Anchor moving control method, electronic equipment and readable storage medium

Abstract

The invention discloses an anchor moving control method, electronic equipment and a readable storage medium, which are applied to the field of hydraulic engineering, and the method comprises the following steps: generating an anchor moving operation instruction, and determining a first cable laying speed of an anchor dropping rod winch according to a real-time transverse moving linear speed and a splitting width of a dredger, according to the real-time transverse movement linear speed and the strip width, the first collecting speed of an anchor winch is determined, an anchor rod winch is controlled to pay off cables according to the first cable pay-off speed, and the anchor winch is controlled to collect cables according to the first collecting speed; according to the anchor moving operation instruction, it is determined that cable releasing of an anchor rod winch is completed and cable collecting of an anchor weighing winch is completed, a reamer is controlled to descend to the first depth, a second cable collecting speed is determined according to cable tension of the anchor weighing winch, and the anchor weighing winch is controlled to collect cables according to the second cable collecting speed; and the anchor rod dropping winch and the anchor weighing winch are controlled to pay off cables respectively, the transverse moving anchor is made to enter the mud, the reamer is controlled to ascend to the second depth, the anchor rod dropping winch is controlled to retract, and anchor moving operation is completed. The method can automatically control the winches to complete the process in the anchor moving operation.

Description

Technical Field

[0001] The present invention relates to the field of water conservancy projects, and in particular to an anchor moving control method, electronic equipment and a readable storage medium. Background Art

[0002] In traditional dredger anchor shifting operations, the entire dredger anchor shifting process is achieved based on the operator's own construction experience and visual control of the work of multiple winches on the dredger. For example, during the anchor shifting process, it is necessary to control the anchor winch and the anchor rod winch separately according to different processes to continuously adjust the anchor position and the winch position.

[0003] However, since there are many winches that need to be controlled and the process of controlling each winch is relatively cumbersome, a large number of operators are required. Moreover, due to the differences in technical levels and reaction speeds of different operators, it is easy to cause large differences in construction quality and efficiency throughout the construction process, and even pose a major safety hazard. Summary of the Invention

[0004] The present invention provides an anchor moving control method, an electronic device and a readable storage medium. The automatic control steps involved in the method can realize the automatic control of each winch to complete the operation in different processes of the entire anchor moving operation.

[0005] According to one aspect of the present invention, a method for controlling anchor movement is provided. A dredger is equipped with a anchor winch and an anchor winch, and a traverse anchor and a cutter are provided on the dredger. The method comprises:

[0006] Generate anchor moving operation instructions, determine the first cable-releasing speed of the anchor winch according to the real-time transverse linear speed of the dredger and the strip width, determine the first reeling speed of the anchor winch according to the real-time transverse linear speed and the strip width, and control the anchor winch to release the cable according to the first cable-releasing speed and control the anchor winch to reel in the cable according to the first reeling speed.

[0007] According to the anchor moving operation instruction, it is determined that the anchor winch has completed cable release and the anchor winch has completed reeling in, the cutter is controlled to descend to the first depth, and the second reeling in speed is determined according to the cable tension of the anchor winch, and the anchor winch is controlled to reel in according to the second reeling in speed.

[0008] The anchor winch and the anchor winch are controlled to release the cables respectively so that the transverse anchor is moved into the mud, and the cutter is controlled to rise to the second depth and the anchor winch is controlled to retract the pole to complete the anchor moving operation.

[0009] The anchor shifting control method provided by the embodiment of the present invention can control the winches that need to be controlled to complete the corresponding processes in different processes based on the real-time data obtained. For example, according to the prediction of the lateral angular velocity of the dredger, the first cable-releasing speed of the anchor-casting winch and the first reeling speed of the anchor winch are controlled in the sideline lateral shift process; the second reeling speed of the anchor winch is controlled in the anchoring and mud-discharging process according to the cable tension of the anchor winch; and, based on the lowering and lifting of the bridge winch, the entry and exit of the auger into the mud is realized. The above-mentioned automatic control steps realize the automatic control of each winch to complete various operations in different processes of the entire anchor shifting operation, solve the series of problems that are easily caused by the current need for different operators to operate different winches to complete the anchor shifting operation, ensure the balance of construction quality and efficiency in the entire anchor shifting operation, reduce labor costs, and further ensure the safety and stability of the entire construction process.

[0010] According to another aspect of the present invention, an anchor moving control device is provided. A dredger is provided with an anchor throwing winch and an anchor lifting winch, and a traverse anchor and a cutter. The device comprises:

[0011] The first control module is used to generate an anchor moving operation instruction, determine the first cable-releasing speed of the anchor winch according to the real-time transverse line speed and the strip width of the dredger, determine the first reeling speed of the anchor winch according to the real-time transverse line speed and the strip width, and control the anchor winch to release the cable according to the first cable-releasing speed and control the anchor winch to reel in the cable according to the first reeling speed.

[0012] The second control module is used to determine that the anchor winch has completed cable release and the anchor winch has completed cable collection according to the anchor moving operation instruction, control the auger to descend to the first depth, and determine the second cable collection speed according to the cable tension of the anchor winch, and control the anchor winch to collect according to the second cable collection speed.

[0013] The third control module is used to control the anchor winch and the anchor winch to release the cable so that the transverse anchor is moved into the mud, and to control the auger to rise to the second depth and control the anchor winch to retract the pole to complete the anchor moving operation.

[0014] According to another aspect of the present invention, an electronic device is provided, the electronic device comprising:

[0015] at least one processor; and

[0016] a memory communicatively connected to at least one processor; wherein,

[0017] The memory stores a computer program that can be executed by at least one processor. The computer program is executed by the at least one processor so that the at least one processor can execute the anchor shift control method according to any embodiment of the present invention.

[0018] According to another aspect of the present invention, a computer-readable storage medium is provided. The computer-readable storage medium stores computer instructions, which are used to enable a processor to implement the anchor shift control method according to any embodiment of the present invention when executed.

[0019] According to another aspect of the present invention, a computer program product is provided, comprising a computer program, wherein when the computer program is executed by a processor, the anchor shift control method according to any one of the embodiments of the present invention is implemented.

[0020] It should be understood that the content described in this section is not intended to identify the key or important features of the embodiments of the present invention, nor is it intended to limit the scope of the present invention. Other features of the present invention will become readily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0022] Figure 1 A schematic flow chart of a method for controlling anchor movement according to an embodiment of the present invention;

[0023] Figure 2 Another flowchart of the anchor moving control method provided by an embodiment of the present invention;

[0024] Figure 3 An example diagram of a dredger in an anchor removal operation according to an embodiment of the present invention;

[0025] Figure 4 A schematic structural diagram of an anchor moving control device provided in an embodiment of the present invention;

[0026] Figure 5 A schematic structural diagram of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0027] In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of the present invention.

