CN116756977A - Ship optimal anchor position selection method and device, electronic equipment and storage medium - Google Patents
Ship optimal anchor position selection method and device, electronic equipment and storage medium Download PDFInfo
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Abstract
The application discloses a ship optimal anchor position selection method, a device, electronic equipment and a storage medium, wherein the method comprises the following steps: acquiring water area environment information, maximum allowable hawse length and ship geometric information of an anchor land, and determining an anchor method and a water area scale model of the safe anchor position of the ship; dividing the area of the anchor ground water area by adopting a preset grid method to obtain a plurality of anchor ground subareas, determining the minimum safe anchoring range of the ship according to the distance between the ship safe anchoring water area scale model and the anchored ship anchor position, and obtaining all feasible anchor positions; based on the minimum safe anchoring range and all feasible anchor positions, taking the anchoring ground water area boundary and the anchoring safety water area boundary of the anchored ship as boundaries, and adopting a preset radius extension method to determine the optimal anchor position of all the feasible anchor positions of the ship. The application solves the problem that when the ship is anchored, the strategy of selecting the optimal anchoring position according to the plane arrangement of the ship anchoring, the anchoring ground water depth and the hydrologic environment of the water area is not needed.
Description
Technical Field
The application relates to the technical field of intelligent ships, in particular to a ship optimal anchor position selection method and device, electronic equipment and a storage medium.
Background
In recent years, students have conducted a great deal of autonomous navigation research on small-sized surface vessels and have achieved great results, but the research on large-sized cargo vessels as maritime subjects has been somewhat insufficient. The autonomous cargo-transporting vessel guideline defines vessels that can operate independently without human intervention to varying degrees and that can ensure safety and prevent environmental pollution in five scenarios of navigation at sea, departure from port, approach/departure, anchoring and cargo handling.
At present, part of scientific research institutions develop cargo ship autonomous navigation research in open water and coastal water environments, and develop research on the problems of path optimization and track control of ships in leaning and off-berthing, but less research on anchoring scenes. The anchoring is taken as an important link of the full path of the ship, and the anchoring research is carried out, so that important technical support can be provided for realizing the autonomy of the cargo ship. The anchoring operation has strong practicality and complex process, and when the ship enters the ground anchoring water area, the ship speed is rapidly reduced, and the maneuvering performance is rapidly reduced.
In practice, when the cargo ship makes a collision avoidance and anchoring decision, the cargo ship mainly depends on navigation experience of a driver, and anchor chain breakage and ship collision accidents caused by incorrect anchor position selection, anchor running and the like often occur due to human errors. Therefore, it is necessary to develop an optimal anchor position decision study based on the ship anchoring practice in combination with the characteristics of the ground water area and the anchoring ship information.
Disclosure of Invention
The application aims to overcome the technical defects, and provides a method, a device, electronic equipment and a storage medium for selecting the optimal anchor position of a ship, which solve the technical problem that in the prior art, the optimal anchor position strategy is not selected according to the plane arrangement, the anchor ground water depth and the hydrologic environment of a water area when the ship is anchored.
In order to achieve the technical purpose, the application adopts the following technical scheme:
in a first aspect, the present application provides a method for selecting an optimal anchor position of a ship, including:
acquiring anchor ground water area environment information, maximum allowable chain length and ship geometric information, wherein the water area environment information comprises anchor ground water area, water depth and substrate;
based on the maximum allowable chain length, determining a preset anchoring method and a safe anchor water area scale model of the ship according to the water area environment information of the anchor and the geometric information of the ship;
dividing the area of the anchor ground water area by adopting a preset grid method to obtain a plurality of anchor ground subareas; based on the anchor ground subareas, determining the minimum safe anchoring range of the ship and the anchoring water area range of the anchored ship according to the ship safe anchor position water area scale model, the anchor ground water depth and the substrate;
and based on the minimum safe anchoring range of the ship, taking the anchoring boundary of the anchored ship and the anchoring water area boundary as boundaries, and adopting a preset radius extension method to determine all feasible anchoring positions, the maximum safe anchoring range and the optimal anchoring position of the ship.
