Floating dock anchoring control method and system capable of automatically adjusting length of anchor chain

Abstract

The invention belongs to the technical field of marine engineering, and particularly discloses a floating dock anchoring control method and system capable of automatically adjusting the length of an anchor chain. The method comprises the following steps: detecting an actual pre-tensioning force value borne by each anchor chain of the floating dock; the difference between the actual pre-tensioning force value borne by each anchor chain and the optimal pre-tensioning force value is obtained, the absolute value is obtained, the pre-tensioning force difference is obtained, and the abnormal anchor chain is obtained according to the pre-tensioning force difference; and the length of the abnormal anchor chain is adjusted according to the optimal pre-tensioning force value until the actual pre-tensioning force values of all the anchor chains are within the allowable range of the optimal pre-tensioning force value. By automatically adjusting the length of the anchor chains, the pre-tensioning force of each anchor chain of the anchoring system is in the optimal range, the stability and safety of floating dock anchoring can be improved, the efficiency of ship repairing and building operation is improved, the service life of the floating dock and the service life of anchoring equipment of the floating dock are prolonged, and the environmental adaptability of the floating dock anchoring system is enhanced.

Description

Technical Field

[0001] The present invention belongs to the technical field of ship and ocean engineering, and more specifically, relates to a floating dock anchoring control method and system with automatically adjustable anchor chain length. Background Art

[0002] A floating dock is an engineering vessel used for ship repair, shipbuilding and ship maintenance. It is usually constrained by anchoring to prevent the floating dock from drifting significantly under the action of wind, waves and currents. However, the traditional mooring system has the limitation of constant anchor chain length or manual timed adjustment. The length of the anchor chain cannot respond to the change of tide in time, resulting in poor stability of the floating dock in the working condition. It not only affects the accuracy of ship repair and construction operations and prolongs the maintenance cycle of the ship, but also may cause safety hazards, greatly increasing the risk of accidents during ship repair and construction. In addition, the excessive bending of the anchor chain causes it to be instantly tightened in extremely severe sea conditions, resulting in a large pre-tensioning force, and there is a risk of breakage or dragging the anchor. In addition, the manual adjustment of the anchor chain is inefficient and easily limited by the experience and judgment of the operator. In summary, with the improvement of the safety and efficiency requirements of the ship repair and construction industry, the traditional mooring system can no longer meet the current needs of floating dock mooring.

[0003] Based on the above-mentioned defects and shortcomings, there is an urgent need in the art to propose a floating dock mooring control method with automatically adjustable anchor chain length. By automatically adjusting the length of the anchor chain, the pre-tensioning force of each anchor chain of the mooring system is within the optimal range, which can improve the stability and safety of the floating dock mooring, improve the efficiency of ship repair and construction operations, extend the life of the floating dock and its mooring equipment, and enhance the environmental adaptability of the floating dock mooring system. Summary of the invention

[0004] In view of the above defects or improvement needs of the prior art, the present invention provides a floating dock anchoring control method and system with automatically adjustable anchor chain length. In combination with the working characteristics of each anchor chain of the mooring system and the characteristics of the visual inspection process, a floating dock anchoring control method and system with automatically adjustable anchor chain length are designed accordingly. By automatically adjusting the length of the anchor chain, the pre-tensioning force of each anchor chain of the mooring system is placed in an optimal range, which can improve the stability and safety of the floating dock mooring, improve the efficiency of ship repair and construction operations, extend the life of the floating dock and its mooring equipment, and enhance the environmental adaptability of the floating dock mooring system.

[0005] To achieve the above object, according to one aspect of the present invention, a floating dock anchoring control method with automatically adjustable anchor chain length is proposed, comprising the following steps:

[0006] Step 1: Detect the actual pre-tensioning force value of each anchor chain of the floating dock;

[0007] Step 2: Subtract the actual pre-tensioning force value of each anchor chain from the optimal pre-tensioning force value and take the absolute value to obtain the pre-tensioning force difference, and obtain the abnormal anchor chain according to the pre-tensioning force difference;

[0008] Step three, adjusting the length of the abnormal anchor chain according to the optimal pre-tensioning force value until the actual pre-tensioning force values ​​of all anchor chains are within the allowable range of the optimal pre-tensioning force value.

[0009] As further preferred, step one comprises the following steps:

[0010] (11) constructing the catenary equation of the anchor chain under the action of gravity, and calculating the catenary characteristic parameter a of the i-th anchor chain according to the obtained hanging height and horizontal span of the i-th anchor chain;

[0011] (12) Calculate the anchor chain pretension f of the i-th anchor chain according to the catenary characteristic parameter a i，j , where j is 1, 2, or 3;

[0012] (13) Obtain the anchor chain pretension f of the i-th anchor chain according to the torque applied to the i-th anchor chain n ;

[0013] (14) According to the anchor chain pretension force f of the i-th anchor chain i，j And the anchor chain pretension f i，n Get the actual pre-tensioning force value F 张i .