[0028] It should be noted that the terms "first", "second", etc. in the description and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that the numbers used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0029] Figure 1 This is a flow chart of an anchor shifting control method provided in an embodiment of the present invention. This embodiment can be applied to the anchor shifting operation of a dredger to automatically control the operation of each winch installed on the dredger to achieve the anchor shifting operation. The method can be executed by an anchor shifting control device, which can be implemented in the form of hardware and / or software, and the anchor shifting control device can be configured in an electronic device. Optionally, the electronic device in this embodiment refers to a device integrated or provided in the dredger for controlling various construction equipment on the dredger, such as a master control device.

[0030] like Figure 1 As shown, the method includes:

[0031] S101. Generate an anchor moving operation instruction, determine a first cable-releasing speed of the anchor winch according to the real-time transverse linear speed of the dredger and the strip width, determine a first reeling-in speed of the anchor winch according to the real-time transverse linear speed and the strip width, and control the anchor winch to release the cable according to the first cable-releasing speed and control the anchor winch to reel in the cable according to the first reeling-in speed.

[0032] The anchor shifting operation instruction is determined based on the operational requirements of the anchor shifting operation and the relevant parameters during the operation, and is used to determine the instruction for officially starting the anchor shifting operation. A dredger is a ship that uses a dredging device installed on the hull to excavate, lift, move, and transport water droplets and sediment. In this embodiment, the dredger can be a cutter suction dredger, a grab dredger, or a dredger equipped with a transverse anchor. That is, the dredger is equipped with a anchor winch and an anchor winch, and can also be equipped with a bridge winch and a transverse winch. At the same time, the dredger is also equipped with a transverse anchor and a cutter. The transverse anchor is used to control the movement and positioning of the dredger in a direction perpendicular to the hull axis. The anchor winch controls the position of the anchor by retracting and extending the steel cable to adjust the movement of the transverse anchor, providing positioning and fixing for the ship during construction or mooring. The anchor winch is used to retract and extend the transverse anchor and anchor chain, and is a key equipment for the ship's anchoring and anchoring operations. The cutterhead is used to crush and cut underwater soil, rock, silt, and other materials, providing a foundation for subsequent mud transportation and dredging operations. In this embodiment, the cutterhead replaces the traverse anchor when it is retracted, entering the mud to secure the dredger. The real-time traverse linear speed is the dredger's real-time traverse linear speed. The strip width is the distance from the dredger's steel pile point to the cutterhead.

[0033] Specifically, the electronic equipment on the dredger generates an anchor shifting instruction based on the operator's input of relevant parameters for the anchor shifting operation, such as construction parameters, anchor position movement parameters, and operation time, and begins the anchor shifting operation according to the operation time. At this point, the electronic equipment can obtain the dredger's real-time transverse linear velocity from sensors on the dredger or the transverse winch encoder on the dredger. Furthermore, the dredger's transverse angular velocity can be calculated based on the real-time transverse linear velocity and the strip width. Based on the transverse angular velocity and the length of the anchor rod, the initial cable release speed of the anchor rod can be predicted based on the dredger's current travel speed, thereby accurately moving the transverse anchor to the target location. Similarly, the dredger's transverse angular velocity is determined based on the real-time transverse linear velocity and the strip width, and the first reeling speed of the anchor winch is predicted based on the anchor cable length and the transverse angular velocity. Therefore, after obtaining the first cable-releasing speed and the first reeling-in speed, the anchor winch can be controlled to release the cable according to the first cable-releasing speed, and the anchor winch can be controlled to reel in the cable according to the first reeling-in speed, so as to realize the sideline lateral movement process during the anchor moving operation.

[0034] In this embodiment, the lateral angular velocity of the dredger is determined based on the real-time lateral linear speed and strip width of the dredger, and then based on the length of the anchor rod, the first cable-releasing speed of the anchor rod for accurately moving the lateral anchor to the target point can be predicted. Moreover, based on the lateral angular velocity and the real-time length of the anchor cable, the first reeling speed of the anchor winch can also be determined, thereby realizing automatic control of the anchor winch and the anchor rod winch in the process of sideline lateral movement, reducing manual operation costs, and providing a precise automatic control basis for the sideline lateral movement process in this anchor moving operation.

[0035] S102: Determine, according to the anchor shifting operation instruction, that the anchor winch has completed releasing the cable and the anchor winch has completed reeling in the cable, control the cutter to descend to a first depth, determine a second reeling in speed according to the cable tension of the anchor winch, and control the anchor winch to reel in the cable at the second reeling in speed.

[0036] In this embodiment, the auger's entry and exit of the mud can be controlled by a bridge winch installed on the dredger. In this embodiment, the second hauling speed is a non-fixed speed, updated based on real-time conditions. Cable tension is the pulling force on the cable.

[0037] Specifically, since the anchor shifting operation instruction includes the anchor shifting working parameters, and the anchor shifting working parameters show the degree of the anchor rod car releasing the cable and the degree of the anchor car collecting the cable in this anchor shifting operation, it is possible to determine whether the anchor rod winch cable releasing process is completed and whether the anchor winch collecting is completed based on the anchor shifting working parameters in the anchor shifting operation instruction. And, when it is determined that the anchor rod winch has completed releasing the cable and the anchor winch has completed collecting, it can be determined that in this anchor shifting operation, the sideline transverse shifting process is completed and the subsequent auger mudding process is to be carried out. Therefore, the bridge winch can be controlled to lower the bridge to carry the auger into the mud and then fix it at the first depth to ensure that the dredger can be in a fixed ship state when the transverse anchor has not entered the mud. And,

[0038] Specifically, after the auger has sunk to the first depth, the auger entry process is complete, and the anchoring and unwinding process can continue. At this point, the anchoring car can be controlled to reel in the anchor at a random reeling speed. During the reeling process, a second reeling speed is determined in real time based on the cable tension of the anchor winch, and the anchor winch is controlled to reel in the anchor at the second reeling speed.

[0039] In this embodiment, after the auger's entry into the mud is determined to be complete, the bridge can be lowered based on the control bridge winch to control the auger to descend to the first depth, completing the automatic control of the auger's entry into the mud. Furthermore, after the auger's entry into the mud is completed, a second reeling speed can be determined based on the real-time cable tension of the anchor winch, thereby adjusting the reeling speed based on the real-time anchoring process of the anchor winch. This achieves automatic control of the anchor winch during the anchoring and mudding process, ensures the safety and accuracy of the anchoring process, and improves the efficiency of the anchoring and mudding process.

