out according to the working flow of the single-strand cable;
the process of operating the "tight mode" in combination with the above-described method for detecting and automatically adjusting the tension of the ship's line is exemplified as follows:
(1) Cable tightening force feedback 1 module measurement:
a. the pressure sensor 101 measures the tightening force of the cable in real time and transmits the data to the PLC controller 3 through the wireless control module.
And b, the PLC 3 processes the pressure data and calculates the tightening force F of the cable.
And c, the PLC 3 transmits the processed data to a terminal of a ship mooring rope operation room through another wireless control module for monitoring by staff.
(2) And (5) cable tightening force adjustment:
a. when the tightening force F of the cable exceeds a preset threshold, the PLC controller 3 automatically activates the cable tightening force adjustment function.
The plc controller 3 calculates the length difference deltal of the cable to be adjusted according to the preset tightening force target value Ftarget.
And c, the PLC 3 adjusts the cable length by controlling the cable adjusting mechanism until the cable reaches a preset tightening force target value Ftarget.
d. In the process of cable tightening force adjustment, the PLC 3 can monitor the cable tightening force change in real time and prevent exceeding a preset safety threshold.
(3) Cable tightening mode operation:
a. when a lashing operation is required, the operator selects "start lashing mode" on the terminal 201 of the vessel's line operation room 2.
The plc controller 3 will set the tightening force target value of the cable to the maximum allowable value Fmax.
And c, the PLC 3 gradually tightens the cable by controlling the winch adjusting mechanism until the tightening force of the cable reaches a preset target value Fmax.
d. During the process of the cable tightening mode operation, the PLC 3 can monitor the change of the tightening force of the cable in real time, and prevent the tightening force from exceeding a preset safety threshold.
(4) Judging and alarming the stress state of the cable:
a. based on the previous determination criteria, the PLC controller 3 determines the stress state of the cable. If the stress of the cable is normal, the cable can continue to work; if the cable is stressed and early-warned, the state of the cable needs to be monitored; if the cable is stressed too much, it is necessary to stop working and check.
b. If the cable is abnormal, the PLC 3 sends out an alarm signal and transmits the signal to an alarm module of the ship cable operation room through the wireless control module. The alarm module can send out audible and visual alarm prompt to remind an operator to timely treat the cable problem.
For the situation that the stress of the cable is too large, the PLC 3 can automatically stop the operation of the cable winch, so as to protect the cable and the cable winch; at this time, the cable state is checked to find out the cause of the problem, and corresponding measures are taken to solve the problem. When the cable tightening force is adjusted and the cable tightening mode is operated, the state of the cable needs to be monitored and recorded in real time so as to find and solve the problem in time.
Through the measures, the damage of the mooring rope and the occurrence of accidents can be greatly reduced, the service life and the safety performance of the mooring rope are improved, and more reliable guarantee is provided for offshore operation.
It should be noted that in this embodiment, since the pressure sensor 101 may have problems such as damage, error, etc., inaccuracy of measurement data may be caused. Therefore, a conventional sensor fault detection mechanism needs to be added into the system, and a sensor backup is set to ensure the accuracy of data.
It should be noted that, in this embodiment, during the transmission, due to signal interference, transmission distance, etc., a signal loss may occur, which affects timely transmission of data. For this reason, it is necessary to add a conventional signal retransmission mechanism to the system to ensure stable transmission of data.
It should be noted that, in this embodiment, the PLC controller 3 is the core of the entire system, and failure of the entire system may be caused upon occurrence of a failure. Therefore, an automatic backup mechanism of the PLC controller 3 needs to be added to the system, and a corresponding alarm mechanism is set to ensure stable operation of the system.
It should be noted that in this embodiment, the stable operation of the entire system requires power support, and once a power failure occurs, the entire system may fail. Therefore, a UPS backup power supply is added into the system, so that uninterrupted power supply of the system is ensured in a short time, and data loss is avoided.
It should be noted that in the present embodiment, in actual operation, an operation error, such as a malfunction, may occur. Therefore, professional training and operation guidance are required to be carried out on operators, and corresponding alarm mechanisms are set so as to prevent accidents caused by misoperation.
The technical features of the above-described embodiments may be combined in any manner, and for brevity, all of the possible combinations of the technical features of the above-described embodiments may not be described, however, they should be considered as the scope of the present description as long as there is no contradiction between the combinations of the technical features.
Example 1
In order to make the above-described embodiments of the present invention more comprehensible, embodiments accompanied with the present invention are described in detail by way of example. The present invention may be embodied in many other forms than described herein and similarly modified by those skilled in the art without departing from the spirit of the invention, so that the invention is not limited to the embodiments disclosed below.
