Ballast water adjusting device

Abstract

The invention provides a ballast water adjusting device, and relates to the technical field of ballast water allocation. A circulating module of the ballast water adjusting device is provided with a circulating pipeline, and a control module is respectively connected with a data acquisition module and the circulating module; the circulating pipeline is connected with each ballast tank on the ship, the circulating pipeline is used for transmitting ballast water between the ballast tanks, and the inner diameter of the circulating pipeline is determined based on ship information and ballast water allocation information; the data acquisition module is used for acquiring ballast water adjustment information and sending the ballast water adjustment information to the control module; the control module is used for obtaining ballast water distribution information corresponding to the ballast water adjusting information and transmitting ballast water to the ballast tanks corresponding to the ballast water distribution information through the circulating pipeline. According to the embodiment of the invention, the ballast water allocation efficiency can be effectively improved, the gravity center of the ship can be conveniently and rapidly balanced, the complexity and maintenance cost of a ship system are reduced, and thus the safety and reliability of the ship are improved.

Description

Technical Field

[0001] The present application relates to the technical field of ballast water allocation, and in particular, to a ballast water regulating device. Background Art

[0002] Ballast water allocation plays a vital role in the navigation operation of ships, especially under different sea conditions and load conditions. The reasonable allocation of ballast water directly affects the navigation stability, safety and fuel efficiency of ships. During the navigation process of ships, by adjusting the distribution of ballast water, the center of gravity and draft of the ship can be effectively balanced to ensure that the ship can sail stably and effectively resist adverse factors such as crosswinds and side waves. In addition, reasonable ballast water allocation can also reduce the ship's heel and trim, so that it can remain stable in severe sea conditions and avoid accidents caused by imbalance of the hull posture. Especially for large cargo ships, oil tankers and other ships with huge loading capacity, efficient allocation of ballast water is crucial to their economy and safety.

[0003] Currently, the ballast water allocation of ships is usually operated through each independent ballast tank. Each ballast tank is equipped with an independent water pump system that can control water filling and drainage separately. However, this independent operation mode requires the establishment of an independent ballast water inlet and outlet channel for each ballast tank, which increases the complexity of the ballast water allocation structure. When ballast water is allocated, it is necessary to pump out or pump in ballast water for different ballast tanks separately, resulting in low ballast water allocation efficiency when the ship's posture needs to be adjusted quickly, and the center of gravity of the ship cannot be quickly balanced. Moreover, this independent operation mode greatly increases the complexity and maintenance cost of the ship system, and reduces the safety and reliability of the ship. Summary of the invention

[0004] The embodiment of the present application provides a ballast water regulating device, which can solve the problems of low allocation efficiency, increased complexity and maintenance cost of ship systems, and reduced safety and reliability of ships in existing ballast water regulating methods. To achieve this purpose, the embodiment of the present application provides the following solutions.

[0005] According to one aspect of an embodiment of the present application, a ballast water regulating device is provided, comprising: a control module, a data acquisition module, and a circulation module provided with a circulation pipeline, wherein the control module is connected to the data acquisition module and the circulation module respectively;

[0006] The circulation pipe is connected to each ballast tank on the ship, and is used to transfer ballast water between the ballast tanks. The inner diameter of the circulation pipe is determined based on the ship information and the ballast water allocation information;

[0007] The data acquisition module is used to obtain ballast water regulation information and send the ballast water regulation information to the control module, wherein the ballast water regulation information includes at least one of the status information of the ballast tank and the ship attitude information;

[0008] The control module is used to obtain ballast water distribution information corresponding to the ballast water regulation information and use the circulation pipeline to transmit ballast water to the ballast tank corresponding to the ballast water distribution information.

[0009] In a possible implementation, the circulation module also includes a water pump and a control valve installed in the circulation pipeline. Each ballast tank corresponds to the control valve and the water pump. The control valve is used to control the ballast water flowing into or out of the ballast tank, and the water pump is used to drive the ballast water to flow between the corresponding ballast tank and the circulation pipeline.

[0010] In a possible implementation, the data acquisition module includes a plurality of sensors for acquiring the ballast water adjustment information, and the sensors include at least one of a water level sensor, a pressure sensor, and a ship attitude sensor.

[0011] In one possible implementation, the length of the circulation pipe is determined based on the layout information of the ship and the position of the ballast tank, and the layout information includes at least one of the distribution information of the ballast tank, the main engine position, the ship equipment position, the hull structure, the hull center, and the operation requirements.

