A floating dock mooring control method and system with automatically adjustable anchor chain length

Abstract

This invention belongs to the field of marine engineering technology and specifically discloses a floating dock mooring control method and system with automatically adjustable anchor chain length. The method includes: detecting the actual pretension force value of each anchor chain in the floating dock; subtracting the actual pretension force value from the optimal pretension force value and taking the absolute value to obtain the pretension force difference; identifying abnormal anchor chains based on the pretension force difference; and adjusting the length of the abnormal anchor chains according to the optimal pretension force value until the actual pretension force value of all anchor chains is within the allowable range of the optimal pretension force value. This invention, by automatically adjusting the anchor chain length, ensures that the pretension force of each anchor chain in the mooring system is within the optimal range, thereby improving the stability and safety of floating dock mooring, increasing the efficiency of shipbuilding and repair operations, extending the lifespan of the floating dock and its mooring equipment, and enhancing the environmental adaptability of the floating dock mooring system.

Description

Technical Field

[0001] This invention belongs to the field of marine engineering technology, and more specifically, relates to a floating dock mooring control method and system with automatically adjustable anchor chain length. Background Technology

[0002] A floating dock is an engineering vessel used for ship repair, shipbuilding, and ship maintenance. It is typically anchored to prevent significant drifting due to wind, waves, and currents. However, traditional anchoring systems have limitations, such as requiring a constant anchor chain length or manual, periodic adjustments. The anchor chain length cannot adapt to tidal changes in a timely manner, resulting in poor stability of the floating dock during operation. This not only affects the accuracy of ship repair and construction operations and prolongs maintenance cycles but also poses safety hazards, significantly increasing the risk of accidents during ship repair and construction. Furthermore, excessive bending of the anchor chain can cause it to tighten instantly in extreme sea conditions, generating significant pre-tension forces and posing a risk of breakage or anchor dragging. In addition, manual adjustment of the anchor chain is inefficient and easily limited by the experience and judgment of the operators. In conclusion, with the increasing demands for safety and efficiency in the shipbuilding and repair industry, traditional anchoring systems can no longer meet the current needs of floating dock mooring.

[0003] Based on the aforementioned defects and shortcomings, there is an urgent need in this field to propose a floating dock mooring control method with automatically adjustable anchor chain length. By automatically adjusting the length of the anchor chain, the pretension of each anchor chain in the mooring system can be kept within the optimal range, thereby improving the stability and safety of floating dock mooring, increasing the efficiency of ship repair and construction operations, extending the service life of the floating dock and its mooring equipment, and enhancing the environmental adaptability of the floating dock mooring system. Summary of the Invention

[0004] To address the aforementioned deficiencies or improvement needs of existing technologies, this invention provides a floating dock mooring control method and system with automatically adjustable anchor chain length. This method and system, taking into account the working characteristics of each anchor chain in the mooring system and the features of visual inspection technology, is designed to automatically adjust the anchor chain length. By automatically adjusting the anchor chain length, the pre-tension of each anchor chain in the mooring system is kept within the optimal range, thereby improving the stability and safety of floating dock mooring, increasing the efficiency of shipbuilding and repair operations, extending the lifespan of the floating dock and its mooring equipment, and enhancing the environmental adaptability of the floating dock mooring system.

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

[0006] Step 1: Detect the actual pretension force on each anchor chain in the floating dock;

[0007] Step 2: Subtract the actual pretension force value of each anchor chain from the optimal pretension force value and take the absolute value to obtain the pretension force difference. Based on the pretension force difference, identify the abnormal anchor chains.

[0008] Step 3: Adjust the length of the abnormal anchor chains according to the optimal pretension value until the actual pretension value of all anchor chains is within the allowable range of the optimal pretension value.

[0009] As a further preferred option, step one includes the following steps:

[0010] (11) Construct the catenary equation of the anchor chain under gravity, and calculate the catenary characteristic parameter a of the i-th anchor chain based on the obtained sag height and horizontal span of the i-th anchor chain.