The present embodiment is based on the relevant principles described in the above detailed description, where exemplary applications are:
s1, cable tightening force measurement: the cable tightening force feedback device 1 module measures the cable tightening force through the pressure sensor 101 and sends the measured value to the PLC controller through the wireless control module for processing.
S2, cable tightening force adjustment: the PLC 3 compares the received cable tightening force measured value with a preset value, and if the cable tightening force measured value has deviation, the wireless control module sends a command to control the cable adjusting mechanism to carry out cable winding and unwinding adjustment so as to achieve the preset tightening force state.
S3, cable tightening mode operation: according to the requirement, after the PLC 3 receives the instruction for starting the cable tightening mode, the wireless control module sends the instruction to control the cable adjusting mechanism to carry out the winding and unwinding adjustment of the cable until the cable reaches the optimal stress state.
S4, judging and processing the cable state: the cable tightening force feedback device 1 module continuously measures the cable tightening force and sends the measured value to the PLC controller 3 for processing through the wireless control module 4. When abnormal conditions (such as overlarge stress and early warning) occur on the mooring rope, the PLC 3 can send out an alarm signal, and the wireless control module 4 sends information to the alarm module 203 of the ship mooring rope operation room 2 for processing.
S5, information recording and analysis: the PLC 3 sends the cable tightening force measured value and the cable state information to the terminal 201 of the ship cable operation room 2 through the wireless control module 4, and the information is transmitted to the cloud end through the cloud end operation module 202 for recording and analysis.
The above examples merely illustrate embodiments of the invention that are specific and detailed for the relevant practical applications, but are not to be construed as limiting the scope of the invention. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the invention, which are all within the scope of the invention. Accordingly, the scope of protection of the present invention is to be determined by the appended claims.
Example two
In order to make the above-described embodiments of the present invention more comprehensible, embodiments accompanied with the present invention are described in detail by way of example. The present invention may be embodied in many other forms than described herein and similarly modified by those skilled in the art without departing from the spirit of the invention, so that the invention is not limited to the embodiments disclosed below.
The present embodiment is based on the relevant principles described in the above detailed description, where exemplary applications are:
s1, measuring by a cable tightening force feedback device 1:
a. the pressure sensor 101 acquires cable tension information and transmits a signal to the PLC 3 through the wireless control module 4;
the PLC 3 receives the signals and calculates the tension value of the cable;
the plc controller 3 transmits the line tension value to the terminal 201 of the ship line operating room.
S2, cable tightening force adjustment:
a. terminal 201 receives the cable tension value and displays it on the operator interface;
b. an operator adjusts the cable tension to an optimal stress state by controlling the cable adjustment mechanism 102 on the interface;
s3, judging the state of the cable:
a. the pressure sensor 101 continues to monitor the cable tension value and transmits data to the PLC controller 3 through the wireless control module 4;
the PLC 3 analyzes the tension value of the cable in real time and judges whether the cable is in a normal state or not;
c. if the cable is under normal force, the PLC 3 continues to transmit the tension value to the terminal 201;
d. if the cable is abnormal, the PLC 3 sends out an alarm signal, and the signal is transmitted to an alarm module 203 of the ship cable operation room through the wireless control module 4;
s4, starting a cable tightening mode:
a. an operator starts a cable tightening mode through a button on a control interface;
after receiving the starting signal, the PLC 3 controls the cable adjusting mechanism 102 to tighten or loosen the cable so as to achieve the optimal stress state;
s5, communicating the ship mooring rope operating room with the cloud:
a. the terminal 201 transmits cable tension data to the cloud through the cloud operation module 202;
b. and the cloud performs analysis processing on the data and provides relevant analysis results and guidance suggestions.
S6, detecting the quality of a cable:
a. the quality detection of the cable is carried out regularly, wherein the quality detection comprises indexes such as appearance, strength, elongation and the like;
b. the detection result is fed back to the PLC 3 so as to adjust the state of the cable and prevent the breakage of the cable in time.
S7, troubleshooting:
a. when an abnormal condition occurs in the system, the PLC 3 records and alarms;
b. the operator can view the alarm information through the terminal 201,
c. and an operator checks abnormal conditions according to the alarm information and checks whether the equipment operates normally.
d. If the equipment runs normally, an operator can check whether the equipment such as a sensor, an actuator and the like is damaged or needs to be replaced according to the prompt information in the alarm information;
e. if the equipment fails, an operator can repair or replace the equipment;
f. after troubleshooting, the operator needs to restart the system and perform a test to ensure that the system can operate properly.
The above examples merely illustrate embodiments of the invention that are specific and detailed for the relevant practical applications, but are not to be construed as limiting the scope of the invention. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the invention, which are all within the scope of the invention. Accordingly, the scope of protection of the present invention is to be determined by the appended claims.