[0012] In a possible implementation, the ballast water adjustment information includes inclination angle change information, and the ballast water allocation information includes ballast water transfer amount;

[0013] Obtaining ballast water allocation information corresponding to the ballast water adjustment information, including:

[0014] The target ballast tank for ballast water transfer is determined according to the inclination change information, and the stability information of the ship is obtained. The ballast water transfer amount is determined according to the stability information and the inclination change information, wherein the stability information includes the initial stability height, total weight, and vertical distance between the center of gravity of the ballast tank and the center of gravity of the ship.

[0015] In a possible implementation, determining the ballast water transfer amount according to the stability information and the inclination change information includes:

[0016] Inputting the stability information and the inclination change information into formula (1), and calculating the ballast water transfer amount based on formula (1);

[0017] The formula (1) is:

[0018] Wherein, ΔW is the ballast water transfer amount; GM is the initial stability height of the ship; Δθ represents the inclination angle change information; W s is the gross weight of the ship; g is the acceleration due to gravity; h e It is the vertical distance between the center of gravity of the ballast tank and the center of gravity of the hull.

[0019] In a possible implementation, the ballast water distribution information further includes a dynamic attitude adjustment time, the circulation pipeline includes a plurality of pipeline segments, each ballast tank corresponds to at least one of the pipeline segments, and the determination of the dynamic attitude adjustment time includes:

[0020] The ballast water flow rate and efficiency factor of the pipeline section corresponding to the target ballast tank are obtained, and the dynamic posture adjustment time is determined based on the ballast water flow rate, the ballast water transfer amount and the efficiency factor.

[0021] In a possible implementation, the ballast water adjustment information includes a heel angle error and a pitch angle error, and the ballast water distribution information includes a ballast water transfer amount;

[0022] Obtaining ballast water allocation information corresponding to the ballast water adjustment information, including:

[0023] The heel ballast water transfer amount corresponding to the heel angle error and the pitch ballast water transfer amount corresponding to the pitch angle error are determined based on a preset control algorithm, wherein the preset control algorithm includes a PID control algorithm.

[0024] In a possible implementation, the ballast water transmission of the ballast tank includes:

[0025] Controlling the operation of the water pump and the control valve corresponding to the ballast tank based on the ballast water distribution information;

[0026] Using the data acquisition module to collect the pressure information of the circulation pipeline, the water level information of the ballast tank and the ship attitude information;

[0027] The ballast water adjustment information and the ballast water distribution information are iteratively updated based on the collected pressure information, the water level information and the ship posture information.

[0028] In a possible implementation, the ballast water regulating device further includes a filter module, the filter module is installed in the circulation pipeline, and the control module is connected to the filter module through the data acquisition module to detect the state of the filter module.

[0029] The beneficial effects of the technical solution provided by the embodiment of the present application are:

[0030] The circulation module of the ballast water regulating device provided in the present application is provided with a circulation pipe, and the control module is respectively connected with the data acquisition module and the circulation module; the circulation pipe is connected with each ballast tank on the ship, and the circulation pipe is used for transmitting ballast water between ballast tanks, and the inner diameter of the circulation pipe is determined based on the ship information and the ballast water allocation information; the data acquisition module is used to obtain the ballast water regulation information and send the ballast water regulation information to the control module, and the ballast water regulation information includes at least one of the status information of the ballast tank and the ship attitude information; the control module is used to obtain the ballast water allocation information corresponding to the ballast water regulation information and use the circulation pipe to transfer ballast water to the ballast tank corresponding to the ballast water allocation information. The embodiment of the present application can use the circulation pipe to realize the circulation and coordination of ballast water between different ballast compartments, effectively improve the efficiency of ballast water allocation, facilitate the rapid balancing of the center of gravity of the ship, reduce the complexity and maintenance cost of the ship system, thereby improving the safety and reliability of the ship. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following is a brief introduction to the drawings required for use in describing the embodiments of the present application.

[0032] Figure 1 A structural diagram of a ballast water regulating device provided in an embodiment of the present application;

[0033] Figure 2 A framework diagram of a ballast water regulating device provided in an embodiment of the present application;

[0034] Figure 3 A schematic diagram of the structure of a control module in a ballast water regulating device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0035] The embodiments of the present application are described below in conjunction with the drawings in the present application. It should be understood that the implementation methods described below in conjunction with the drawings are exemplary descriptions for explaining the technical solutions of the embodiments of the present application and do not constitute a limitation on the technical solutions of the embodiments of the present application.