[0014] As further preferred, in step (11), the catenary equation includes:

[0015]

[0016] Where h(l) is the height at the horizontal span l, and a is the characteristic parameter of the catenary;

[0017] The calculation formula of the catenary characteristic parameter a includes:

[0018] a=f / w, w is the gravity of the anchor chain per unit length, and f is the pretension of the anchor chain.

[0019] As a further preferred embodiment, in step (11), a plurality of laser displacement sensors are used to detect the hanging height of the anchor chain and its horizontal span; and a torque sensor is used to detect the torque applied by the anchor winch to the anchor chain.

[0020] As a further preferred embodiment, the actual pre-tensioning force value F 张i The calculation formula includes:

[0021]

[0022] Where w1, w2, w3, and w4 are weight coefficients.

[0023] As a further preferred embodiment, in step three, it is determined whether the actual pre-tensioning force value of the abnormal anchor chain is greater than the optimal pre-tensioning force value. If so, the chain is released; if not, the chain is retracted until the pre-tensioning force difference is less than the set threshold value T, keeping the length of the anchor chain unchanged.

[0024] As a further preferred embodiment, the calculation formula for the length of the chain released or collected includes:

[0025] d=PL / N

[0026] Where, d is the length displacement of the anchor chain when releasing or retracting the chain, L is the winding circumference of the anchor windlass, and N is the number of encoder pulses in a single turn.

[0027] According to another aspect of the present invention, there is also provided a floating dock mooring control system with automatically adjustable anchor chain length, comprising:

[0028] A detection module is used to detect the actual pre-tensioning force value of each anchor chain of the floating dock;

[0029] A control module is used to obtain the pre-tension difference by subtracting the actual pre-tension value of each anchor chain from the optimal pre-tension value and taking the absolute value, and obtaining the abnormal anchor chain according to the pre-tension difference;

[0030] The execution module is used to adjust the length of the abnormal anchor chain according to the optimal pre-tensioning force value until the actual pre-tensioning force values ​​of all anchor chains are within the allowable range of the optimal pre-tensioning force value.

[0031] As further preferred, the detection module includes:

[0032] Anchor chain laser displacement measurement module, used to measure the overhang height of anchor chains at different positions facing and swaying seas;

[0033] The torque sensor is located between the transmission device and the anchor windlass and is used to detect the torque applied by the anchor windlass to the anchor chain;

[0034] The encoder is installed at the free end of the windlass shaft to detect the displacement and speed data of the anchor chain.

[0035] Preferably, the anchor chain laser displacement measurement module comprises: a wave-facing cable guide hole, a third wave-facing laser displacement sensor, a second wave-facing laser displacement sensor, a first wave-facing laser displacement sensor, a back-wave cable guide hole, a third wave-facing laser displacement sensor, a second wave-facing laser displacement sensor, and a first wave-facing laser displacement sensor. The wave-facing cable guide hole and the back-wave cable guide hole are respectively located on both sides of the bottom surface of the floating dock about the transverse central axis, the wave-facing first laser displacement sensor and the back-wave first laser displacement sensor are respectively arranged at symmetrical positions of the wave-facing cable guide hole and the back-wave cable guide hole about the transverse central axis TT, the wave-facing second laser displacement sensor and the back-wave second laser displacement sensor are respectively arranged at the intersection of the longitudinal straight line passing through the wave-facing cable guide hole and the back-wave cable guide hole and the transverse central axis TT, the wave-facing third laser displacement sensor and the back-wave third laser displacement sensor are respectively arranged at the longitudinal straight line passing through the wave-facing cable guide hole and the back-wave cable guide hole, and at a position offset inward by a distance S on the same side of the transverse central axis TT and the cable guide hole.

[0036] As a further preferred embodiment, the control module includes: a signal conversion system, a PLC controller and a power supply system, and the PLC controller 7 receives real-time source data from the detection module through the signal conversion system and sends instructions for chain collection / release actions to the execution module;

[0037] Preferably, the execution module is arranged inside the floating dock, and includes a hydraulic motor, a hydraulic motor output shaft, a transmission device, a transmission device output shaft, a windlass shaft, and a windlass connected in sequence, the two ends of the torque sensor are respectively connected to the transmission device output shaft and the windlass shaft, and the encoder is installed at the free end of the windlass shaft;

[0038] Preferably, an interactive module is also included, and the interactive module includes a touch screen for displaying tension data, operating status data, and realizing switching between manual and automatic control instructions.