Further, the water area environment information of the anchor ground comprises the water depth, the substrate and the area of the water area of the anchor ground, and the preset anchoring method is determined according to the water area environment information of the anchor ground and the geometric information of the ship based on the maximum allowable chain length, and the method comprises the following steps:
based on the ship draft, judging the anchoring mode of ship anchoring as deep water anchoring or shallow water anchoring according to the water depth of the water area;
if the anchoring mode is deepwater anchoring, judging the relation between the water depth of the water area and the anchor chain length, and if the water depth of the water area does not exceed the anchor chain length, the anchoring method is deepwater anchoring;
if the anchoring mode is shallow water anchoring, judging whether the convoluted water area is sufficient, and if so, adopting a single anchoring method; if insufficient, a double anchoring method is adopted.
Further, the water area environment information of the anchor ground also comprises anchor ground substrate information, wind load information and stream load information; the ship geometric information comprises fluke weight, fluke type, anchor chain diameter, ship length, ship draft and displacement; the determining the ship safety anchor water area scale model comprises the following steps:
according to the water area environment information of the anchored ground and the ship geometric information, determining the environment disturbance resultant force at the anchoring moment and the anchoring force of the ship;
determining an actual hawser length of the vessel based on the maximum allowable hawser length from the environmental disturbance resultant force and a mooring force of the vessel;
and determining the area of the ship anchoring water according to the actual chain outgoing length of the ship.
Further, the method for dividing the area of the anchor ground water area by adopting a preset grid method to obtain a plurality of anchor ground subareas includes:
dividing the area of the anchor ground water area by a preset grid method according to the set side length to obtain a plurality of anchor ground subareas.
Further, the determining all possible anchor positions of the ship based on the minimum safe anchoring range of the ship comprises:
taking any one of the anchor ground subareas as a preselected anchor position, wherein the preselected anchor position is positioned in an idle water area;
determining a preselected anchor position safety water area boundary according to the actual chain length and the ship anchoring water area range;
determining whether the preselected anchor is a feasible anchor according to the distance between the preselected anchor safety water area boundary and the water area boundary occupied by all anchored vessels;
traversing a plurality of the anchor sub-regions, and determining all feasible anchor positions in the plurality of anchor sub-regions.
Further, the preselected anchor and the safe mooring area are located entirely within the anchor floor water area.
Further, the determining the maximum safe anchoring range of all possible anchor positions of the ship by adopting a preset radius extension method with the anchoring boundary of the anchored ship and the anchoring water area boundary as boundaries based on the minimum safe anchoring range comprises the following steps:
gradually increasing the theoretical anchoring area of the feasible anchor by taking any one of the feasible anchor as a center and taking the anchoring boundaries of all the anchored vessels as boundaries until the theoretical anchoring area exceeds the area of the anchored water area or abuts against the anchoring boundary of the anchored vessel, and determining the safe anchoring range of the feasible anchor;
traversing all the feasible anchor positions, and determining the safe anchoring ranges of a plurality of the feasible anchor positions;
and taking the maximum safe anchoring range corresponding to the plurality of feasible anchoring positions as the maximum safe anchoring range of the ship, and determining the optimal anchoring position according to the maximum safe anchoring range of the ship.
In a second aspect, the present application also provides a device for selecting an optimal anchor position of a ship, comprising:
the system comprises an acquisition module, a control module and a control module, wherein the acquisition module is used for acquiring anchor ground water area environment information, maximum allowable chain length and ship geometric information, wherein the water area environment information comprises anchor ground water area, water depth and substrate;
the determining module is used for determining a preset anchoring method and a safe anchor water area scale model of the ship according to the water area environment information of the anchor and the geometric information of the ship based on the maximum allowable chain length;
the minimum safe anchoring range determining module is used for dividing the area of the anchor ground water area by adopting a preset grid method to obtain a plurality of anchor ground subareas; based on the anchor ground subareas, determining the minimum safe anchoring range of the ship and the anchoring water area range of the anchored ship according to the ship safe anchor position water area scale model, the anchor ground water depth and the substrate;
and the maximum safe anchoring range determining module is used for determining all feasible anchoring positions, the maximum safe anchoring range and the optimal anchoring position of the ship by taking the anchoring boundary of the anchored ship and the anchoring ground water area boundary as boundaries based on the minimum safe anchoring range of the ship and adopting a preset radius extension method.