[0036] It will be understood by those skilled in the art that, unless specifically stated, the singular forms "one", "said", and "the" used herein may also include plural forms. It should be further understood that the terms "including" and "comprising" used in the embodiments of the present application refer to that the corresponding features can be implemented as the presented features, information, data, steps, operations, elements and / or components, but do not exclude the implementation of other features, information, data, steps, operations, elements, components and / or combinations thereof supported by the present technical field. It should be understood that when we say that an element is "connected" or "coupled" to another element, the one element may be directly connected or coupled to the other element, or it may refer to that the one element and the other element establish a connection relationship through an intermediate element. In addition, the "connection" or "coupling" used herein may include wireless connection or wireless coupling. The term "and / or" used herein indicates at least one of the items defined by the term, for example, "A and / or B" indicates that it is implemented as "A", or is implemented as "A", or is implemented as "A and B".

[0037] In order to make the objectives, technical solutions and advantages of the present application clearer, the implementation methods of the present application will be further described in detail below in conjunction with the accompanying drawings.

[0038] The following describes several exemplary embodiments to illustrate the technical solutions of the embodiments of the present application and the technical effects produced by the technical solutions of the present application. It should be noted that the following embodiments can refer to, draw on or combine with each other, and the same terms, similar features and similar implementation steps in different embodiments will not be described repeatedly.

[0039] The ballast water regulating device provided in the present application is intended to solve at least one technical problem existing in the prior art.

[0040] In the embodiment of the present application, a ballast water regulating device is provided, such as Figure 1-Figure 3As shown, the ballast water regulating device of the present application includes: a control module, a data acquisition module and a circulation module provided with a circulation pipeline, the control module is connected to the data acquisition module and the circulation module respectively; the circulation pipeline is connected to each ballast tank on the ship, the circulation pipeline is used to transmit ballast water between ballast tanks, and the inner diameter of the circulation pipeline is determined based on the ship information and the ballast water allocation information; the data acquisition module is used to obtain the ballast water regulation information and send the ballast water regulation information to the control module, and the ballast water regulation information includes at least one of the state information of the ballast tank and the ship attitude information; the control module is used to obtain the ballast water allocation information corresponding to the ballast water regulation information and use the circulation pipeline to transmit ballast water to the ballast tank corresponding to the ballast water allocation information. By connecting each ballast tank through a circulation pipeline, ballast water can flow freely between different compartments, thereby realizing efficient allocation of ballast water, improving the stability of the ship, and ensuring navigation safety. This method significantly improves the allocation efficiency of ballast water, enables the ship to quickly respond to changes in the ship's attitude in a short time, and adjust the attitude in time, thereby improving the safety of navigation. At the same time, it reduces excessive reliance on a single water pump and pipeline, reduces equipment wear and energy consumption, and improves the durability of the ballast water mixing device.

[0041] Optionally, a plurality of ballast tanks may be provided on the ship, and the number of the ballast tanks may be determined according to factors such as the size, type, navigation requirements, and stability requirements of the ship. The ballast tanks may be provided at the port, front, rear, and other locations of the ship where the ship's attitude can be adjusted after the ship is heeled or trimmed.

[0042] In one embodiment, the ballast tanks are distributed as follows Figure 2 As shown, the port side and the starboard side of the ship are each provided with four ballast tanks, and the ballast tanks on both sides of the ship are symmetrically arranged. A circulation pipeline is arranged between the ballast tanks on both sides, and the circulation pipeline is communicated with each ballast tank.

[0043] Optionally, the circulation module also includes a water pump and a control valve installed in the circulation pipeline. Each ballast tank corresponds to a control valve and a water pump. The control valve is used to control the ballast water flowing into or out of the ballast tank, and the water pump is used to drive the ballast water to flow between the corresponding ballast tank and the circulation pipeline.

[0044] Optionally, the circulation pipeline may include a ballast water transmission pipeline and an inlet branch pipe and an outlet branch pipe, wherein each ballast tank is connected to the corresponding inlet branch pipe and outlet branch pipe, and the ballast tank is connected to the ballast water transmission pipeline through the connected inlet branch pipe and outlet branch pipe, and the ballast water is transmitted to other ballast tanks or the ballast water transmitted by other ballast tanks is obtained through the ballast water transmission pipeline. A water pump may be arranged on the ballast water transmission pipeline or the inlet branch pipe and the outlet branch pipe, and the flow of ballast water is controlled by the water pump, and a control valve may be arranged on the inlet branch pipe and the outlet branch pipe.