[0039] In general, the above technical solution conceived by the present invention has the following technical advantages compared with the prior art:

[0040] 1. The present invention responds to changes in environmental conditions in a timely manner through real-time monitoring and automatic adjustment, reduces the drift of the floating dock in the water, and ensures the continuity and stability of ship repair and shipbuilding operations.

[0041] 2. The present invention monitors the state of the anchor chain to ensure that it works within a safe range, reduces unnecessary wear and stress, reduces the risk of anchor chain failure, improves the safety of the mooring system, and helps to extend the service life of the anchor chain and the floating dock.

[0042] 3. The present invention adopts automatic control to reduce the dependence on manual labor and improve work efficiency. In addition, the present invention can adapt to different waters and environmental conditions, provide a flexible anchor chain control solution, and meet different operation requirements. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 It is a principle diagram of a floating dock anchoring control method with automatically adjustable anchor chain length involved in an embodiment of the present invention;

[0044] Figure 2 Attached is a schematic diagram of the operation of the system according to an embodiment of the present invention when the tide level is low. Figure 3 This is a schematic diagram of a wave-facing anchoring control system according to an embodiment of the present invention;

[0045] Attached Figure 4 is a schematic diagram of the hardware arrangement of the execution module involved in the embodiment of the present invention;

[0046] Attached Figure 5 The figure is a schematic diagram of the arrangement of laser displacement sensors on the bottom surface of a floating dock involved in an embodiment of the present invention.

[0047] In all the accompanying drawings, the same figure marks represent the same technical features, specifically: floating dock-1, wave-facing anchor chain-2, back-wave anchor chain-3, sinker-4, touch screen-5, power supply system-6, PLC controller-7, signal conversion system-8, hydraulic motor-9, hydraulic motor output shaft-10, transmission device-11, transmission device output shaft-12, torque sensor-13, torque sensor support seat-14, anchor windlass shaft-15, anchor windlass support seat-16, anchor windlass-17, encoder-18, wave-facing fairlead hole-19, wave-facing third laser displacement sensor-20, wave-facing second laser displacement sensor-21, wave-facing first laser displacement sensor-22, back-wave fairlead hole-23, back-wave third laser displacement sensor-24, back-wave second laser displacement sensor-25, back-wave first laser displacement sensor-26. DETAILED DESCRIPTION

[0048] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0049] A floating dock anchoring control method and system with automatically adjustable anchor chain length provided in an embodiment of the present invention

[0050] Example 1

[0051] like Figure 1 As shown, the present embodiment provides a floating dock anchoring control method with automatically adjustable anchor chain length, comprising the following steps:

[0052] Step 1: Detect the actual pre-tensioning force value of each anchor chain of the floating dock; in this step,

[0053] (11) constructing the catenary equation of the anchor chain under the action of gravity, and calculating the catenary characteristic parameter a of the i-th anchor chain according to the obtained hanging height and horizontal span of the i-th anchor chain;

[0054] The catenary equation includes:

[0055]

[0056] Where h(l) is the height at the horizontal span l, and a is the characteristic parameter of the catenary;

[0057] The calculation formula of the catenary characteristic parameter a includes:

[0058] a=f / w, w is the gravity of the anchor chain per unit length, and f is the pretension of the anchor chain.

[0059] In addition, in this embodiment, a plurality of laser displacement sensors are used to detect the hanging height of the anchor chain and its horizontal span; and a torque sensor is used to detect the torque applied by the anchor windlass to the anchor chain.

[0060] More specifically, the arrangement of the laser displacement sensors includes: a wave-facing cable guide hole 19, a third wave-facing laser displacement sensor 20, a second wave-facing laser displacement sensor 21, a first wave-facing laser displacement sensor 22, a back-wave cable guide hole 23, a third back-wave laser displacement sensor 24, a second back-wave laser displacement sensor 25, and a first back-wave laser displacement sensor 26. The wave-facing cable guide hole 19 and the back-wave cable guide hole 23 are respectively located on both sides of the bottom surface of the floating dock 1 about the transverse central axis, and the wave-facing first laser displacement sensor 22 and the back-wave first laser displacement sensor 26 are respectively located on both sides of the transverse central axis of the bottom surface of the floating dock 1. They are arranged at symmetrical positions of the wave-facing cable guide hole 19 and the back-wave cable guide hole 23 about the transverse central axis TT. The wave-facing second laser displacement sensor 21 and the back-wave second laser displacement sensor 25 are respectively arranged at the positions of the intersections of the longitudinal straight lines passing through the wave-facing cable guide hole 19 and the back-wave cable guide hole 23 and the transverse central axis TT. The wave-facing third laser displacement sensor 20 and the back-wave third laser displacement sensor 24 are respectively arranged at the positions of the longitudinal straight lines passing through the wave-facing cable guide hole 19 and the back-wave cable guide hole 23, and offset inwardly by a distance S on the same side of the transverse central axis TT as the cable guide hole.