[0011] (12) Calculate the pretension force f of the i-th anchor chain based on the characteristic parameter a of the catenary. i，j Where j is 1, 2, or 3;

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

[0013] (14) Based on the anchor chain pretension f of the i-th anchor chain i，j and anchor chain pretension f i，n Obtain the actual pretension force value F 张i .

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

[0015]

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

[0017] The formula for calculating the characteristic parameter 'a' of the catenary includes:

[0018] a = f / w, where w is the weight 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), multiple laser displacement sensors are used to detect the sag height of the anchor chain and its horizontal span; a torque sensor is used to detect the torque applied to the anchor chain by the anchor winch.

[0020] As a further preferred embodiment, the actual pretension force value F 张i The calculation formulas include:

[0021]

[0022] In the formula, w1, w2, w3, and w4 are weighting coefficients.

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

[0024] As a further preferred option, the formula for calculating the length of the chain extension or retraction includes:

[0025] d = PL / N

[0026] In the formula, d is the displacement of the anchor chain during release or retraction, L is the circumference of the anchor winch, and N is the number of encoder pulses per revolution.

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

[0028] The detection module is used to detect the actual pretension force on each anchor chain of the floating dock;

[0029] The control module is used to calculate the difference between the actual pretension force value and the optimal pretension force value of each anchor chain and take the absolute value to obtain the pretension force difference, and to identify abnormal anchor chains based on the pretension force difference.

[0030] The execution module is used to adjust the length of abnormal anchor chains according to the optimal pretension value until the actual pretension value of all anchor chains is within the allowable range of the optimal pretension value.

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

[0032] Anchor chain laser displacement measurement module, used to measure the suspension height of anchor chains at different positions on the wave-facing and wave-avoiding sides;

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

[0034] The encoder, installed at the free end of the anchor winch shaft, is used to detect the displacement and speed data of the anchor chain being retrieved / released.

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

[0036] As a further preferred embodiment, 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 take-up / release actions to the execution module.

[0037] Preferably, the execution module is located inside the floating dock and includes a hydraulic motor, a hydraulic motor output shaft, a transmission device, a transmission device output shaft, an anchor winch shaft, and an anchor winch connected in sequence. The two ends of the torque sensor are respectively connected to the transmission device output shaft and the anchor winch shaft, and the encoder is installed on the free end of the anchor winch shaft.

[0038] Preferably, it also includes an interaction module, which includes a touch screen for displaying tension data, operating status data, and enabling switching between manual and automatic control commands.

[0039] In summary, compared with the prior art, the above-described technical solutions conceived by this invention mainly possess the following technical advantages:

[0040] 1. This invention, through real-time monitoring and automatic adjustment, responds promptly to changes in environmental conditions, reduces the drift of the floating dock in the water, and ensures the continuity and stability of ship repair and construction operations.

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

[0042] 3. This invention employs automated control, reducing reliance on manual labor and improving work efficiency. Furthermore, this invention is adaptable to different water conditions and environmental environments, providing flexible anchor chain control solutions to meet diverse operational needs. Attached Figure Description

[0043] Figure 1 This is a schematic diagram of a floating dock mooring control method with automatically adjustable anchor chain length, which is an embodiment of the present invention.

[0044] Figure 2 This is a schematic diagram illustrating 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 the wave-facing anchorage control system according to an embodiment of the present invention;

[0045] Appendix Figure 4 This is a schematic diagram of the hardware layout of the execution module involved in an embodiment of the present invention;

[0046] Appendix Figure 5 This is a schematic diagram of the arrangement of laser displacement sensors on the bottom surface of the floating dock according to an embodiment of the present invention.

[0047] In all the accompanying drawings, the same reference numerals denote the same technical features, specifically: floating dock-1, wave-facing anchor chain-2, wave-receding anchor chain-3, boulder-4, touch screen display-5, power 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-14, anchor winch shaft-15, anchor winch support-16, anchor winch-17, encoder-18, wave-facing cable guide hole-19, wave-facing third laser displacement sensor-20, wave-facing second laser displacement sensor-21, wave-facing first laser displacement sensor-22, wave-receding cable guide hole-23, wave-receding third laser displacement sensor-24, wave-receding second laser displacement sensor-25, wave-receding first laser displacement sensor-26. Detailed Implementation

[0048] In order to make the objectives, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely for the purpose of explaining 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 may be combined with each other as long as they do not conflict with each other.