[0045] In one embodiment, the control valve may be an electric control valve, and the water pump may be an electric water pump. The control valve and the electric water pump are connected to the control module and operate based on the command sent by the control module. The ballast water transmission pipe may include multiple pipe sections, which correspond to the ballast tanks one by one or each ballast tank corresponds to two or more pipe sections. The water pump is arranged in the pipe section, and the ballast water is driven to flow between the circulation pipe and the ballast tank by the water pump in the pipe section. The water pump can change the water flow rate according to the command of the control module to meet the ballast water regulation requirements.

[0046] Optionally, the ballast water transfer pipe can be a meander pipe structure that allows ballast water to flow freely between different ballast tanks. In traditional systems, each ballast tank is operated independently and the amount of water must be adjusted by external injection or discharge of water. The meander-shaped ballast water transfer pipe connects all ballast tanks together to form a closed loop. The water flow can be driven by a water pump and flow from one compartment to another. The water distribution is more flexible and fast, suitable for responding to rapid changes in the ship's attitude.

[0047] Optionally, the circulation pipeline can be made of corrosion-resistant, high-strength pipeline materials that can work for a long time in seawater environment. The control valve corresponding to each ballast tank is an electric valve, and the control module can adjust the opening and closing state of the electric valve in real time to control the direction of water flow. The control module can achieve the optimal allocation of internal ballast water through the circulation pipeline without changing the external structure of the ship.

[0048] Optionally, the ship information may include the size of the ship, and the ballast water allocation information may include at least one of the flow range information of the ballast water, the flow range information of the water pump, and the ballast water allocation efficiency. The inner diameter range of the circulation pipeline corresponding to ships of different sizes can be determined based on the ship information and the ballast water allocation information, and the inner diameter of the circulation pipeline is set based on the inner diameter range. The ballast water allocation efficiency can be determined based on the time required for ballast water to be transported from one ballast tank to another, the speed of the control module response, and the smoothness of the water flow in the pipeline.

[0049] In one embodiment, for small ships (such as less than 5,000 tons), the inner diameter of the circulation pipe can be selected between 50 mm and 100 mm. For large ships (such as cargo ships exceeding 50,000 tons), the diameter of the circulation pipe can be between 200 mm and 400 mm.

[0050] Optionally, in order to effectively remove suspended matter, microorganisms and organic matter, prevent the ballast water from stinking and breeding bacteria, and improve the cleanliness of the ballast water, the ballast water conditioning device also includes a filter module, the filter module is installed in the circulation pipeline, and the control module is connected to the filter module through the data acquisition module to detect the state of the filter module.

[0051] In one embodiment, the filter element material of the filter module may include fine sand, activated carbon and other materials that can be used for filtering. The filter module may be modularly designed to facilitate regular replacement, and the replacement cycle of the filter module may be determined according to water quality and usage. Specifically, the filtration cycle may be 3 to 6 months. The control module monitors the pressure difference of the filter, and when the set value is reached, it prompts to replace the filter element of the filter module.

[0052] Optionally, the data acquisition module includes a plurality of sensors for collecting ballast water regulation information, and the sensors include at least one of a water level sensor, a pressure sensor, and a ship attitude sensor. Among them, the water level sensor monitors the water level in each ballast tank in real time to ensure that the amount of ballast water in each compartment remains within a set range. When the control module determines through the water level sensor that the water level reaches a preset upper or lower limit, the control module will sound an alarm or automatically adjust the operation of the water pump and valve. The pressure sensor automatically monitors the water pressure in the pipeline to prevent the water pump or valve from overloading. When the control module determines through the pressure sensor that the pressure is abnormal, it will adjust the speed of the water pump or the opening of the valve to maintain normal pressure. The ship attitude sensor is used to detect the ship's heel, trim and draft in real time, and the control module automatically adjusts the distribution of ballast water according to the parameters collected by the sensor in the data acquisition module.

[0053] In one embodiment, the control module detects the heel angle and pitch angle of the ship through the ship attitude sensor. When it is determined that the deviation angle of the heel angle or pitch angle of the ship from the corresponding heel angle or pitch angle in the stable state exceeds a preset threshold (such as ±0.5 degrees), it is confirmed that the ship has an attitude deviation and ballast water adjustment is performed. The control module reads the water level data of each ballast tank through the water level sensor, obtains the distribution of ballast water based on the water level data, and calculates the ballast water volume of each ballast tank based on the distribution. The control module can also detect the water pressure in the circulation pipeline through the pressure sensor, and adjust the working parameters of the water pump based on the water pressure to avoid the pressure of the pipeline exceeding the predetermined safety pressure range during the ballast water adjustment process.