[0061] (12) Calculate the anchor chain pretension f of the i-th anchor chain according to the catenary characteristic parameter a i，j , where j is 1, 2, or 3;

[0062] (13) Obtain the anchor chain pretension f of the i-th anchor chain according to the torque applied to the i-th anchor chain n ;

[0063] (14) According to the anchor chain pretension force f of the i-th anchor chain i，j And the anchor chain pretension f i，n Get the actual pre-tensioning force value F 张i .

[0064] The actual pre-tensioning force value F 张i The calculation formula includes:

[0065]

[0066] Where w1, w2, w3, and w4 are weight coefficients.

[0067] Step 2: Subtract the actual pre-tensioning force value of each anchor chain from the optimal pre-tensioning force value and take the absolute value to obtain the pre-tensioning force difference, and obtain the abnormal anchor chain according to the pre-tensioning force difference.

[0068] Step 3: adjust the length of abnormal anchor chain according to the optimal pre-tension value until the actual pre-tension value of all anchor chains is within the allowable range of the optimal pre-tension value. That is, determine whether the actual pre-tension value of the abnormal anchor chain is greater than the optimal pre-tension value. If so, release the chain; if not, retract the chain until the pre-tension difference is less than the set threshold value T, and keep the length of the anchor chain unchanged.

[0069] The calculation formula for the length of the chain released or collected includes:

[0070] d=PL / N

[0071] Where, d is the length displacement of the anchor chain when releasing or retracting the chain, L is the winding circumference of the anchor windlass, and N is the number of encoder pulses in a single turn.

[0072] Specifically, the real-time pre-tensioning force F of all anchor chains in the longitudinal anchoring positioning system of the floating dock is detected. 张i (i=1~4); Secondly, determine the real-time pre-tensioning force F of each anchor chain in turn 张i Is it within the allowable range of pre-tension force (F 张b ±T), obtain the abnormal anchor chain; then, determine the real-time pre-tensioning force value F of the abnormal anchor chain 异张j Is it greater than the optimal pre-tensioning force F? 张b If yes, the hydraulic motor rotates forward / releases the chain, otherwise, the hydraulic motor rotates reversely / retracts the chain until the abnormal pre-tensioning force value F 异张j With the optimal pre-tensioning force F 张b The difference in pre-tensioning force between jis less than the set threshold T, the length of the anchor chain is kept unchanged; finally, the above operations are continuously repeated until the real-time pre-tensioning force F of all anchor chains is 张i (i=1~4) is within the allowable range of pre-tensioning force (F 张b ±T).

[0073] Example 2

[0074] The present embodiment provides a floating dock anchor control system with automatically adjustable anchor chain length, comprising: a detection module, used to detect the actual pre-tensioning force value of each anchor chain of the floating dock; a control module, used to subtract the actual pre-tensioning force value of each anchor chain from the optimal pre-tensioning force value and take the absolute value to obtain the pre-tensioning force difference, and obtain the abnormal anchor chain according to the pre-tensioning force difference; an execution module, used to adjust the length of the abnormal anchor chain according to the optimal pre-tensioning force value until the actual pre-tensioning force values ​​of all anchor chains are within the allowable range of the optimal pre-tensioning force value.

[0075] The detection module includes: an anchor chain laser displacement measurement module, which is used to measure the hanging height and horizontal span of different positions of the anchor chain facing the wave and the anchor chain facing the wave; a torque sensor, which is arranged between the transmission device and the anchor windlass, and is used to detect the torque applied by the anchor windlass to the anchor chain; an encoder, which is installed at the free end of the anchor windlass shaft, and is used to detect the displacement and speed data of the anchor chain when retracting / releasing;

[0076] Preferably, the anchor chain laser displacement measurement module comprises: a wave-facing cable guide hole, a third wave-facing laser displacement sensor, a second wave-facing laser displacement sensor, a first wave-facing laser displacement sensor, a back-wave cable guide hole, a third wave-facing laser displacement sensor, a second wave-facing laser displacement sensor, and a first wave-facing laser displacement sensor. The wave-facing cable guide hole and the back-wave cable guide hole are respectively located on both sides of the bottom surface of the floating dock about the transverse central axis, the wave-facing first laser displacement sensor and the back-wave first laser displacement sensor are respectively arranged at symmetrical positions of the wave-facing cable guide hole and the back-wave cable guide hole about the transverse central axis TT, the wave-facing second laser displacement sensor and the back-wave second laser displacement sensor are respectively arranged at the intersection of the longitudinal straight line passing through the wave-facing cable guide hole and the back-wave cable guide hole and the transverse central axis TT, the wave-facing third laser displacement sensor and the back-wave third laser displacement sensor are respectively arranged at the longitudinal straight line passing through the wave-facing cable guide hole and the back-wave cable guide hole, and at a position offset inward by a distance S on the same side of the transverse central axis TT and the cable guide hole.