In a third aspect, the present application also provides an electronic device, including: a processor and a memory;
the memory has stored thereon a computer readable program executable by the processor;
the processor, when executing the computer readable program, implements the steps in the ship optimal anchor selection method as described above.
In a fourth aspect, the present application also provides a computer readable storage medium storing one or more programs executable by one or more processors to implement the steps in a method of vessel optimal anchor selection as described above.
Compared with the prior art, the optimal anchor position selection method, the optimal anchor position selection device, the optimal anchor position selection electronic equipment and the optimal anchor position selection storage medium for the ship are characterized in that firstly, the water area environment information of the anchor ground, the maximum allowable chain length and the geometric information of the ship are acquired, wherein the water area environment information comprises the area of the anchor ground water area, the water depth and the substrate; then, based on the maximum allowable chain length, determining a preset anchoring method and a safe anchor water area scale model of the ship according to the water area environment information of the anchor and the geometric information of the ship; then, carrying out regional division on the area of the anchor ground water area by adopting a preset grid method to obtain a plurality of anchor ground subareas; based on the anchor ground subareas, determining the minimum safe anchoring range of the ship according to the distance between the ship safe anchoring water area scale model and the anchored ship anchoring; and finally, based on the minimum safe anchoring range, taking the anchoring boundary of the anchored ship and the anchoring water area boundary as boundaries, and adopting a preset radius extension method to determine the maximum safe anchoring range of all feasible anchor positions of the ship, thereby obtaining the optimal anchor position of the ship. The application integrates the water area environment information factors, the ship geometric parameter conditions and the anchored ship in the safe anchoring range, and determines the optimal anchoring position of the ship by adopting a grid mode, thereby solving the problem that in the prior art, the strategy of selecting the optimal anchoring position according to the plane arrangement of the ship anchoring, the anchoring ground water depth and the water area hydrologic environment is not adopted when the ship is anchored.
Drawings
FIG. 1 is a flow chart of an embodiment of a method for selecting an optimal anchor for a vessel according to the present application;
FIG. 2 is a schematic view of a single-mooring vessel in a method for selecting an optimal mooring position for a vessel according to the present application;
FIG. 3 is a flow chart of determining a ship anchoring method in the ship optimal anchor position selection method provided by the application;
FIG. 4 is a schematic view of an anchor ground plane arrangement in the method for selecting an optimal anchor position of a ship provided by the application;
FIG. 5 is a flowchart of an embodiment of step S103 in the method for selecting an optimal anchor position for a ship according to the present application;
FIG. 6 is a flowchart of an embodiment of step S104 in the method for selecting an optimal anchor position for a ship according to the present application;
FIG. 7 is a schematic view of an embodiment of a ship's optimum anchor selection device provided by the present application;
FIG. 8 is a schematic diagram of an operating environment of an embodiment of an electronic device provided by the present application.
Detailed Description
The present application will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present application more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the application.
The embodiment of the application provides a method for selecting an optimal anchor position of a ship, referring to fig. 1, comprising the following steps:
s101, acquiring water area environment information of an anchor, the maximum allowable chain length and ship geometric information, wherein the water area environment information comprises the area of the anchor, the water depth and the substrate;
s102, determining a preset anchoring method, a safe anchor water area scale model of the ship and a safe anchor water area scale model of the anchored ship based on the maximum allowable chain length according to the water area environment information of the anchor and the geometric information of the ship;
s103, carrying out regional division on the anchor ground water area by adopting a preset grid method to obtain a plurality of anchor ground subareas; based on the anchor ground subareas, determining the minimum safe anchoring range of the ship according to the distance between the ship safe anchoring water area scale model and the anchored ship anchoring;
s104, determining the maximum safe anchoring range of the ship by taking the anchoring boundary of the anchored ship and the anchoring water area boundary as boundaries based on the minimum safe anchoring range and adopting a preset radius extension method.