[0054] Optionally, the control module may include a power supply unit for powering, and power is supplied to each unit or device in the control module through the power supply unit. The control module may also include a main control unit and a battery management unit, an RTC clock unit, a communication unit, an actuator unit, an ADC data acquisition unit, and an intelligent scheduling unit respectively connected to the main control unit, wherein the actuator unit may be respectively connected to a water pump controller on a water pump and a valve controller on a control valve. The main control unit may collect data from a water level sensor, a pressure sensor, and a ship attitude sensor through the ADC data acquisition unit. The control module coordinates the coordinated work of the battery management unit, the RTC clock unit, the communication unit, the actuator unit, the ADC data acquisition unit, and the intelligent scheduling unit through the main control unit to achieve precise control of the water pump and the control valve, and automatically allocate the ship's ballast water. The main control unit monitors key parameters such as water level, attitude, and pressure in real time through the ADC data acquisition unit, and the intelligent scheduling unit calculates the optimal allocation plan based on the algorithm to ensure the stability and fuel efficiency of the ship. When the ship's attitude changes, for example, when the ship's list is too large in severe sea conditions, the control module can redistribute the ballast water to different ballast tanks by controlling the water pumps and control valves in a very short time, thereby quickly restoring the ship's balance.

[0055] Optionally, the ballast water transmission of the ballast tank includes: controlling the operation of the water pump and control valve corresponding to the ballast tank based on the ballast water distribution information; using the data acquisition module to collect the pressure information of the circulation pipeline, the water level information of the ballast tank and the ship's attitude information; iteratively updating the ballast water adjustment information and the ballast water distribution information based on the collected pressure information, water level information and ship's attitude information. The ballast water in different ballast tanks in the ship can adapt to the changes in the heel angle or the pitch angle through iterative updating, thereby improving the stability of the ship.

[0056] Optionally, the length of the circulation pipe is determined based on the layout information of the ship and the position of the ballast tank, and the layout information includes at least one of the distribution information of the ballast tank, the main engine position, the ship equipment position, the hull structure, the hull center, and the operation requirements.

[0057] In one embodiment, the length range of the circulation pipeline can be determined according to the size of the ship, and the specific length of the circulation pipeline can be determined in combination with the length range, the layout information of the ship, and the position of the ballast tank. Specifically, for a medium-sized ship (such as a range of 5,000 tons to 50,000 tons), the total length of the circulation pipeline can be between 150 meters and 300 meters.

[0058] Optionally, the material of the circulation pipe can be a corrosion-resistant material (such as stainless steel or high-strength polymer). The thickness of the circulation pipe can be determined according to the water pressure range that the pipe withstands during ballast water regulation and the sea conditions of the ship's navigation. If the components in the circulation pipe are in a high-pressure environment or immersed in seawater for a long time, the thickness of the component can be increased to ensure the service life and safety of the circulation pipe. The circulation pipe is connected to the ballast tank and the water pump through a standard flange interface, and the size of the interface matches the pipe diameter. The pipe connection point can be designed to be detachable for maintenance or replacement when necessary. The specific wall thickness of the circulation pipe can be between 3 mm and 10 mm.

[0059] Optionally, the total capacity of the ballast tanks depends on the type, size, etc. of the ship. The total capacity of ballast water in all ballast tanks is about 20% to 30% of the deadweight of the ship. For example, for a ship with a deadweight of 50,000 tons, the total ballast water capacity can be between 10,000 cubic meters and 15,000 cubic meters.

[0060] Optionally, the water pump uses variable frequency drive technology, which can flexibly adjust the flow rate according to the needs of ballast water regulation and reduce energy consumption. The electric valve allows the control module to accurately control the path of the water flow. The control module can switch the water flow between different ballast tanks according to the real-time ship posture and sea conditions, and quickly adjust the center of gravity of the ship. Among them, the flow rate of the water pump can be determined according to the obtained ballast water regulation speed, and the head of the water pump can be determined according to the delivery pressure of the ballast water in the circulation pipeline.

[0061] In one embodiment, the flow rate of the water pump is 500 to 2000 cubic meters per hour, and the head of the water pump is 20 to 50 meters of water column.

[0062] Optionally, the ballast water adjustment information includes inclination change information, and the ballast water distribution information includes the ballast water transfer amount; obtaining the ballast water distribution information corresponding to the ballast water adjustment information includes: determining the target ballast tank for transferring ballast water according to the inclination change information, obtaining the stability information of the ship, and determining the ballast water transfer amount according to the stability information and the inclination change information, the stability information including the initial stability height of the ship, the total weight, and the vertical distance between the center of gravity of the ballast tank and the center of gravity of the hull.