[0077] The control module includes: a signal conversion system, a PLC controller and a power supply system. The PLC controller 7 receives real-time source data from the detection module through the signal conversion system and sends instructions for chain collection / release actions to the execution module.

[0078] Preferably, the execution module is arranged inside the floating dock, and includes a hydraulic motor, a hydraulic motor output shaft, a transmission device, a transmission device output shaft, an anchor windlass shaft, and an anchor windlass connected in sequence. The two ends of the torque sensor are respectively connected to the transmission device output shaft and the anchor windlass shaft. The encoder is installed at the free end of the anchor windlass shaft.

[0079] Preferably, an interactive module is also included, and the interactive module includes a touch screen for displaying tension data, operating status data, and realizing switching between manual and automatic control instructions.

[0080] Example 3

[0081] The present embodiment provides a floating dock anchoring control method with automatically adjustable anchor chain length, which has the advantages of high efficiency, high stability, intelligence, strong adaptability, etc., and can improve the safety of floating dock operations and reduce the dependence on manual labor for retracting and releasing anchor chains.

[0082] The above-mentioned floating dock anchoring control method with automatically adjustable anchor chain length is adapted to a floating dock anchoring control system; the floating dock anchoring control method comprises the following steps:

[0083] Step 1: Detect the actual pre-tensioning force F of each anchor chain of the floating dock. 张i ;

[0084] Step 2: The actual pre-tensioning force F of each anchor chain 张i With the optimal pre-tensioning force F 张b Make the difference and take the absolute value to get the pre-tension difference ΔF i , determine the pre-tensioning force difference ΔF i Whether it exceeds the set threshold T, obtain the abnormal anchor chain;

[0085] Step 3, adjusting the length of the abnormal anchor chain by means of the floating dock mooring control system;

[0086] Step 4: Repeat steps 1 to 3 above until the actual pre-tensioning force value F of all anchor chains is 张i All are within the set threshold T requirement range.

[0087] As a further improvement of the present invention, step three, adjusting the length of the abnormal anchor chain, comprises the following steps:

[0088] Determine the actual pre-tensioning force value F of abnormal anchor chain 异张j Is it greater than the optimal pre-tensioning force value F? 张b If yes, release the chain, if no, retract the chain until the pre-tensioning force difference ΔF j If the value is less than the set threshold T, the length of the anchor chain remains unchanged.

[0089] In addition, this embodiment also provides a floating dock anchor control system with automatically adjustable anchor chain length; the floating dock anchor control system includes:

[0090] Detection module, control module, execution module, interaction module; the detection module includes a first laser displacement sensor, a second laser displacement sensor, a third laser displacement sensor, a torque sensor, and an encoder of each group of anchor chain systems; the laser displacement sensor is installed on the bottom surface of the floating dock and faces vertically downward; the first laser displacement sensor is specifically located at the opposite side of the cable guide hole with respect to the central axis; the second laser displacement sensor is specifically located at the intersection of the central axis and the vertical line through the cable guide hole; the third laser displacement sensor is specifically located on the vertical line through the cable guide hole and the central axis and deviates from the cable guide hole by a certain distance inward; the torque sensor is installed between the transmission device and the anchor windlass; the encoder is installed at the free end of the anchor windlass shaft; the control module is placed in the control cabinet, including a PLC controller, a signal conversion system and a power supply system; the signal conversion system includes a signal processing unit, a digital-to-analog conversion unit, and a safety protection unit; the control cabinet is arranged inside the floating dock; the execution module is arranged inside the floating dock, and the hydraulic motor, transmission device, and anchor windlass included are connected in sequence; the interaction module includes a touch display screen.

[0091] The above-mentioned detection module is configured to detect the pre-tensioning force data of each anchor chain in real time, and to monitor the operating status data of the floating dock anchoring control system in real time; the operating status data at least includes: the displacement and speed data of the retracted / released chain; the pre-tensioning force data is obtained by deriving the anchor chain pre-tensioning force data obtained by the catenary equation based on the suspension height information of the anchor chain at different positions detected by the first, second and third laser displacement sensors, combined with the anchor chain pre-tensioning force data converted by the torque sensor, and obtained by adopting multi-source data fusion technology; the operating status data is obtained by detection with the aid of an encoder installed at the free end of the anchor machine.