Claims (10)
1. The ship cable tension detection and automatic adjustment method is characterized by comprising the following steps of:
s1, stress detection: and adopting a stress detection formula to detect stress of the mooring ropes at the bow, in the ship and at the stern of the ship, wherein the stress detection formula is as follows:
σ＝M*y/I
sigma: cable stress (Pa); m: cable bending moment (n·m); y: distance (m) from any point on the cable cross section to the neutral axis; i: moment of inertia (m) 4 )
S2, deducing the maximum tension Fmax of the cable, and adopting the following formula:
Fmax＝(σs/n)*π*d^2/4
n: the safety coefficient of the cable; σs: tensile strength of the cable material; d: the diameter of the cable;
s3, determining an actual tension force actual of the cable according to the cable tension node value, calculating a ratio actual/Fmax of the cable tension to a maximum tension Fmax, and executing the following operations according to the ratio:
the ratio is smaller than 1, and the work is continued;
the ratio is greater than or equal to 1, and the work is stopped.
2. The method for detecting and automatically adjusting the tension of a ship cable according to claim 1, wherein the method comprises the following steps: in the step S1, a cable tightening force feedback device is adopted to detect the stress of a cable, wherein:
the cable tightening force feedback device comprises a pressure sensor and a cable adjusting mechanism;
the pressure sensor is used for detecting the tension of the cable;
the cable adjusting mechanism is used for loosening and tightening or releasing the tension degree of the cable.
3. The method for detecting and automatically adjusting the tension of a ship cable according to claim 2, wherein the method comprises the following steps: when the tension of the stranded cable is adjusted, the stranded cable adjusting mechanism adopts a PLC controller to control the start and stop of the stranded cable device, and adopts a wireless control module to perform signal interaction with a ship cable operation room, wherein the method comprises the following steps:
the pressure sensor transmits signals to the PLC through one wireless control module, and the PLC transmits signals to the terminal of the ship mooring rope operation chamber through the other wireless control module.
4. The method for detecting and automatically adjusting the tension of a ship cable according to claim 1, wherein the method comprises the following steps: in the step S3, when the ratio of the cable tension to the maximum tension Fmax is smaller than 1, the method further includes:
actual/Fmax <0.9: the mooring rope is stressed normally and works continuously;
0.9.ltoreq.actual/Fmax <1.0: the stress of the cable is early-warned, and the state of the cable is controlled.
5. A method for detecting and automatically adjusting the tension of a ship cable according to claim 3, wherein: when calculating the ratio of the cable tension to the maximum tension Fmax, the method further comprises the following steps:
the PLC detects the stress conditions of the front, middle and tail parts of one or more hulls, and specifically comprises the following steps:
s1, reading actual stress actual of a cable and maximum allowable stress Fmax of the cable;
s2, calculating the Ratio of actual/Fmax, and storing the result in a variable Ratio;
s3, executing the following steps according to the variable Ratio:
if Ratio is less than 0.9, the Warning and Stop signals are set to 0, which means that the stress of the cable is normal;
if Ratio is greater than or equal to 0.9 and less than 1.0, setting a Warning signal to be 1 to indicate the stress early Warning of the cable, and adjusting the cable through a cable adjusting mechanism without stopping working;
if Ratio is greater than or equal to 1.0, both the Warning signal and the Stop signal are set to 1, which means that the cable is stressed too much, and the operation is stopped and the inspection is performed.
6. A marine line tension detection and automatic adjustment system, comprising:
the stress detection and adjustment module is used for detecting and adjusting the stress of the mooring ropes at the bow, in the ship and at the stern of the ship;
the cable maximum tension calculation module is used for calculating the maximum tension of the cable;
the acquisition module is used for acquiring the type of the cable and the actual tension of the cable;
the ratio calculating module is used for calculating the ratio between the actual tension of the cable and the maximum tension and automatically adjusting the tension state of the ship cable according to the ratio.
7. The marine rope tension detection and automatic adjustment system of claim 6, wherein: the stress detection and adjustment module comprises a cable tightening force feedback device, wherein the cable tightening force feedback device comprises a pressure sensor and a cable adjusting mechanism;
the pressure sensor is used for detecting the tension of the cable;
the cable adjusting mechanism is used for loosening and tightening or releasing the tension degree of the cable.
8. The marine rope tension detection and automatic adjustment system of claim 6, wherein: the cable tension control device further comprises a wireless control module, wherein the wireless control module is used for transmitting a cable tension signal and a cable tension adjustment signal.
9. The marine rope tension detection and automatic adjustment system of claim 6, wherein: the cable tension monitoring device also comprises an alarm module which is used for warning when the cable tension exceeds a threshold value.
10. The marine rope tension detection and automatic adjustment system of claim 6, wherein: the system also comprises a cloud operation module which is used for transmitting and storing the current ship cable tension data and the remote terminal.
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