[0063] Optionally, the inclination change information includes the change of the heel angle or the pitch angle of the ship. The initial stability height of the ship is the height of the ship in a stable state (such as the heel angle and the pitch angle are zero). The target ballast tank to be transferred ballast water can be determined according to the inclination change information and the predetermined ballast water adjustment rules (such as the ballast tanks that need to adjust ballast water corresponding to different inclination angles and inclination angle sizes).

[0064] Specifically, determining the ballast water transfer amount according to the stability information and the inclination change information includes: inputting the stability information and the inclination change information into formula (1), and calculating the ballast water transfer amount based on formula (1); formula (1) is:

[0065] Wherein, ΔW is the ballast water transfer amount; GM is the initial stability height of the ship; Δθ represents the inclination angle change information; W s is the gross weight of the ship; g is the acceleration due to gravity; h e It is the vertical distance between the center of gravity of the ballast tank and the center of gravity of the hull.

[0066] Optionally, after obtaining the ballast water transfer amount, the dynamic attitude adjustment time of this ballast water regulation can be obtained according to the ballast water transfer amount. The dynamic attitude adjustment time can be limited to 30 seconds to 2 minutes. The specific dynamic attitude adjustment time can be determined according to the flow rate of the water pump, the pressure that the circulation pipeline can withstand, the diameter and length of the pipeline, and the ballast water transfer amount.

[0067] In one embodiment, the circulation pipeline includes multiple pipeline segments, each ballast tank corresponds to the pipeline segment, and the determination of the dynamic attitude adjustment time includes: obtaining the ballast water flow and efficiency factor of the pipeline segment corresponding to the target ballast tank, and determining the dynamic attitude adjustment time based on the ballast water flow, ballast water transfer amount and efficiency factor.

[0068] Specifically, the ballast water flow rate can be the flow rate of the water pump when transferring ballast water. The flow rate can be preset or determined according to the amount of ballast water transfer. The larger the amount of ballast water transfer, the larger the flow rate of the water pump. Calculate the dynamic attitude adjustment time, where η is the pipeline efficiency coefficient and Q is the pump flow rate. After obtaining the dynamic attitude adjustment time, check whether the dynamic attitude adjustment time is within the specified range. If not, adjust (increase or decrease) the pump flow rate to make the dynamic attitude adjustment time within the range. The pipeline efficiency coefficient can be set by fluid mechanics simulation or actual experience, usually between 0.7-0.9.

[0069] Optionally, a preset control algorithm may be used to obtain the ballast water transfer amount and to distribute the ballast water based on the ballast water transfer amount. The ballast water adjustment information may include a heel angle error and a pitch angle error, and the ballast water distribution information includes the ballast water transfer amount; obtaining the ballast water distribution information corresponding to the ballast water adjustment information includes: determining the heel ballast water transfer amount corresponding to the heel angle error and the pitch ballast water transfer amount corresponding to the pitch angle error based on a preset control algorithm, and the preset control algorithm includes a PID control algorithm.

[0070] Optionally, the heel angle error may be a deviation between the current heel angle and the target heel angle, and the pitch angle error may be an error between the current pitch angle and the target pitch angle. Specifically, the target heel angle and the target pitch angle may be 0 degrees or a set optimal value, which may be determined based on the heel angle and the pitch angle when the ship is in a stable state.

[0071] In one embodiment, the heel angle error can be expressed as: 横 (t) = θ 横目标 -θ 横 (t), the pitch angle error can be expressed as: e 纵 (t) = θ 纵目标 -θ 纵 (t). Where, e 横 (t) is the heel angle error, θ 横目标 is the target heel angle, θ 横 (t) is the current heel angle, e 纵 (t) is the pitch angle error, θ 纵目标 is the target pitch angle, θ 纵 (t) is the current pitch angle.

[0072] Ballast water transfer required to correct heel Among them, u 横 (t) the amount of ballast water transfer required to correct the heel, is the proportional coefficient corresponding to the heel, is the integral coefficient corresponding to the heel, is the differential coefficient corresponding to the heel.

[0073] Ballast water transfer required to correct trim Among them, u 纵 (t) the amount of ballast water transfer required to correct trim, is the proportional coefficient corresponding to the longitudinal tilt, is the integral coefficient corresponding to the trim, is the differential coefficient corresponding to the longitudinal tilt.