[0040] S103, respectively controlling the anchor winch and the anchor winch to release the cables so as to move the anchor into the mud, controlling the auger to rise to the second depth, and controlling the anchor winch to retract the pole to complete the anchor moving operation.

[0041] The depth value of the second depth in the mud is smaller than the depth value of the first depth in the mud.

[0042] Specifically, after determining that the anchoring and mudding process is completed, the process of releasing the anchor rod and the process of placing the anchor into the mud can be entered. Therefore, after completing the anchoring and mudding process, the anchor rod winch can be controlled to release the cable first, and after the anchor rod external angle reaches the external angle set in the anchor shifting working parameters of the anchor shifting operation instruction, it is determined that the process of releasing the anchor rod is completed. At this time, the process of placing the anchor into the mud can be entered, that is, the anchor winch can be controlled to release the cable, and after determining that the transverse anchor is in the mud, when the tension of the anchor cable is less than the tension set in the anchor shifting working parameters, it is determined that the process of placing the anchor into the mud is completed. At this time, the transverse anchor is in the mud and is forced to grab the mud to achieve the fixation of the dredger. And,

[0043] Specifically, after confirming the transverse anchor is embedded in the mud, the transverse anchor secures the dredger, allowing the auger to unload the dredger, allowing subsequent dredgers to use the auger. Therefore, the bridge winch can be controlled to raise the bridge, pulling the auger to a second depth, which will be the depth for subsequent auger operations. Furthermore, previously, to ensure the transverse anchor is embedded in the mud at the target point, the anchor rod was extended at a certain angle. Now that the transverse anchor is embedded in the mud, the anchor rod can be retracted. Therefore, after the auger unloading process is complete, the anchor rod winch can be controlled to retract, completing the anchor removal operation.

[0044] In this embodiment, after the anchoring and mudding process is confirmed to be complete, the anchoring winch can be controlled to release the cable, and the anchoring car can be controlled to release the cable, thereby automatically controlling multiple winches to complete the anchoring and mudding process. This allows the traverse anchor to be applied to the mud and secure the dredger. Furthermore, after the anchoring and mudding process is completed, the bridge winch can be automatically controlled to raise the bridge to release the cutter, allowing the cutter to reach the second depth to be worked, completing the cuttering process. Furthermore, to ensure the availability and safety of the anchoring winch, the anchoring winch is also controlled to retract.

[0045] The anchor shifting control method provided by the embodiment of the present invention can control the winches that need to be controlled to complete the corresponding processes in different processes based on the real-time data obtained. For example, according to the prediction of the lateral angular velocity of the dredger, the first cable-releasing speed of the anchor-casting winch and the first reeling speed of the anchor winch are controlled in the sideline lateral shift process; the second reeling speed of the anchor winch is controlled in the anchoring and mud-discharging process according to the cable tension of the anchor winch; and, based on the lowering and lifting of the bridge winch, the entry and exit of the auger into the mud is realized. The above-mentioned automatic control steps realize the automatic control of each winch to complete various operations in different processes of the entire anchor shifting operation, solve the series of problems that are easily caused by the current need for different operators to operate different winches to complete the anchor shifting operation, ensure the balance of construction quality and efficiency in the entire anchor shifting operation, reduce labor costs, and further ensure the safety and stability of the entire construction process.

[0046] Figure 2 This is another flow chart of the anchor moving control method provided by an embodiment of the present invention. Based on the above embodiment and other examples, this embodiment describes in detail the steps of controlling different winches when entering different processes. Figure 2 As shown, the method includes:

[0047] S201, receiving anchor position parameters sent by a positioning device, and determining a rear angle according to the anchor position parameters and the centerline position of the dredger.

[0048] The positioning device is a positioning instrument installed on the dredger or a positioning receiving device that communicates with the global positioning system. The anchor position parameters include the position of the cutter head carried by the dredger and the anchor position of the traverse anchor.

[0049] Specifically, before the operation begins, the electronic device receives the cutter head position and anchor position from the positioning device, and calculates the back angle between the anchor position and the centerline of the dredger based on the position of the anchor position and the centerline of the dredger.

[0050] S202: When the rear angle is less than the angle threshold, determine and display an anchor moving operation alarm to the user terminal.

[0051] The angle threshold is determined based on construction experience and is used to reflect whether the current anchor position is suitable for the dredger's operation. The user terminal can be a terminal device used by the operator, such as a mobile phone or a display device on the dredger, such as an operation panel device, which is communicatively connected to the electronic device.

[0052] Specifically, when the rear angle is less than the angle threshold, it can be determined that the anchor position is not suitable for continued construction. Therefore, an anchor removal operation alarm can be displayed to the operator's user terminal to prompt the operator to prepare to start the anchor removal operation.

[0053] Optionally, if the rear angle is greater than or equal to the angle threshold, the dredger will continue the construction and return to execute the anchor position parameters sent by the receiving positioning device during this period.

[0054] S203: Receive anchor moving working parameters sent by the user terminal, and generate an anchor moving operation instruction according to the anchor moving working parameters.

[0055] Among them, the anchor moving working parameters include the anchor position angle threshold, anchor moving direction (left anchor or right anchor moving), anchor tension, anchor rope length, anchor mud gripping force, set anchor rod outward angle, set speed of bridge winch lowering bridge, first depth of auger entering the mud, bridge setting speed, working line (left line, right line, center line), etc.

[0056] Specifically, after sending the anchor moving operation alarm to the user terminal, the operator can set the anchor moving operation parameters for this anchor moving operation based on the user terminal. These parameters are used to constrain or select the anchor moving operation. Therefore, after the operator sets the anchor moving operation parameters, the electronic device will receive the anchor moving operation parameters sent by the user terminal and generate an anchor moving operation instruction based on the anchor moving operation parameters. For example, based on the operation time in the anchor moving operation parameters, when the real time is the operation time, an anchor moving operation instruction is generated, so that the subsequent processes of the anchor moving operation can be continued.

[0057] S204: Determine the transverse angular velocity of the dredger according to the real-time transverse linear velocity and the strip width.

[0058] Specifically, after obtaining the real-time traverse linear velocity V s After the strip width L1 is determined, the real-time lateral angular velocity ω of the dredger during its movement can be calculated according to the following formula: s :

[0059]

[0060] The strip width L1 is a fixed value.

[0061] S205: Determine the angular velocity of the anchor rod according to the lateral angular velocity, the set anchor rod extending angle, and the real-time anchor rod extending angle.