[0049] This invention provides a floating dock mooring control method and system with automatically adjustable anchor chain length.

[0050] Example 1

[0051] like Figure 1 As shown in the figure, this embodiment provides a floating dock mooring control method with automatically adjustable anchor chain length, including the following steps:

[0052] Step 1: Detect the actual pretension force on each anchor chain in the floating dock; in this step,

[0053] (11) Construct the catenary equation of the anchor chain under gravity, and calculate the catenary characteristic parameter a of the i-th anchor chain based on the obtained sag height and horizontal span of the i-th anchor chain.

[0054] The catenary equation includes:

[0055]

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

[0057] The formula for calculating the characteristic parameter 'a' of the catenary includes:

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

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

[0060] More specifically, the laser displacement sensor arrangement includes: a wave-facing cable guide hole 19, a wave-facing third laser displacement sensor 20, a wave-facing second laser displacement sensor 21, a wave-facing first laser displacement sensor 22, a wave-reverse cable guide hole 23, a wave-reverse third laser displacement sensor 24, a wave-reverse second laser displacement sensor 25, and a wave-reverse first laser displacement sensor 26. The wave-facing cable guide hole 19 and the wave-reverse cable guide hole 23 are located on opposite sides of the bottom surface of the floating dock 1 about the transverse central axis. The wave-facing first laser displacement sensor 22 and the wave-reverse first laser displacement sensor 26 are respectively located on opposite sides of the transverse central axis. The wave-facing cable guide hole 19 and the wave-reverse cable guide hole 23 are arranged symmetrically about the transverse central axis TT. The wave-facing second laser displacement sensor 21 and the wave-reverse second laser displacement sensor 25 are respectively arranged at the intersection of the longitudinal line passing through the wave-facing cable guide hole 19 and the wave-reverse cable guide hole 23 and the transverse central axis TT. The wave-facing third laser displacement sensor 20 and the wave-reverse third laser displacement sensor 24 are respectively arranged at the position of the longitudinal line passing through the wave-facing cable guide hole 19 and the wave-reverse cable guide hole 23, and offset inward by a distance S on the same side of the transverse central axis TT and the cable guide hole.

[0061] (12) Calculate the pretension force f of the i-th anchor chain based on the characteristic parameter a of the catenary. i，j Where j is 1, 2, or 3;

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

[0063] (14) Based on the anchor chain pretension f of the i-th anchor chain i，j and anchor chain pretension f i，n Obtain the actual pretension force value F 张i .

[0064] The actual pretension value F 张i The calculation formulas include:

[0065]

[0066] In the formula, w1, w2, w3, and w4 are weighting coefficients.

[0067] Step 2: Subtract the actual pretension force value of each anchor chain from the optimal pretension force value and take the absolute value to obtain the pretension force difference. Based on the pretension force difference, identify the abnormal anchor chains.

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

[0069] The formulas for calculating the length of the chain release or retraction include:

[0070] d = PL / N

[0071] In the formula, d is the displacement of the anchor chain during release or retraction, L is the circumference of the anchor winch, and N is the number of encoder pulses per revolution.

[0072] Specifically, the real-time pretension force F on all anchor chains of the floating dock's longitudinal mooring positioning system is detected. 张i (i = 1 to 4); next, determine the real-time pretension force F of each anchor chain in turn. 张i Is it within the allowable range of pretension force (F)? 张b Within ±T), identify the abnormal anchor chain; then, determine the real-time pretension value F of the abnormal anchor chain. 异张j Is it greater than the optimal pretension force F? 张b If so, the hydraulic motor rotates forward / releasing the chain; otherwise, the hydraulic motor rotates in reverse / retracting the chain, until the abnormal pre-tension value F is reached. 异张j With the optimal pretension value F 张b The difference in pretension force ΔF between them jIf the current tension is less than the set threshold T, keep the anchor chain length constant; finally, repeat the above operation until the real-time pretension F of all anchor chains is reached. 张i (i = 1~4) are within the allowable range of pretension force (F) 张b Within ±T).