[0074] Optionally, the proportional coefficient, integral coefficient and differential coefficient associated with the PID control algorithm may be determined by a Ziegler-Nichols tuning method.

[0075] In one embodiment, K I and K D Set to 0 to only adjust the proportional coefficient K p , gradually increase K p , until the output of the algorithm is determined to be continuously oscillating (K p The value of is determined as the critical ratio value Kcr ), record this ratio and the period of oscillation T cr Based on the critical ratio value and period, the proportional coefficient, integral coefficient and differential coefficient are determined. The relevant calculation formula can be:

[0076] K p =0.6·K cr

[0077]

[0078] Optionally, the amount of ballast water transferred to each ballast tank may be determined based on the location and available volume of the ballast tank, and during the ballast water transfer process, a water level sensor may be used to detect the water level in the ballast tank to ensure that the water level is within a safe range.

[0079] Optionally, during the adjustment process, the ship's attitude data is continuously collected, the ship's attitude error e(t) (including heel angle error and pitch angle error) is updated, and the ballast water transfer amount is adjusted in real time to achieve closed-loop control. When the attitude error e(t) is less than a preset allowable range (such as ±0.1 degrees), the adjustment is stopped.

[0080] In one embodiment, when a ship is sailing at sea, it suddenly encounters a strong crosswind, causing the ship to have a heel angle of 2 degrees. The ship attitude sensor detects in real time that the heel angle reaches 2 degrees, exceeding the preset safety threshold (±0.5 degrees). The control module immediately issues an alarm and starts to calculate the amount of ballast water transfer. The water level sensor shows that the water level in the port ballast tank is 80% and the water level in the starboard ballast tank is 50%. The pressure sensor shows that the circulating pipeline pressure is normal and can operate safely. According to the PID control algorithm, it is determined that about 200 tons of ballast water needs to be transferred from the port ballast tank to the starboard ballast tank. The control module opens the outlet valve of the port ballast tank and the inlet valve of the starboard ballast tank. The water pump runs at a flow rate of 100 tons per minute, and the adjustment is expected to be completed within 2 minutes. During the adjustment process, the pressure sensor continuously monitors the pipeline pressure to ensure that it does not exceed the safety range. After the adjustment is completed, the attitude sensor shows that the heel angle has been restored to within 0.1 degrees. The control module records the data of this adjustment process for future analysis and optimization.

[0081] In the ballast water regulating device provided in the embodiment of the present application, a circulation module is provided with a circulation pipe, and the control module is respectively connected to the data acquisition module and the circulation module; the circulation pipe is connected to each ballast tank on the ship, and the circulation pipe is used to transfer ballast water between ballast tanks, and the inner diameter of the circulation pipe is determined based on the ship information and the ballast water allocation information; the data acquisition module is used to obtain the ballast water regulation information and send the ballast water regulation information to the control module, and the ballast water regulation information includes at least one of the status information of the ballast tank and the ship posture information; the control module is used to obtain the ballast water allocation information corresponding to the ballast water regulation information and use the circulation pipe to transfer ballast water to the ballast tank corresponding to the ballast water allocation information. The embodiment of the present application can use the circulation pipe to realize the circulation and coordination of ballast water between different ballast compartments, effectively improve the efficiency of ballast water allocation, facilitate rapid balancing of the center of gravity of the ship, reduce the complexity and maintenance cost of the ship system, thereby improving the safety and reliability of the ship.

[0082] The terms "first", "second", "third", "fourth", "1", "2", etc. (if any) in the specification and claims of this application 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 application described herein can be implemented in an order other than that shown or described in the drawings.

[0083] It should be understood that, although each operation step is indicated by arrows in the flowchart of the embodiment of the present application, the implementation order of these steps is not limited to the order indicated by the arrows. Unless clearly stated herein, in some implementation scenarios of the embodiment of the present application, the implementation steps in each flowchart can be performed in other orders according to demand. In addition, some or all of the steps in each flowchart may include multiple sub-steps or multiple stages based on actual implementation scenarios. Some or all of these sub-steps or stages may be executed at the same time, and each sub-step or stage in these sub-steps or stages may also be executed at different times respectively. In different scenarios of execution time, the execution order of these sub-steps or stages may be flexibly configured according to demand, and the embodiment of the present application does not limit this.

[0084] The above is only an optional implementation method for some implementation scenarios of the present application. It should be pointed out that for ordinary technicians in this technical field, without departing from the technical concept of the solution of the present application, other similar implementation methods based on the technical ideas of the present application are also within the protection scope of the embodiments of the present application.