[0062] Specifically, in order to ensure that the transverse anchor can accurately fall to the anchor point when the anchor rod is released, and that the transverse anchor does not fall before the dredger reaches the specified boundary line, it is necessary to ensure that the remaining time from the current moment to the dredger moving transversely to the target boundary line and the anchor rod is just in the outward position should be equal to the remaining time of the dredger moving transversely to the boundary line. In this way, the anchor rod can be gradually outwardly extended as the dredger moves; and when the dredger moves transversely to the boundary line, the degree of outward extension of the anchor rod just meets the set outward extension angle of the anchor rod. Therefore, according to the transverse angular velocity, the displacement setting parameters and the real-time outward extension angle of the anchor rod, the cable release angular velocity of the anchor rod can be determined, which can be obtained as follows:

[0063] (1) Determine the remaining angle based on the working line setting parameters and the real-time drift angle, and determine the remaining time based on the remaining angle and the lateral angular velocity.

[0064] The real-time drift angle is the angle between the dredger and the centerline of the set working line during its real-time traverse to the edge. In this embodiment, after determining the working line setting parameters, namely the left line, center line, and right line of the working line, the set drift angle can be determined. The set drift angle is the angle between the dredger's initial direction and the target edge.

[0065] Specifically, the remaining time T1 of the dredger moving to the edge can be determined first, that is, according to the set drift angle θ, the real-time drift angle △θ and the lateral angular velocity ω s , and the remaining time T1 for the dredger to move horizontally to the edge is calculated according to the following formula:

[0066]

[0067] That is, first use the set drift angle θ in the working line setting parameters and the real-time drift angle to determine the remaining angle, and then divide the remaining angle by the lateral angular velocity ω s , and get the remaining time T1.

[0068] (2) Determine the cable-releasing angular velocity based on the remaining time, anchor-moving working parameters, and the real-time anchor-releasing angle.

[0069] Specifically, in order to ensure that the remaining time T1 for the dredger to move horizontally to the edge is the same as the remaining time T2 for the dredger to move horizontally to the target edge and the anchor rod is just in the outward state, that is, T2 = T1, the anchor rod outward angle β set in the anchor moving working parameters, the real-time anchor rod outward angle △β and the remaining time T2 (that is, the same value as the remaining time T1) can be used to determine the anchor rod cable release angular velocity ω. ab , which is calculated as follows:

[0070]

[0071] That is, according to the above formula, we can know the angular velocity ω of the anchor rod ab The angle difference can be obtained by setting the external anchor rod angle β minus the real-time anchor rod external angle △β, and then dividing the angle difference by the remaining time T1 (or directly taking the value of the remaining time T1 as the remaining time T2 and using T2 for calculation).

[0072] S206: Determine a first cable-releasing speed according to the length of the anchor rod and the cable-releasing angular velocity.

[0073] Specifically, after obtaining the cable-releasing angular velocity, the first cable-releasing velocity V can be directly calculated based on the following formula: ab :

[0074] V ab =ω ab *L2;

[0075] Among them, the length L2 of the anchor rod is a fixed value.

[0076] Alternatively, the above calculation process can also be directly calculated according to the following formula:

[0077]

[0078] In this embodiment, in order to ensure that the first cable-releasing speed of the anchor rod is just achieved when the dredger moves to the target boundary line and the outward angle of the anchor rod reaches the set angle, the remaining time for the dredger to move to the target boundary line is predicted based on the real-time calculated transverse angular velocity of the dredger, and the remaining time is determined as the remaining time for the dredger to move transversely to the target boundary line and the anchor rod is just in the outward state. Based on this, the first cable-releasing speed of the anchor rod is reversed, which can realize real-time adjustment of the first cable-releasing speed of the anchor rod according to the moving conditions of the dredger, and provide an accurate control basis for the anchor winch to dynamically adjust the first cable-releasing speed of the anchor rod, thereby controlling the angle of the anchor rod, and ensuring that the cable-releasing process of the anchor winch can be more accurate.

[0079] S207: Determine a compensation coefficient according to the retraction torque and anchor shifting working parameters.

[0080] Among them, the absorption torque N f To measure the force of the anchor winch pulling the wire rope in real time during the process of anchor winch reeling.

[0081] Specifically, the anchoring tension N is set in the anchoring working parameters. aw The anchor tension is the optimal tension for anchoring, determined based on specific operating conditions and depth. Therefore, during the actual winch reeling process, the real-time measured reeling torque can be compared with the anchor tension to determine a compensation factor for fine-tuning the reeling speed.

[0082] Exemplarily, the compensation coefficient is determined according to the retraction torque and the anchor shifting working parameters, including:

[0083] (1) Determine whether the retraction torque is greater than or equal to the anchor tension in the anchor removal working parameters.

[0084] Specifically, determine the retraction torque N f Is it greater than or equal to the anchor tension N? aw , that is, N f ≥N aw ; If yes, execute (2); if no, execute (3).

[0085] (2) If the retraction moment is greater than or equal to the anchor tension, the first compensation coefficient is determined according to the terrain depth and the automatic control algorithm.

[0086] The first compensation coefficient is used to reduce the collection speed.

[0087] Specifically, if the collecting torque is greater than or equal to the anchor tension, it means that the collecting torque at this time is large and the collecting speed is high. Therefore, according to the terrain depth and the automatic control algorithm, namely the proportional-integral-differential control algorithm, the system error of the anchor winch can be determined based on the difference between the collecting torque and the anchor tension to calculate the first compensation coefficient for reducing the collecting speed.

[0088] (3) If the retraction moment is less than the anchor tension, a second compensation coefficient is determined based on the terrain depth and the automatic control algorithm.

[0089] The second compensation coefficient is used to increase the collection speed.

[0090] Specifically, if the collecting torque is smaller than the anchoring tension, it means that the collecting torque is small and the collecting speed is low. Therefore, the second compensation coefficient for increasing the collecting speed can be determined based on the difference between the collecting torque and the anchoring tension according to the terrain depth and the automatic control algorithm.

[0091] In this embodiment, the automatic control algorithm is used to dynamically adjust the reeling torque of the anchor winch during the reeling operation based on the difference between the reeling torque measured in real time and the preset anchor tension, providing a basis for subsequently determining the reeling speed.

[0092] S208: Determine a first retracting speed according to the compensation coefficient, the lateral angular velocity, and the remaining length of the anchor cable.

[0093] The lateral angular velocity is the lateral angular velocity of the dredger calculated in S204. The remaining anchor cable length is the remaining length of the anchor cable to be retracted, measured in real time during the retraction process of the anchor winch. In this embodiment, the remaining anchor cable length can be measured in real time by an encoder of the anchor winch.