According to the embodiment of the application, the anchored ship in the water area environment information factors, the ship geometric parameter conditions and the safe anchoring range is synthesized, and the optimal anchoring position of the ship is determined in a grid mode, so that the problem that in the prior art, when the ship is anchored, a strategy of selecting the optimal anchoring position according to the plane arrangement of the ship anchoring, the anchoring ground water depth and the water area hydrologic environment is solved.
Further, taking a single anchoring method as an example, explaining a water area scale model of the safety anchor of the ship, as shown in fig. 2, the ship takes the anchor as a center, and takes the sum of the actual chain length and the hull length as a radius, so that the formed circular areas are all the safety anchor water areas of the ship. The actual outgoing chain length is related to the water area environment information and the ship geometric information, so that the actual outgoing chain length of the ship can be obtained by analyzing the water area environment information and the ship body geometric information of the ship anchoring area, and the ship safety anchor water area scale model is constructed through the actual outgoing chain length of the ship.
It is to be noted that, by acquiring data of electronic sea chart, radar, AIS and meteorological sensing equipment of the anchor ground water area; and constructing the anchor ground water area traffic and meteorological environment according to the electronic chart, the radar, the AIS and the meteorological sensing equipment data, wherein the anchor ground water area environment information model comprises anchor ground hydrologic environment and anchor berth ship set parameter information.
In some embodiments, the anchor water area environment information includes anchor water depth, substrate and anchor water area, and the determining a preset anchoring method based on the maximum allowable chain length according to the anchor water area environment information and ship geometry information includes:
based on the ship draft, judging the anchoring mode of ship anchoring as deep water anchoring or shallow water anchoring according to the water depth of the water area;
if the anchoring mode is deepwater anchoring, judging the relation between the water depth of the water area and the anchor chain length, and if the water depth of the water area does not exceed the anchor chain length, the anchoring method is deepwater anchoring;
if the anchoring mode is shallow water anchoring, judging whether the convoluted water area is sufficient, and if so, adopting a single anchoring method; if insufficient, a double anchoring method is adopted.
In this embodiment, the set depth of the water area is used as the criterion of the deep water and the shallow water, and referring to fig. 3, the depth of the water area is 25m in this embodiment. When the anchoring area is a deepwater area, judging whether the area is a safe anchoring area by comparing the depth of the anchoring ground with the length of the anchor chain, if the depth of the anchoring ground is larger than the length of the anchor chain, indicating that the area is not suitable for anchoring, and if the depth of the anchoring ground is smaller than the length of the anchor chain, adopting a deepwater anchoring method to anchor the ship.
Further, if the anchoring area is a shallow water area, judging whether the convoluted water area is sufficient, if so, adopting a single anchoring method, and if not, adopting a double anchoring method.
In some embodiments, the water environmental information of the anchor further includes anchor ground substrate information, wind load information, and stream load information; the ship geometric information comprises fluke weight, fluke type, anchor chain diameter, anchor chain length, anchor chain draft and anchor chain displacement; the determining the ship safety anchor water area scale model comprises the following steps:
according to the water area environment information of the anchored ground and the ship geometric information, determining the environment disturbance resultant force at the anchoring moment and the anchoring system force of the ship;
determining an actual hawser length of the vessel based on the maximum allowable hawser length, based on the resultant environmental disturbance force and the mooring system force of the vessel;
and determining the area of the ship anchoring water according to the actual chain outgoing length of the ship.
In the present embodiment, the resultant force T of the environmental disturbance t The wind load comprises wind load force, flow load force and the like, wherein the mathematical model of the wind load is as follows:
wherein X is wind 、Y wind Wind forces acting on the bow and the right and left directions in the coordinate system of the appendage, ρ air Indicating air density, U R Is the relative wind speed, which is the vector sum of the true wind and the ship wind, A lp And A op Representing the area of the side projection and orthographic projection of the ship above sea level, C wx And C wy Respectively representing longitudinal and transverse wind pressure coefficients;
the mathematical model of the flow load is:
wherein X is current 、Y current The flow load forces applied to the bow and the right and left directions in the attached body coordinate system are respectively U c Is the flow rate, theta c Is the direction of the flow rate; ρ w Is water density; s is the wet surface area of the ship, and can be calculated by adopting a Taylor formula; c (C) xca 、C xcb The friction coefficient and the longitudinal resistance coefficient of the longitudinal surface of the ship body are respectively; c (C) yc The coefficient of resistance of the transverse flow force applied to the ship; c (C) prop And A P The resistance coefficient and the leaf surface expansion area of the propeller are respectively.