[0092] The acquisition method of the pre-tensioning force data can be further explained as substituting the hanging heights h1, h2, h3 of the anchor chain detected by the first, second and third laser displacement sensors, and its horizontal spans l1, l2, l3 into the catenary equation of the anchor chain under the action of gravity to inversely obtain the catenary characteristic parameter a:

[0093]

[0094] In the formula, h(l) is the height at the horizontal span l, and the catenary characteristic parameter a can be specifically calculated as: a=f / w, w is the gravity of the anchor chain per unit length, and f is the pretension of the anchor chain. Then, the anchor chain pretensioning forces f1, f2, and f3 detected by different laser displacement sensors can be obtained.

[0095] The torque t applied by the anchor windlass to the anchor chain is detected by the torque sensor and substituted into the torque calculation formula t=fr, where r is the drum radius. The anchor chain pre-tensioning force f4 detected by the torque sensor can then be obtained.

[0096] On this basis, multi-source data fusion technology is used to input the anchor chain pre-tensioning forces f1, f2, f3, and f4 detected by the first, second, and third laser displacement sensors and torque sensors into the following weighted average formula to obtain the pre-tensioning force data F with higher reliability. 张i

[0097]

[0098] Where w1, w2, w3, and w4 are the weight coefficients of each data.

[0099] The method based on encoder detection of operating status data (displacement and speed data of the retracting / releasing chain) can be further explained as substituting the number of pulses P collected by the encoder into the formula d=PL / N to calculate the displacement of the retracting / releasing chain of the mooring control system, where d is the displacement, L is the scrolling circumference, and N is the number of encoder single-turn pulses. The speed data is obtained by derivatizing the displacement.

[0100] The control module is configured to input the real-time pre-tensioning force data into the floating dock anchoring control method, and input control parameters into the execution module in combination with the operation status data; the control parameters at least include: pre-tensioning force adjustment parameters, operation adjustment parameters;

[0101] The execution module is configured to adaptively control the length of the anchor chain based on the control parameters, so that the actual pre-tensioning force value of the anchor chain is within the required range of the threshold value T;

[0102] The above-mentioned interaction module is configured to monitor the operating status of the mooring control system and the pre-tensioning force value of each anchor chain in real time through a user-friendly interface, realize the early warning display function, and switch between the manual control mode and the automatic control mode, and finally realize the human-computer interaction function;

[0103] Furthermore, the manual control mode can be interpreted as inputting operating parameters into the mooring control system through manual operation, and then adjusting the length of the anchor chain; the automatic control mode can be interpreted as adopting the floating dock mooring control method with automatically adjustable anchor chain length to achieve adaptive adjustment of the anchor chain length.

[0104] Example 4

[0105] In this embodiment, Figure 2As shown, the dotted line structure is interpreted as the mooring state of the floating dock when the present invention is not adopted, and the solid line structure is interpreted as the mooring state of the floating dock when the present invention is adopted, including the floating dock 1, the wave-facing anchor chain 2, the wave-back anchor chain 3, and the sunken stone 4. When the tide level decreases from the high tide level to the low tide level, the longitudinal mooring positioning system of the floating dock using the present invention adjusts the length and pre-tensioning force of the wave-facing anchor chain 2 and the wave-back anchor chain 3 in real time to reduce the motion response of the floating dock 1 when the wave strikes and improve the mooring stability of the floating dock 1.

[0106] Figure 2 The anchor chain adjustment process described in Figure 1 The mooring control method described in Figure 1 The schematic diagram of the mooring control method in the embodiment is shown, which can be explained as follows: first, the real-time pre-tensioning force F of all anchor chains of the longitudinal mooring positioning system of the floating dock is detected. 张i (i=1~4); Secondly, determine the real-time pre-tensioning force F of each anchor chain in turn 张i Is it within the allowable range of pre-tension force (F 张b ±T), obtain the abnormal anchor chain; then, determine the real-time pre-tensioning force value F of the abnormal anchor chain 异张j Is it greater than the optimal pre-tensioning force F? 张b If yes, the hydraulic motor rotates forward / releases the chain, otherwise, the hydraulic motor rotates reversely / retracts the chain until the abnormal pre-tensioning force value F 异张j With the optimal pre-tensioning force F 张b The difference in pre-tensioning force between j is less than the set threshold T, the length of the anchor chain is kept unchanged; finally, the above operations are continuously repeated until the real-time pre-tensioning force F of all anchor chains is 张i (i=1~4) is within the allowable range of pre-tensioning force (F 张b ±T).