[0094] Specifically, in order to ensure that the anchor cable is just collected when the dredger reaches the target edge, the remaining anchor cable length L aw , compensation coefficient λ and lateral angular velocity ω s Determine the first collection speed V aw It can be calculated according to the following formula:

[0095]

[0096] In this embodiment, the first collecting speed of the anchor winch when collecting can be accurately determined based on the compensation coefficient, the transverse angular velocity and the remaining length of the anchor cable. In order to achieve the precise collection of the transverse anchor during the transverse movement of the dredger, the first collecting speed of the anchor winch determined in real time can be used to ensure the accuracy of the transverse anchor displacement.

[0097] S209: Control the anchor winch to release the cable according to the first cable-releasing speed, and control the anchor winch to retrieve the cable according to the first retrieval speed.

[0098] Specifically, after determining the first payout speed and the first reel-in speed, the anchor winch can be controlled to pay out the cable according to the first payout speed, and the anchor winch can be controlled to reel in the cable according to the first reel-in speed. This ensures that the anchor and the anchor cable are perpendicular when the dredger reaches the target edge, and also maintains a slight slack in the anchor cable during this process. The determined first payout speed and first reel-in speed are used to control the operation of the anchor winch and the anchor winch, thereby achieving an automated edge traverse process.

[0099] It is worth noting that during the sideline traverse process, the first cable-releasing speed and the first cable-collecting speed are speeds calculated in real time, not fixed speeds.

[0100] S210: Determine, according to the anchor shifting operation instruction, that the anchor winch has completed releasing the cable and the anchor winch has completed retrieving the cable.

[0101] Specifically, since the anchor shifting parameters of the anchor shifting operation instruction include the anchor shifting direction, working line, and set anchor lever angle, these parameters can be used to determine whether the anchor lever winch has completed releasing the cable and the anchor winch has completed retrieving the cable. For example, if the anchor shifting direction of this anchor shifting operation is to the right sideline, then if it is determined that the dredger has reached the right sideline, the real-time anchor lever angle matches the set anchor lever angle, and the remaining anchor cable length is zero, then the anchor lever winch is determined to have completed releasing the cable and retrieving the cable. If any of these conditions are not met, the sideline traverse process is determined to be incomplete, and execution returns to S204. If all of the above conditions are met, it is determined that the anchor lever winch has completed releasing the cable and retrieving the cable, and subsequent steps can be continued.

[0102] S211. Control the auger to stop rotating, and control the bridge winch on the dredger to lower the bridge to the first depth.

[0103] The first depth is the "first depth of the auger entering the mud" in the anchor removal working parameters.

[0104] Specifically, after determining that the sideline transverse movement process is completed, the auger entering the mud process can be entered. This process is to ensure that the transverse anchor has not entered the mud, and is used to replace the transverse anchor to fix the position of the dredger, so as to prevent the dredger from shifting with the water or mud flowing at the bottom of the ship after the subsequent transverse anchor is out of the mud. Therefore, in order to ensure that the auger can form a gripping force with the mud after entering the mud, it is necessary to control the auger to stop rotating, so as to prevent the auger from breaking up the mud and failing to form a gripping force after entering the mud. In addition, after controlling the auger to stop rotating, the bridge winch on the dredger can be controlled to lower the bridge to the first depth according to the set speed of the bridge winch to lower the bridge. In this way, the auger can be indirectly controlled to enter the mud to the first depth, thereby achieving the function of fixing the dredger.

[0105] Optionally, it is necessary to determine the depth of the auger's entry into the mud in real time. If it is determined that the auger's entry into the mud has not reached the first depth, continue to control the bridge winch to lower the bridge; if it is determined that the auger's entry into the mud has reached the first depth, determine that the auger's entry into the mud process is completed, and continue to execute the following steps.

[0106] In this embodiment, the auger is first controlled to stop rotating, and then the bridge winch is controlled to lower the bridge to the first depth at a set speed to ensure that the auger enters the mud to the set first depth to fix the ship. This can ensure that during the process of the auger entering the mud, the operation of the bridge winch and the auger is automatically controlled, thereby realizing precise control of the auger entering the mud.

[0107] S212: Control the anchor winch to reel in the cable, and obtain the real-time reeling speed and cable tension.

[0108] Specifically, after the auger is confirmed to have completed its entry into the mud, the anchor can be pulled out of the mud. At this point, the anchor winch can be controlled to reel in the anchor at a random speed, for example, at a default reeling speed, while also monitoring the reeling speed and cable tension of the anchor winch in real time.

[0109] Optionally, the dredger is also equipped with a transverse winch. After the auger is confirmed to have completed its entry into the mud, the transverse winch can be controlled to switch its operating mode to single-action mode during the anchoring and mud extraction process, and the transverse winch can be controlled to release the cable to a certain length. This can reduce the force on the transverse anchor, ensuring safety and improving the efficiency of anchoring when controlling the anchor winch to heave the anchor.

[0110] S213: Determine a second collecting speed according to the real-time collecting speed, the cable tension, and the automatic control algorithm.

[0111] The automatic control algorithm may be a proportional-integral-differential control algorithm.

[0112] Specifically, based on the automatic control algorithm, the second retracting speed can be automatically determined when the real-time retracting speed of the anchor winch and the cable tension are acquired.

[0113] S214: Control the anchor winch to reel in the anchor at the second reeling speed.

[0114] Specifically, after determining the second retraction speed based on the real-time retraction speed, cable tension, and an automatic control algorithm, the anchor winch can be controlled to retract according to the second retraction speed. During the retraction process, the real-time retraction speed and cable tension constantly change, so the second retraction speed will also change accordingly. This allows for real-time control of the retraction process of the anchor winch.

[0115] Optionally, the anchor handling parameters include the anchoring and mud-lifting rope length. During the reeling process of the anchor winch, if the real-time anchoring rope length is less than the anchoring and mud-lifting rope length, the reeling process can be determined to be complete; if the real-time anchoring rope length is greater than or equal to the anchoring and mud-lifting rope length, the anchor winch can continue to reel in the anchor.

[0116] In this embodiment, based on the real-time reeling speed and cable tension, an automatic control algorithm is used to determine the second reeling speed for controlling the reeling of the anchor winch, thereby enabling real-time control of the reeling process of the anchor winch during the anchoring and mud removal process.

[0117] S215: Control the anchor winch to release the cable at the second cable-releasing speed.

[0118] The second cable-releasing speed in this embodiment is a preset cable-releasing speed for the anchor-releasing process. Optionally, the second cable-releasing speed is a maximum cable-releasing speed of the anchor-releasing winch.

[0119] Specifically, after completing the anchoring and mud-removing process, the anchoring process can be entered. At this time, the anchoring winch can be controlled to release the cable at the second cable-releasing speed.

[0120] In this embodiment, during the process of releasing the anchor rod, the anchor rod winch is directly controlled to quickly release the cable at the maximum cable release speed, so that the anchor rod winch can be automatically controlled to release the anchor rod to the new anchoring position point quickly and accurately.