The mooring force of the mooring is provided by the fluke and the bedrock chain, and is calculated as follows:
wherein P is A 、P C Mooring forces, w, provided for fluke, bed anchor chain, respectively A Lambda is the weight of fluke A Is the holding power coefficient of the anchor, w C Weight of anchor chain per unit length lambda A Is the gripping force coefficient of the sleeper-bottom anchor chain, S 2 Is the length of the bedding anchor chain.
Based on the fact that the ship mooring force should not be smaller than the acting force of the environmental disturbance, the following steps are:
the overhang length of the vessel is calculated as:
wherein H is A For the vertical height of the anchor hole of the ship to the sea bottom, T t Is the resultant force of disturbance such as wind, flow and the like of the ship in the anchoring environment, w A Is the fluke weight.
The hawse length of the moored vessel combined with the navigation experience:
and further calculating the water area occupied by the anchored ship, wherein the water area occupied by the anchored ship is represented as follows:
[X B -(X T +(0.5L T +S)·cos(θ a -π))] 2 +[Y B -(Y T +(0.5L T +S)·sin(θ a -π))] 2 ≤(L T +S) 2
wherein h represents the depth of the anchor earth water, (X) T ,Y T ) For the position of the moored vessel, θ a Is the direction of the resultant force of wind, flow and other environments, L T For mooring a ship, (X) B ,Y B ) Representation ofThe safe water area position is needed for anchoring.
In some embodiments, the performing area division on the anchor ground water area by using a preset grid method to obtain a plurality of anchor ground subareas includes:
dividing the area of the anchor ground water area by a preset grid method according to the set side length to obtain a plurality of anchor ground subareas.
In the present embodiment, the anchor is divided into m grids of the same size (e.g., square grids with a side length of 10 m) by using the grid methodRepresenting the position at the centre of the grid, the water depth and the seabed matrix.
It should be noted that the boundary shape of the anchor area may take various forms, as shown in fig. 4, and when the anchor area is not fixed with an anchor point or an anchor range as shown in fig. 4abc, the entire area may be optionally anchored. When the anchor areas are divided in the form of a grid as shown in fig. 4d, the vessels are anchored in the corresponding area sequence.
Further, the anchoring area is divided into a plurality of sub-anchoring areas by a grid method, so that the anchoring range is gradually enlarged in a dot form, and the optimal anchoring position is determined.
In some embodiments, referring to fig. 5, determining the minimum safe anchoring range of the ship based on the plurality of anchor ground subregions according to the distance between the ship safe anchoring water scale model and the anchored ship comprises:
s501, taking any one of the anchor ground subareas as a preselected anchor position, wherein the preselected anchor position is positioned in an idle water area;
s502, determining a preselected anchor position safety water area boundary according to the actual chain length and the ship anchoring water area range;
s503, determining whether the preselected anchor is a feasible anchor according to the distance between the preselected anchor safety water area boundary and the water area boundary occupied by all anchored vessels;
s504, traversing a plurality of anchor ground subareas, determining all feasible anchor positions in the anchor ground subareas, and determining the minimum safe anchoring range of the ship.
In a specific embodiment, first, selecting preselected anchor positions one by one according to m anchor positions divided by the grid method, so as to obtain the length L of the ship O And minimum bedding chain length S 2 And catenary length S 1 Constructing a safety anchor water area scale based on a preselected anchor; then combining the preselected anchor position and the anchored ship occupied water area model to respectively calculate the nearest distance between the boundary of the preselected anchor position and the boundary of the anchored ship occupied water area; if the safe water area boundary of the preselected anchor position is positioned outside the occupied water area boundary of all the anchored vessels and is in the anchor ground water area, recording the preselected anchor position as a feasible anchor position of the vessel, otherwise, recording the preselected anchor position as an infeasible anchor position; traversing all grid anchor bits, and calculating and recording a set of all feasible anchor bits.