[0107] Figure 1 The mooring control method described in Figure 3 The mooring control system expressed in Figure 3 The embodiment of the wave-facing anchoring control system is shown, including a touch screen 5, a power system 6, a PLC controller 7, a signal conversion system 8, a hydraulic motor 9, a transmission device 11, a windlass 17, laser displacement sensors 20-22, a torque sensor 13, and an encoder 18. The power system 6 provides power to the PLC controller 7, the signal conversion system 8, the touch screen 5, the laser displacement sensors 20-22, the torque sensor 13, and the encoder 18. The touch screen 5 and the PLC controller 7 realize the communication function, receive the pre-tensioning force data and operating status data of the system upward, and send control instructions downward. The PLC controller 7 receives real-time source data from the detection module through the signal conversion system 8 and sends instructions for chain retracting / releasing to the execution module.

[0108] Figure 3 The arrangement of the execution module and the detection module is shown in Figure 4 and Figure 5 . Figure 4 The hardware layout of the execution module of the anchor control system is shown, including a hydraulic motor 9, a hydraulic motor output shaft 10, a transmission device 11, a transmission device output shaft 12, a torque sensor 13, a torque sensor support seat 14, a windlass shaft 15, a windlass support seat 16, a windlass 17, and an encoder 18. The execution module is arranged inside the floating dock, and the hydraulic motor 9, the transmission device 11, the torque sensor 13, the windlass 17, and the encoder 18 are connected in sequence. The two ends of the torque sensor 13 are respectively connected to the transmission device output shaft 12 and the windlass shaft 15, and the body is connected to the torque sensor support seat 14 by bolts. The encoder 18 is installed on the free end of the windlass shaft 15.

[0109] Figure 5 The embodiment of the present invention shows the arrangement of laser displacement sensors on the bottom surface of the floating dock using the longitudinal anchoring positioning system of the floating dock involved in the present embodiment, including a wave-facing cable guide hole 19, a third wave-facing laser displacement sensor 20, a second wave-facing laser displacement sensor 21, a first wave-facing laser displacement sensor 22, a back-wave cable guide hole 23, a third wave-facing laser displacement sensor 24, a second wave-facing laser displacement sensor 25, and a first wave-facing laser displacement sensor 26. The wave-facing cable guide hole 19 and the back-wave cable guide hole 23 are respectively located on both sides of the bottom surface of the floating dock 1 about the transverse central axis, and the wave-facing first laser displacement sensor 22 and the back-wave cable guide hole 23 are respectively located on both sides of the transverse central axis of the bottom surface of the floating dock 1. The first laser displacement sensor 26 is respectively arranged at the symmetrical positions of the front-wave cable guide hole 19 and the back-wave cable guide hole 23 about the transverse central axis TT, the front-wave second laser displacement sensor 21 and the back-wave second laser displacement sensor 25 are respectively arranged at the positions of the intersections of the longitudinal straight lines passing through the front-wave cable guide hole 19 and the back-wave cable guide hole 23 and the transverse central axis TT, the front-wave third laser displacement sensor 20 and the back-wave third laser displacement sensor 24 are respectively arranged at the longitudinal straight lines passing through the front-wave cable guide hole 19 and the back-wave cable guide hole 23, and at the positions offset inward by a distance S on the same side of the transverse central axis TT as the cable guide hole.

[0110] It will be easily understood by those skilled in the art that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A floating dock anchoring control method with automatically adjustable anchor chain length, characterized in that: The following steps are involved: Step 1: Detect the actual pre-tensioning force value of each anchor chain of the floating dock; Step 2: Subtract the actual pre-tensioning force value of each anchor chain from the optimal pre-tensioning force value and take the absolute value to obtain the pre-tensioning force difference, and obtain the abnormal anchor chain according to the pre-tensioning force difference; Step three, adjusting the length of the abnormal anchor chain according to the optimal pre-tensioning force value until the actual pre-tensioning force values ​​of all anchor chains are within the allowable range of the optimal pre-tensioning force value.

2. A floating dock anchoring control method with automatically adjustable anchor chain length according to claim 1, characterized in that: Step one includes the following steps: (11) constructing the catenary equation of the anchor chain under the action of gravity, and calculating the catenary characteristic parameter a of the i-th anchor chain according to the obtained hanging height and horizontal span of the i-th anchor chain; (12) Calculate the anchor chain pretension f of the i-th anchor chain according to the catenary characteristic parameter a i，j , where j is 1, 2, or 3; (13) Obtain the anchor chain pretension f of the i-th anchor chain according to the torque applied to the i-th anchor chain n ; (14) According to the anchor chain pretension force f of the i-th anchor chain i，j And the anchor chain pretension f i，n Get the actual pre-tensioning force value F 张i .