[0121] S216. When the real-time anchor rod outward angle is greater than the preset outward angle in the anchor moving working parameter, control the anchor winch to release the cable at a third cable release speed so that the transverse anchor is sunk into the mud.

[0122] The preset angle of release is the angle of release set by the operator during the anchor release process. The third line-release speed is the line-release speed of the anchor winch during the preset anchor release process. Optionally, the third line-release speed is the maximum line-release speed of the anchor winch.

[0123] Specifically, while controlling the anchor winch to release the cable, the real-time anchor release angle is obtained. When the real-time anchor release angle exceeds a preset release angle, the anchor release process is determined to be complete. At this point, the anchor release process can continue, that is, the anchor winch is controlled to release the cable at a third release speed, so that the traverse anchor is embedded in the mud at the new anchoring position, completing the anchor release process.

[0124] Optionally, after the transverse anchor is sunk into the mud, the anchor winch may be controlled to reel in the anchor cable to keep it slightly relaxed, so as to prevent the anchor cable from being damaged due to continuous tension.

[0125] S217: Determine whether the anchor cable tension of the anchor winch is less than zero; if so, execute S218; if not, return to execute S216.

[0126] Specifically, to determine whether the lateral anchor has successfully entered the mud, the anchor cable tension can be used. For example, if the anchor cable tension is less than zero, the lateral anchor has successfully entered the mud, and S218 can be executed. If the anchor cable tension is greater than or equal to zero, the lateral anchor has not entered the mud, and the process returns to S216 to control the anchor winch to release the cable at the third cable release speed to ensure that the lateral anchor is in the mud.

[0127] In this embodiment, the anchor winch is controlled to release the cable at the maximum speed, and whether the lateral anchor has been successfully placed in the mud is determined based on the tension of the anchor cable, thereby realizing automatic control of the anchor placement process and automatic judgment of the completion degree of the process, ensuring that the lateral anchor can be accurately placed in the mud at the new anchoring position under precise control.

[0128] S218, controlling the traverse winch on the dredger to switch to a single-action mode, and controlling the traverse winch to retract according to a preset retracting speed in the anchor shifting working parameters, so that the traverse anchor is forced to grab the mud.

[0129] Among them, the preset collecting speed is the speed of the slow gear within the collecting speed range of the transverse winch.

[0130] Specifically, after confirming that the anchoring process is complete, the anchoring and mud grabbing process can be carried out. At this time, the working mode of the traverse winch on the dredger can be switched to single-action mode, and the traverse winch is controlled to slowly retract at a preset retracting speed until the traverse anchor is forced to grab the mud at the new anchoring position.

[0131] Optionally, during the anchor reeling and mud grabbing process, the traverse cable tension and real-time anchor holding force can be monitored in real time. When the traverse cable tension exceeds the preset traverse cable tension set in the anchor shifting operating parameters, the anchor reeling and mud grabbing process is terminated; otherwise, the traverse winch continues to reel in the anchor and mud grab. Furthermore, based on the real-time anchor holding force and the anchor holding force set in the anchor shifting operating parameters, it can be determined whether the current real-time anchor holding force meets the requirements. Of course, the traverse winch reeling speed can also be adjusted based on the real-time anchor holding force and the preset anchor holding force using an automatic control algorithm.

[0132] In this embodiment, the transverse winch can be automatically controlled to reel in the anchor at a preset reeling speed, so that the transverse anchor can be accurately loaded and gripped at the new anchoring position.

[0133] S219. Control the bridge winch on the dredger to lift the bridge so that the cutter moves up.

[0134] Specifically, after determining that the anchoring and mud grabbing process is complete, the cutter can be withdrawn to secure the dredger. In other words, the transverse anchor can directly secure the vessel. Therefore, the bridge winch can be controlled to raise the bridge according to the bridge speed set in the anchor handling working parameters, causing the cutter to rise and release the cutter's securing effect on the vessel.

[0135] S220: Determine whether the current depth of the reamer reaches the second depth; if so, execute S221; if not, execute S219.

[0136] The second depth is the construction dredging depth of the dredger during the subsequent construction process.

[0137] Specifically, while controlling the bridge winch to raise the bridge, the current depth of the auger cutter in the mud is determined in real time. If the current depth of the auger cutter reaches the second depth, the auger cutter's mud removal process is determined to be complete, and execution can continue to S221. If the current depth of the auger cutter does not reach the second depth, execution returns to S219.

[0138] In this embodiment, the control bridge winch is determined based on the current depth of the auger to lift the bridge and move the auger to the second depth, so as to realize automatic control of the bridge winch in the auger mud discharge process, and judge whether the auger mud discharge process is completed, thereby realizing automatic control of the bridge winch in the auger mud discharge process.

[0139] S221, controlling the anchor winch to reel in the cable, controlling the anchor winch to release the cable, and determining that the anchor moving operation is completed when the real-time anchor angle of the anchor winch is less than the preset anchor angle in the anchor moving operation parameters.

[0140] Specifically, after confirming the completion of the cutter dredging process, the anchor winch is controlled to reel in the anchor at the default reeling speed. During the reeling process, the anchor reeling speed is continuously adjusted based on the real-time position of the dredger and the automatic control algorithm. At the same time, the anchor winch is controlled to release the cable at the default cable release speed. During the cable release process, the cable release speed is continuously adjusted based on the anchor angle and the automatic control algorithm to keep the anchor cable slightly slack and unstressed during the anchor retraction process. During this process, the anchor release angle will be restored to the default anchor release angle, for example, 30 degrees. At this point, the anchor winch is controlled to further release the cable until the real-time anchor angle is less than the preset anchor angle, at which point the entire anchor removal operation is determined to be complete.

[0141] Optionally, during the execution of each of the above processes, if a timeout occurs, an alarm message may be sent to the user terminal so that an operator can manually determine whether to continue with any step of the process.

[0142] Optionally, Figure 3 This is an example diagram of a dredger in an anchor removal operation provided by an embodiment of the present invention. Figure 3 As shown in the figure, before the anchor removal operation begins, the working line will be set first, that is, Figure 3 The left line, right line and center line in the dredging operation. After setting, you can first obtain the rear angle, and determine whether it is necessary to perform anchor shifting according to the rear angle and the angle threshold. The anchor shifting operation is to ensure whether the anchor position at the original anchor point is suitable for continuing dredging construction. Therefore, if it is determined that anchor shifting operation is necessary, it will be determined that the horizontal anchor of the original anchor point needs to be moved to the new anchor point to facilitate the movement of the dredger and subsequent dredging construction. In addition, during the anchor shifting operation, a cutter will also be used, such as Figure 3 Finally, after completing all the processes according to the above steps, it can be determined that the anchor shifting operation is completed, and the position of the transverse anchor is at the new anchor point.