The free water area is an area outside the water area occupied by the anchored vessel within the safe anchoring range.
In some embodiments, the preselected anchor locations are all located in the anchor floor water area.
In this embodiment, the preselected anchor is reselected when a portion of the area of the preselected anchor is outside the area of the body of anchor water.
In some embodiments, referring to fig. 6, determining the maximum safe anchoring range of the ship by using a preset radius-increasing method with the anchoring boundary of the anchored ship and the anchoring water boundary as boundaries based on the minimum safe anchoring range includes:
s601, taking any one of the feasible anchor positions as a center, taking the anchoring boundaries of all the anchored vessels as boundaries, gradually increasing the theoretical anchoring areas of the feasible anchor positions until the theoretical anchoring areas exceed the area of the anchored water area or abut against the anchoring boundaries of the anchored vessels, and determining the safe anchoring range of the feasible anchor positions;
s602, traversing all the feasible anchor positions, and determining the safe anchoring ranges of a plurality of the feasible anchor positions;
s603, taking the maximum safe anchoring range corresponding to the plurality of feasible anchoring positions as the maximum safe anchoring range of the ship.
In this embodiment, based on the anchor allocation mechanism, from the perspective of the ship operator, the anchor with the most abundant space in the moored water area is selected as the optimal anchor. The optimal anchor position solving method comprises the following steps:
one by one according to w feasible anchor positionsWherein (p=1, 2, …, w) the anchoring safety water area radius of the ship is gradually increased, i.e. r=l O +S 1 +S 2 +1, until the new moored safe water area exceeds the moored safe water area or conflicts with the occupied water area of the moored ship, the R represents the maximum moored safe water area radius of the feasible anchor position;
respectively calculating the maximum anchoring safe water area radius of w feasible anchor positionsSelect->Feasible anchor bit corresponding to maximum value +.>Is the optimal anchor position of the ship.
Based on the above-mentioned method for selecting the optimal mooring position of the ship, the embodiment of the application also correspondingly provides a device 700 for selecting the optimal mooring position of the ship, referring to fig. 7, the device 700 for selecting the optimal mooring position of the ship comprises an acquisition module 710, a determination module 720, a minimum safe mooring range determination module 730 and a maximum safe mooring range determination module 740.
An acquisition module 710 for acquiring water area environment information of the anchor, a maximum allowable hawser length, and ship geometry information, wherein the water area environment information includes an anchor water area;
a determining module 720, configured to determine a preset anchoring method and a safe anchor water area scale model of the ship according to the water area environment information of the anchor and the geometric information of the ship based on the maximum allowable chain length;
the minimum safe anchoring range determining module 730 is configured to divide the area of the anchor ground water area by using a preset grid method to obtain a plurality of anchor ground subareas; based on the anchor ground subareas, determining the minimum safe anchoring range of the ship according to the distance between the ship safe anchoring water area scale model and the anchored ship anchoring;
the maximum safe anchoring range determining module 740 is configured to determine, based on the minimum safe anchoring range, a maximum safe anchoring range of all possible anchor positions of the ship by using a preset radius extension method with an anchoring boundary of the anchored ship and an anchoring water boundary of the anchored ship as boundaries.
As shown in fig. 8, based on the above-mentioned method for selecting the optimal anchor position of the ship, the present application further provides an electronic device, which may be a computing device such as a mobile terminal, a desktop computer, a notebook computer, a palm computer, and a server. The electronic device includes a processor 810, a memory 820, and a display 830. Fig. 8 shows only some of the components of the electronic device, but it should be understood that not all of the illustrated components are required to be implemented and that more or fewer components may be implemented instead.