3. A floating dock anchoring control method with automatically adjustable anchor chain length according to claim 1, characterized in that: In step (11), the catenary equation includes: Where h(l) is the height at the horizontal span l, and a is the characteristic parameter of the catenary; The calculation formula of the catenary characteristic parameter a includes: a=f / w, w is the gravity of the anchor chain per unit length, and f is the pretension of the anchor chain.

4. A floating dock anchoring control method with automatically adjustable anchor chain length according to claim 2, characterized in that: In step (11), a plurality of laser displacement sensors are used to detect the hanging height of the anchor chain and its horizontal span; and a torque sensor is used to detect the torque applied by the anchor winch to the anchor chain.

5. A floating dock anchoring control method with automatically adjustable anchor chain length according to claim 4, characterized in that: The actual pre-tensioning force value F 张i The calculation formula includes: Where w1, w2, w3, and w4 are weight coefficients.

6. A floating dock anchoring control method with automatically adjustable anchor chain length according to claim 5, characterized in that: In step three, it is determined whether the actual pre-tensioning force value of the abnormal anchor chain is greater than the optimal pre-tensioning force value. If so, the chain is released; if not, the chain is retracted until the pre-tensioning force difference is less than the set threshold value T, keeping the length of the anchor chain unchanged.

7. A floating dock anchoring control method with automatically adjustable anchor chain length according to claim 6, characterized in that: The calculation formula for the length of the chain released or collected includes: d=PL / N Where, d is the length displacement of the anchor chain when releasing or retracting the chain, L is the winding circumference of the anchor windlass, and N is the number of encoder pulses in a single turn.

8. A floating dock mooring control system with automatically adjustable anchor chain length, characterized in that: include: A detection module is used to detect the actual pre-tensioning force value of each anchor chain of the floating dock; A control module is used to obtain the pre-tension difference by subtracting the actual pre-tension value of each anchor chain from the optimal pre-tension value and taking the absolute value, and obtaining the abnormal anchor chain according to the pre-tension difference; The execution module is used to adjust the length of the abnormal anchor chain according to the optimal pre-tensioning force value until the actual pre-tensioning force values ​​of all anchor chains are within the allowable range of the optimal pre-tensioning force value.

9. A floating dock mooring control system with automatically adjustable anchor chain length according to claim 8, characterized in that: The detection module comprises: Anchor chain laser displacement measurement module, used to measure the overhang height of anchor chains at different positions in the sea and away from the sea; The torque sensor is located between the transmission device and the anchor windlass and is used to detect the torque applied by the anchor windlass to the anchor chain; The encoder is installed at the free end of the windlass shaft to detect the displacement and speed data of the anchor chain. Preferably, the anchor chain laser displacement measurement module comprises: a wave-facing cable guide hole, a third wave-facing laser displacement sensor, a second wave-facing laser displacement sensor, a first wave-facing laser displacement sensor, a back-wave cable guide hole, a third wave-facing laser displacement sensor, a second wave-facing laser displacement sensor, and a first wave-facing laser displacement sensor. The wave-facing cable guide hole and the back-wave cable guide hole are respectively located on both sides of the bottom surface of the floating dock about the transverse central axis, the wave-facing first laser displacement sensor and the back-wave first laser displacement sensor are respectively arranged at symmetrical positions of the wave-facing cable guide hole and the back-wave cable guide hole about the transverse central axis TT, the wave-facing second laser displacement sensor and the back-wave second laser displacement sensor are respectively arranged at the intersection of the longitudinal straight line passing through the wave-facing cable guide hole and the back-wave cable guide hole and the transverse central axis TT, the wave-facing third laser displacement sensor and the back-wave third laser displacement sensor are respectively arranged at the longitudinal straight line passing through the wave-facing cable guide hole and the back-wave cable guide hole, and at a position offset inward by a distance S on the same side of the transverse central axis TT and the cable guide hole.

10. A floating dock mooring control system with automatically adjustable anchor chain length according to claim 9, characterized in that: The control module includes: a signal conversion system, a PLC controller and a power supply system. The PLC controller 7 receives real-time source data from the detection module through the signal conversion system and sends instructions for chain collection / release actions to the execution module; Preferably, the execution module is arranged inside the floating dock, and includes a hydraulic motor, a hydraulic motor output shaft, a transmission device, a transmission device output shaft, a windlass shaft, and a windlass connected in sequence, the two ends of the torque sensor are respectively connected to the transmission device output shaft and the windlass shaft, and the encoder is installed at the free end of the windlass shaft; Preferably, an interactive module is also included, and the interactive module includes a touch screen for displaying tension data, operating status data, and realizing switching between manual and automatic control instructions.

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