[0143] Figure 4 This is a schematic diagram of the structure of the anchor moving control device provided by an embodiment of the present invention. Figure 4 As shown, the dredger is equipped with an anchor winch and an anchor winch, and is provided with a transverse anchor and a cutter. The device includes:

[0144] The first control module 401 is used to generate an anchor moving operation instruction, determine the first cable-releasing speed of the anchor winch according to the real-time transverse line speed of the dredger and the strip width, determine the first reeling speed of the anchor winch according to the real-time transverse line speed and the strip width, and control the anchor winch to release the cable according to the first cable-releasing speed and control the anchor winch to reel in the cable according to the first reeling speed.

[0145] The second control module 402 is used to determine that the anchor winch has completed cable release and the anchor winch has completed cable reeling according to the anchor moving operation instruction, control the auger to descend to the first depth, and determine the second reeling speed according to the cable tension of the anchor winch, and control the anchor winch to reel in according to the second reeling speed.

[0146] The third control module 403 is used to control the anchor winch and the anchor winch to release the cable so that the transverse anchor is moved into the mud, and to control the auger to rise to the second depth and control the anchor winch to retract the pole to complete the anchor removal operation.

[0147] Optionally, to generate an anchor moving operation instruction, the first control module 401 is specifically configured to:

[0148] Receive the anchor position parameters sent by the positioning device, and determine the rear angle based on the anchor position parameters and the centerline position of the dredger; when the rear angle is less than the angle threshold, determine and display the anchor shifting operation alarm to the user terminal; receive the anchor shifting working parameters sent by the user terminal, and generate the anchor shifting operation instruction based on the anchor shifting working parameters.

[0149] Optionally, the first cable-releasing speed of the anchor winch is determined according to the real-time transverse linear speed of the dredger and the strip width, and the first control module 401 is specifically configured to:

[0150] The lateral angular velocity of the dredger is determined according to the real-time lateral linear velocity and the strip width; the angular velocity of the anchor rod is determined according to the lateral angular velocity, the set anchor rod outward angle and the real-time anchor rod outward angle; the first cable-releasing speed is determined according to the anchor rod length and the cable-releasing angular velocity.

[0151] Optionally, the first retracting speed of the anchor winch is determined according to the real-time transverse linear speed and the strip width, and the first control module 401 is specifically configured to:

[0152] The compensation coefficient is determined according to the hauling torque and the anchor shifting working parameters; the first hauling speed is determined according to the compensation coefficient, the transverse angular velocity and the remaining length of the anchoring cable.

[0153] Optionally, the reamer is controlled to descend to a first depth, and a second reeling speed is determined according to the cable tension of the anchor winch. The second control module 402 is specifically configured to:

[0154] Control the auger to stop rotating and control the bridge winch on the dredger to lower the bridge to the first depth; control the anchor winch to reel in the cable and obtain the real-time reeling speed and cable tension; determine the second reeling speed based on the real-time reeling speed, cable tension and automatic control algorithm.

[0155] Optionally, the anchor-casting winch and the anchor-heaving winch are controlled to release the cable so that the transverse anchor is sunk into the mud. The third control module 403 is specifically configured to:

[0156] The anchor winch is controlled to release the cable at the second cable-releasing speed; when the real-time anchor-releasing angle is greater than the preset angle in the anchor moving working parameters, the anchor winch is controlled to release the cable at the third cable-releasing speed to allow the transverse anchor to enter the mud.

[0157] Optionally, before controlling the reamer to rise to the second depth and controlling the anchor winch to retract to complete the anchor removal operation, the third control module 403 is further configured to:

[0158] Determine whether the anchor cable tension of the anchor winch is less than zero; if the anchor cable tension is greater than or equal to zero, return to the step of controlling the anchor winch to release the cable at the third cable release speed; if the anchor cable tension is less than zero, control the traverse winch on the dredger to switch to single-action mode, and control the traverse winch to retract at the preset retracting speed in the anchor moving working parameters, so that the traverse anchor is forced to grab the mud.

[0159] Optionally, the third control module 403 controls the reamer to rise to the second depth and controls the anchor winch to retract the anchor to complete the anchor removal operation. Specifically, the third control module 403 is used to:

[0160] Control the bridge winch on the dredger to lift the bridge so that the cutter rises; determine whether the current depth of the cutter reaches the second depth; if the current depth has not reached the second depth, return to the step of controlling the bridge winch on the dredger to lift the bridge; if the current depth reaches the second depth, control the anchor winch to retract and control the anchor winch to release the cable, and determine that the anchor moving operation is completed when the real-time anchor angle of the anchor winch is less than the preset anchor angle in the anchor moving working parameters.

[0161] The anchor moving control device provided in the embodiment of the present invention can execute the anchor moving control method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0162] Figure 5 Schematic diagram of the structure of an electronic device provided for an embodiment of the present invention. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. In this embodiment, the electronic device can be a master control device installed on a dredger. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or claimed herein.

[0163] like Figure 5As shown, the electronic device 10 includes at least one processor 11 and a memory, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., which is communicatively connected to the at least one processor 11. The memory stores a computer program that can be executed by the at least one processor. The processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 into the random access memory (RAM) 13. Various programs and data required for the operation of the electronic device 10 can also be stored in the RAM 13. The processor 11, ROM 12, and RAM 13 are connected to each other via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0164] Multiple components in the electronic device 10 are connected to the I / O interface 15, including an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a magnetic disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices via a computer network such as the Internet and / or various telecommunication networks.

[0165] The processor 11 can be any general-purpose and / or specialized processing component with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various specialized artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any other suitable processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as the anchor shift control method.

[0166] In some embodiments, the anchor shift control method may be implemented as a computer program tangibly embodied in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or installed on electronic device 10 via ROM 12 and / or communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the anchor shift control method described above may be performed. Alternatively, in other embodiments, processor 11 may be configured to perform the anchor shift control method in any other suitable manner (e.g., via firmware).

[0167] Various embodiments of the systems and techniques described herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), system-on-chip systems (SOCs), programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments can include being implemented in one or more computer programs that are executable and / or interpreted on a programmable system that includes at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0168] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when the computer program is executed by the processor, the functions / operations specified in the flowcharts and / or block diagrams are implemented. The computer program may be executed entirely on the machine, partially on the machine, as a stand-alone software package, partially on the machine and partially on a remote machine, or entirely on a remote machine or server.