The memory 820 may be an internal storage unit of the electronic device in some embodiments, such as a hard disk or memory of the electronic device. The memory 820 may also be an external storage device of the electronic device in other embodiments, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash Card (Flash Card) or the like. Further, the memory 820 may also include both internal storage units and external storage devices of the electronic device. The memory 820 is used for storing application software installed in the electronic device and various data, such as program codes for installing the electronic device. The memory 820 may also be used to temporarily store data that has been output or is to be output. In one embodiment, the memory 820 has stored thereon a vessel optimal anchor selection program 840, which vessel optimal anchor selection program 840 is executable by the processor 810 to implement the vessel optimal anchor selection method of the embodiments of the present application.
The processor 810 may in some embodiments be a central processing unit (Central Processing Unit, CPU), microprocessor or other data processing chip for executing program code or processing data stored in the memory 820, for example performing a ship's optimal anchor selection method or the like.
The display 830 may be an LED display, a liquid crystal display, a touch-sensitive liquid crystal display, an OLED (Organic Light-Emitting Diode) touch, or the like in some embodiments. Display 830 is used to display information at the vessel's optimal anchor selection device and to display a visual user interface. The components 810-830 of the electronic device communicate with each other over a system bus.
Of course, those skilled in the art will appreciate that implementing all or part of the above-described methods may be implemented by a computer program for instructing relevant hardware (e.g., a processor, a controller, etc.), where the program may be stored in a computer-readable storage medium, and where the program may include the steps of the above-described method embodiments when executed. The storage medium may be a memory, a magnetic disk, an optical disk, or the like.
The above-described embodiments of the present application do not limit the scope of the present application. Any other corresponding changes and modifications made in accordance with the technical idea of the present application shall be included in the scope of the claims of the present application.
Claims (10)
1. The optimal anchor position selection method for the ship is characterized by comprising the following steps of:
acquiring anchor ground water area environment information, maximum allowable chain length and ship geometric information, wherein the water area environment information comprises anchor ground water area, water depth and substrate;
based on the maximum allowable chain length, determining a preset anchoring method and a safe anchor water area scale model of the ship according to the water area environment information of the anchor and the geometric information of the ship;
dividing the area of the anchor ground water area by adopting a preset grid method to obtain a plurality of anchor ground subareas; based on the anchor ground subareas, determining the minimum safe anchoring range of the ship and the anchoring water area range of the anchored ship according to the ship safe anchor position water area scale model, the anchor ground water depth and the substrate;
and based on the minimum safe anchoring range of the ship, taking the anchoring boundary of the anchored ship and the anchoring water area boundary as boundaries, and adopting a preset radius extension method to determine all feasible anchoring positions, the maximum safe anchoring range and the optimal anchoring position of the ship.
2. The method for selecting the optimal anchor position of the ship according to claim 1, wherein the water area environment information of the anchor ground comprises the water depth, the substrate and the area of the water area of the anchor ground, and the preset anchoring method is determined according to the water area environment information of the anchor ground and the geometric information of the ship based on the maximum allowable chain length, and comprises the following steps:
based on the ship draft, judging the anchoring mode of ship anchoring as deep water anchoring or shallow water anchoring according to the water depth of the water area;
if the anchoring mode is deepwater anchoring, judging the relation between the water depth of the water area and the anchor chain length, and if the water depth of the water area does not exceed the anchor chain length, the anchoring method is deepwater anchoring;
if the anchoring mode is shallow water anchoring, judging whether the convoluted water area is sufficient, and if so, adopting a single anchoring method; if insufficient, a double anchoring method is adopted.
3. The method of claim 1, wherein the water environmental information of the anchor further comprises anchor ground substrate information, wind load information, and stream load information; the ship geometric information comprises fluke weight, fluke type, anchor chain diameter, ship length, ship draft and displacement; the determining the ship safety anchor water area scale model comprises the following steps:
according to the water area environment information of the anchored ground and the ship geometric information, determining the environment disturbance resultant force at the anchoring moment and the anchoring force of the ship;
determining an actual hawser length of the vessel based on the maximum allowable hawser length from the environmental disturbance resultant force and a mooring force of the vessel;
and determining the area of the ship anchoring water according to the actual chain outgoing length of the ship.