[0073] Example 2

[0074] This embodiment provides a floating dock mooring control system with automatically adjustable anchor chain length, including: a detection module for detecting the actual pretension force value of each anchor chain in the floating dock; a control module for subtracting the actual pretension force value of each anchor chain from the optimal pretension force value and taking the absolute value to obtain the pretension force difference, and identifying abnormal anchor chains based on the pretension force difference; and an execution module for adjusting the length of abnormal anchor chains according to the optimal pretension force value until the actual pretension force value of all anchor chains is within the allowable range of the optimal pretension force value.

[0075] The detection module includes: an anchor chain laser displacement measurement module, used to measure the suspension height and horizontal span of the anchor chain at different positions facing the waves and away from the waves; a torque sensor, located between the transmission device and the anchor winch, used to detect the torque applied to the anchor chain by the anchor winch; and an encoder, installed at the free end of the anchor winch shaft, used to detect the displacement and speed data of the anchor chain being wound up / out.

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

[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 take-up / release actions to the execution module.

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

[0079] Preferably, it also includes an interaction module, which includes a touch screen for displaying tension data, operating status data, and enabling switching between manual and automatic control commands.

[0080] Example 3

[0081] This embodiment provides a floating dock mooring control method with automatically adjustable anchor chain length. It has the advantages of high efficiency, high stability, intelligence, and strong adaptability, which can improve the safety of floating dock operations and reduce the dependence on manual operation for anchor chain deployment and retrieval.

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

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

[0084] Step 2: Calculate the actual pre-tension force F on each anchor chain. 张i With the optimal pretension value F 张b The difference is calculated and its absolute value is taken to obtain the pretension force difference ΔF. i Determine the pretension difference ΔF i If the set threshold T is exceeded, an abnormal anchor chain will be identified.

[0085] Step 3: Adjust the length of the abnormal anchor chain using the floating dock mooring control system.

[0086] Step four, repeat steps one through three above until the actual pretension force F on all anchor chains is reached. 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, includes the following steps:

[0088] Determine the actual pretension value F of the abnormal anchor chain 异张j Is it greater than the optimal pretension value F? 张b If yes, release the chain; otherwise, retract the chain until the pre-tension difference ΔF is reached. j If the length is less than the set threshold T, the length of the anchor chain remains unchanged.

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

[0090] The system comprises a detection module, a control module, an execution module, and an 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 for each anchor chain system. The laser displacement sensors are installed vertically downwards on the bottom surface of the floating dock. The first laser displacement sensor is specifically located on the opposite side of the guide cable hole relative to the central axis. The second laser displacement sensor is specifically located at the intersection of the central axis and the perpendicular line through the guide cable hole. The third laser displacement sensor is specifically located on the perpendicular line through the guide cable hole and the central axis, offset inwards from the guide cable hole by a certain distance. The torque sensor is installed between the transmission device and the anchor winch. The encoder is installed on the free end of the anchor winch shaft. The control module is housed in a control cabinet and includes 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 located inside the floating dock. The execution module is located inside the floating dock and includes a hydraulic motor, a transmission device, and an anchor winch connected in sequence. The interaction module includes a touch screen display.

[0091] The aforementioned detection module is configured to detect the pretension data of each anchor chain in real time, and to monitor the operational status data of the floating dock mooring control system in real time. The operational status data includes at least the displacement and velocity data of the chain retraction / release. The pretension data is obtained by deriving the pretension data of the anchor chain from the suspension height information of different positions of the anchor chain detected by the first, second, and third laser displacement sensors through the catenary equation, and combining it with the pretension data of the anchor chain calculated by the torque sensor, using multi-source data fusion technology. The operational status data is obtained by detecting the encoder installed on the free end of the anchor winch.

[0092] The method for obtaining the pretension force data can be further explained as follows: substituting the anchor chain sag heights h1, h2, and h3 detected by the first, second, and third laser displacement sensors, as well as their horizontal spans l1, l2, and l3, into the following catenary equation under gravity to inversely derive the catenary characteristic parameter a.