Claims

1. A ballast water regulating device, characterized in that: include: A control module, a data acquisition module and a circulation module provided with a circulation pipeline, wherein the control module is connected to the data acquisition module and the circulation module respectively; The circulation pipe is connected to each ballast tank on the ship, and is used to transfer ballast water between the ballast tanks. The inner diameter of the circulation pipe is determined based on the ship information and the ballast water allocation information; The data acquisition module is used to obtain ballast water regulation information and send the ballast water regulation information to the control module, wherein the ballast water regulation information includes at least one of the status information of the ballast tank and the ship attitude information; The control module is used to obtain ballast water distribution information corresponding to the ballast water regulation information and use the circulation pipeline to transmit ballast water to the ballast tank corresponding to the ballast water distribution information.

2. The ballast water regulating device according to claim 1, characterized in that: The circulation module also includes a water pump and a control valve installed in the circulation pipeline. Each ballast tank corresponds to the control valve and the water pump. The control valve is used to control the ballast water to flow into or out of the ballast tank, and the water pump is used to drive the ballast water to flow between the corresponding ballast tank and the circulation pipeline.

3. The ballast water regulating device according to claim 1, characterized in that: The data acquisition module includes a plurality of sensors for acquiring the ballast water adjustment information, and the sensors include at least one of a water level sensor, a pressure sensor, and a ship attitude sensor.

4. The ballast water regulating device according to claim 1, characterized in that: The length of the circulation pipeline is determined based on the layout information of the ship and the position of the ballast tank, wherein the layout information includes at least one of the distribution information of the ballast tank, the main engine position, the ship equipment position, the hull structure, the hull center, and the operation requirements.

5. The ballast water regulating device according to claim 1, characterized in that: The ballast water adjustment information includes inclination angle change information, and the ballast water distribution information includes ballast water transfer amount; Obtaining ballast water allocation information corresponding to the ballast water adjustment information, including: The target ballast tank for ballast water transfer is determined according to the inclination change information, and the stability information of the ship is obtained. The ballast water transfer amount is determined according to the stability information and the inclination change information, wherein the stability information includes the initial stability height, total weight, and vertical distance between the center of gravity of the ballast tank and the center of gravity of the ship.

6. The ballast water regulating device according to claim 5, characterized in that: The determining of the ballast water transfer amount according to the stability information and the inclination change information comprises: Inputting the stability information and the inclination change information into formula (1), and calculating the ballast water transfer amount based on formula (1); The formula (1) is: Wherein, ΔW is the ballast water transfer amount; GM is the initial stability height of the ship; Δθ represents the inclination change information; W s is the gross weight of the ship; g is the acceleration due to gravity; h e It is the vertical distance between the center of gravity of the ballast tank and the center of gravity of the hull.

7. The ballast water regulating device according to claim 5, characterized in that: The ballast water distribution information also includes a dynamic attitude adjustment time. The circulation pipeline includes a plurality of pipeline sections, and each ballast tank corresponds to at least one of the pipeline sections. The determination of the dynamic attitude adjustment time includes: The ballast water flow rate and efficiency factor of the pipeline section corresponding to the target ballast tank are obtained, and the dynamic posture adjustment time is determined based on the ballast water flow rate, the ballast water transfer amount and the efficiency factor.

8. The ballast water regulating device according to claim 1, characterized in that: The ballast water adjustment information includes a heel angle error and a pitch angle error, and the ballast water distribution information includes a ballast water transfer amount; Obtaining ballast water allocation information corresponding to the ballast water adjustment information, including: The heel ballast water transfer amount corresponding to the heel angle error and the pitch ballast water transfer amount corresponding to the pitch angle error are determined based on a preset control algorithm, wherein the preset control algorithm includes a PID control algorithm.

9. The ballast water regulating device according to claim 2, characterized in that: The ballast water transfer of the ballast tank comprises: Controlling the operation of the water pump and the control valve corresponding to the ballast tank based on the ballast water distribution information; Using the data acquisition module to collect the pressure information of the circulation pipeline, the water level information of the ballast tank and the ship attitude information; The ballast water adjustment information and the ballast water distribution information are iteratively updated based on the collected pressure information, the water level information and the ship posture information.

10. The ballast water regulating device according to claim 1, characterized in that: The ballast water regulating device further comprises a filter module, the filter module is installed in the circulation pipeline, and the control module is connected to the filter module through the data acquisition module to detect the state of the filter module.

Images