4. The method for selecting an optimal anchor position of a ship according to claim 3, wherein the performing region division on the anchor ground water area by using a preset grid method to obtain a plurality of anchor ground subregions comprises:
dividing the area of the anchor ground water area by a preset grid method according to the set side length to obtain a plurality of anchor ground subareas.
5. The method for selecting optimal anchor positions for a vessel according to claim 4, wherein determining all possible anchor positions for the vessel based on the minimum safe anchoring range of the vessel comprises:
taking any one of the anchor ground subareas as a preselected anchor position, wherein the preselected anchor position is positioned in an idle water area;
determining a preselected anchor position safety water area boundary according to the actual chain length and the ship anchoring water area range;
determining whether the preselected anchor is a feasible anchor according to the distance between the preselected anchor safety water area boundary and the water area boundary occupied by all anchored vessels;
traversing a plurality of the anchor sub-regions, and determining all feasible anchor positions in the plurality of anchor sub-regions.
6. The method of selecting an optimal mooring level for a vessel according to claim 5, wherein said preselected mooring level and said mooring level safe water area are all located in said anchor floor water area.
7. The method for selecting optimal anchor position of a ship according to claim 1, wherein the determining the maximum safe anchor position range of all possible anchor positions of the ship by using a preset radius increasing method with the anchor position boundary of the anchored ship and the anchor ground water area boundary as boundaries based on the minimum safe anchor position range comprises:
gradually increasing the theoretical anchoring area of the feasible anchor by taking any one of the feasible anchor as a center and taking the anchoring boundaries of all the anchored vessels as boundaries until the theoretical anchoring area exceeds the area of the anchored water area or abuts against the anchoring boundary of the anchored vessel, and determining the safe anchoring range of the feasible anchor;
traversing all the feasible anchor positions, and determining the safe anchoring ranges of a plurality of the feasible anchor positions;
and taking the maximum safe anchoring range corresponding to the plurality of feasible anchoring positions as the maximum safe anchoring range of the ship, and determining the optimal anchoring position according to the maximum safe anchoring range of the ship.
8. An optimal anchor position selection device for a ship, comprising:
the system comprises an acquisition module, a control module and a control module, wherein the acquisition module is used for acquiring anchor ground water area environment information, maximum allowable chain length and ship geometric information, wherein the water area environment information comprises anchor ground water area, water depth and substrate;
the determining module is used for determining a preset anchoring method and a safe anchor water area scale model of the ship according to the water area environment information of the anchor and the geometric information of the ship based on the maximum allowable chain length;
the minimum safe anchoring range determining module is used for dividing the area of the anchor ground water area by adopting a preset grid method to obtain a plurality of anchor ground subareas; based on the anchor ground subareas, determining the minimum safe anchoring range of the ship and the anchoring water area range of the anchored ship according to the ship safe anchor position water area scale model, the anchor ground water depth and the substrate;
and the maximum safe anchoring range determining module is used for determining all feasible anchoring positions, the maximum safe anchoring range and the optimal anchoring position of the ship by taking the anchoring boundary of the anchored ship and the anchoring ground water area boundary as boundaries based on the minimum safe anchoring range of the ship and adopting a preset radius extension method.
9. An electronic device, comprising: a processor and a memory;
the memory has stored thereon a computer readable program executable by the processor;
the processor, when executing the computer readable program, implements the steps of the method for selecting an optimal anchor position for a vessel according to claims 1-7.
10. A computer readable storage medium storing one or more programs executable by one or more processors to perform the steps in the vessel optimal anchor selection method of claims 1-7.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117911191A (en) * | 2024-03-20 | 2024-04-19 | 中国水产科学研究院南海水产研究所 | Lifting type net cage anchoring device management method and system based on Internet of things |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117911191A (en) * | 2024-03-20 | 2024-04-19 | 中国水产科学研究院南海水产研究所 | Lifting type net cage anchoring device management method and system based on Internet of things |
| CN117911191B (en) * | 2024-03-20 | 2024-05-31 | 中国水产科学研究院南海水产研究所 | Lifting type net cage anchoring device management method and system based on Internet of things |
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