[0169] In the context of the present invention, computer-readable storage media can be tangible media that can contain or store a computer program for use with an instruction execution system, device or equipment or used in combination with an instruction execution system, device or equipment. Computer-readable storage media can include but are not limited to electronic, magnetic, optical, electromagnetic, infrared or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, computer-readable storage media can be machine-readable signal media. More specific examples of machine-readable storage media can include electrical connections based on one or more lines, portable computer disks, hard disks, random access memories (RAM), read-only memories (ROM), erasable programmable read-only memories (EPROM or flash memory), optical fibers, portable compact disk read-only memories (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0170] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, voice input, or tactile input).

[0171] The systems and techniques described herein can be implemented in a computing system that includes back-end components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes front-end components (e.g., a user computer with a graphical user interface or web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such back-end components, middleware components, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0172] A computing system may include a client and a server. The client and server are typically remote from each other and typically interact via a communication network. This client-server relationship arises through computer programs running on the respective computers, creating a client-server relationship. The server may be a cloud server, also known as a cloud computing server or cloud host. This server is a hosting product within a cloud computing service ecosystem that addresses the management difficulties and limited scalability of traditional physical hosting and VPS services.

[0173] An embodiment of the present invention further provides a computer program product, including a computer program. When the computer program is executed by a processor, the computer program implements the anchor shift control method provided in any embodiment of the present invention.

[0174] The computer program product may be implemented by writing computer program code for performing the operations of the present invention in one or more programming languages, or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a stand-alone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving a remote computer, the remote computer may be connected to the user's computer via any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0175] It should be understood that the various forms of the processes shown above can be used to reorder, add, or delete steps. For example, the steps described in the present invention can be performed in parallel, sequentially, or in a different order, as long as the desired results of the technical solution of the present invention can be achieved. This is not limited herein.

[0176] The above specific embodiments do not limit the scope of protection of the present invention. Those skilled in the art will appreciate that various modifications, combinations, sub-combinations, and substitutions may be made based on design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention are intended to be included within the scope of protection of the present invention.

Claims

1. An anchor shifting control method, characterized in that: The dredger is equipped with an anchor winch and an anchor winch, and the dredger is provided with a transverse anchor and a cutter. The method comprises: generating an anchor moving operation instruction, determining a first cable-releasing speed of the anchor winch according to the real-time transverse linear speed of the dredger and the strip width, determining a first reeling-in speed of the anchor winch according to the real-time transverse linear speed and the strip width, and controlling the anchor winch to release the cable according to the first cable-releasing speed and to reel in the anchor winch according to the first reeling-in speed; determining, according to the anchor handling operation instruction, that the anchoring winch has completed releasing the cable and the anchor winch has completed retracting the cable, controlling the auger to descend to a first depth, determining a second retracting speed according to the cable tension of the anchor winch, and controlling the anchor winch to retract the cable at the second retracting speed; The anchor winch and the anchor winch are respectively controlled to release the cables so that the transverse anchor is buried in the mud, and the auger is controlled to rise to the second depth and the anchor winch is controlled to retract the rod to complete the anchor removal operation.

2. The method according to claim 1, characterized in that The generating of the anchor moving operation instruction includes: receiving anchor position parameters sent by a positioning device, and determining a rear angle according to the anchor position parameters and the centerline position of the dredger; When the rear angle is less than the angle threshold, determining and displaying an anchor moving operation alarm to the user terminal; The anchor moving operation parameter sent by the user terminal is received, and the anchor moving operation instruction is generated according to the anchor moving operation parameter.

3. The method according to claim 1, characterized in that The determining of the first cable-releasing speed of the anchor winch according to the real-time transverse linear speed of the dredger and the strip width includes: Determining the transverse angular velocity of the dredger according to the real-time transverse linear velocity and the strip width; Determining the cable-releasing angular velocity of the anchor rod according to the lateral angular velocity, the set anchor rod extending angle, and the real-time anchor rod extending angle; The first cable-releasing speed is determined according to the length of the anchor rod and the cable-releasing angular velocity.

4. The method according to claim 3, characterized in that The determining of the first retracting speed of the anchor winch according to the real-time transverse linear speed and the strip width includes: Determining a compensation coefficient based on the retraction torque and anchor shifting working parameters; A first retracting speed is determined according to the compensation coefficient, the traverse angular velocity, and the remaining length of the anchoring cable.

5. The method according to claim 1, wherein The step of controlling the auger to descend to the first depth and determining the second reeling speed according to the cable tension of the anchor winch comprises: Controlling the auger to stop rotating, and controlling the bridge winch on the dredger to lower the bridge to the first depth; Controlling the anchor winch to reel in the anchor winch and obtaining the real-time reeling speed and the cable tension; The second retracting speed is determined according to the real-time retracting speed, the cable tension and an automatic control algorithm.

6. The method according to claim 2, characterized in that Respectively controlling the anchor-casting winch and the anchor-raising winch to release the cable so that the traverse anchor is sunk into the mud comprises: Controlling the anchor-dropping winch to release the cable at a second cable-releasing speed; When the real-time anchor rod outward angle is greater than the preset outward angle in the anchor moving working parameter, the anchor winch is controlled to release the cable at a third cable releasing speed so that the transverse anchor is sunk into the mud.

7. The method according to claim 6, characterized in that Before controlling the auger to rise to the second depth and controlling the anchor winch to retract to complete the anchor removal operation, the method further includes: determining whether the anchor cable tension of the anchor winch is less than zero; If the anchor cable tension is greater than or equal to zero, returning to the step of controlling the anchor winch to release the cable at the third cable-releasing speed; If the anchor cable tension is less than zero, the traverse winch on the dredger is controlled to switch to a single-action mode, and the traverse winch is controlled to retract according to a preset retracting speed in the anchor moving working parameters, so that the traverse anchor is forced to grab the mud.

8. The method according to claim 1, characterized in that The step of controlling the auger to rise to the second depth and controlling the anchor winch to retract to complete the anchor removal operation includes: Controlling the bridge winch on the dredger to lift the bridge so as to raise the auger; determining whether the current depth of the reamer reaches the second depth; If the current depth does not reach the second depth, returning to the step of controlling the bridge winch on the dredger to lift the bridge; If the current depth reaches the second depth, the anchor winch is controlled to reel in the cable and the anchor winch is controlled to release the cable. When the real-time anchor angle of the anchor winch is less than the preset anchor angle in the anchor moving working parameters, the anchor moving operation is determined to be completed.

9. An electronic device, characterized in that: include: one or more processors; a memory for storing one or more programs, When the one or more programs are executed by the one or more processors, the one or more processors implement the anchor shift control method according to any one of claims 1 to 8.

10. A readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the anchor shift control method according to any one of claims 1 to 8 is implemented.

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