[0093]

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

[0095] The torque t applied to the anchor chain by the anchor winch is detected by a torque sensor. Substituting this torque into the torque calculation formula t = fr, where r is the drum radius, the anchor chain pretension f4 detected by the torque sensor can then be obtained.

[0096] Based on this, multi-source data fusion technology is used to input the anchor chain pretension 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 highly reliable pretension force data F. 张i

[0097]

[0098] In the formula, w1, w2, w3, and w4 are the weighting coefficients of each data point.

[0099] The method based on encoder-detected operating status data (displacement and speed data of chain take-up / release) 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 chain take-up / release of the mooring control system, where d is the displacement, L is the winding circumference, N is the number of encoder pulses per revolution, and the speed data is obtained by differentiating the displacement.

[0100] The aforementioned control module is configured to input the real-time pretension force data into the floating dock mooring control method, and, in conjunction with the operating status data, input control parameters into the execution module; the control parameters include at least: pretension force adjustment parameters and operating adjustment parameters;

[0101] The aforementioned execution module is configured to adaptively adjust the anchor chain length based on the control parameters, thereby ensuring that the actual pretension force of the anchor chain is within the threshold T required range.

[0102] The aforementioned interactive module is configured to monitor the operating status of the mooring control system and the pretension force value of each anchor chain in real time through a user-friendly interface, realize the early warning display function, and switch between manual control mode and automatic control mode, thereby ultimately realizing 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, thereby 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, as Figure 2As shown, the dashed lines represent the mooring state of the floating dock without the present invention, and the solid lines represent the mooring state of the floating dock with the present invention. The system includes the floating dock 1, the wave-facing anchor chain 2, the wave-receiving anchor chain 3, and the boulder 4. When the tide level drops from high tide to low tide, the longitudinal mooring positioning system of the floating dock using the present invention adjusts the length and pretension of the wave-facing anchor chain 2 and the wave-receiving anchor chain 3 in real time to reduce the motion response of the floating dock 1 when waves arrive and improve the mooring stability of the floating dock 1.

[0106] Figure 2 The anchor chain adjustment process described in the article adopts Figure 1 The anchoring control method described in [the document]. For example... Figure 1 The diagram shown illustrates the principle of the anchoring control method in this embodiment. It can be explained as follows: First, the real-time pretension force F on all anchor chains of the floating dock's longitudinal anchoring positioning system is detected. 张i (i = 1 to 4); next, determine the real-time pretension force F of each anchor chain in turn. 张i Is it within the allowable range of pretension force (F)? 张b Within ±T), identify the abnormal anchor chain; then, determine the real-time pretension value F of the abnormal anchor chain. 异张j Is it greater than the optimal pretension force F? 张b If so, the hydraulic motor rotates forward / releasing the chain; otherwise, the hydraulic motor rotates in reverse / retracting the chain, until the abnormal pre-tension value F is reached. 异张j With the optimal pretension value F 张b The difference in pretension force ΔF between them j If the current tension is less than the set threshold T, keep the anchor chain length constant; finally, repeat the above operation until the real-time pretension F of all anchor chains is reached. 张i (i = 1~4) are within the allowable range of pretension force (F) 张b Within ±T).

[0107] Figure 1 The anchoring control method described herein is adapted to Figure 3 The anchoring control system described in the text. For example... Figure 3 The illustrated embodiment of the wave-facing anchoring control system includes a touch screen display 5, a power supply system 6, a PLC controller 7, a signal conversion system 8, a hydraulic motor 9, a transmission device 11, an anchor winch 17, laser displacement sensors 20-22, a torque sensor 13, and an encoder 18. The power supply system 6 provides power to the PLC controller 7, the signal conversion system 8, the touch screen display 5, the laser displacement sensors 20-22, the torque sensor 13, and the encoder 18. The touch screen display 5 communicates with the PLC controller 7, receiving pre-tension force data and operating status data from the system and sending control commands to the system. The PLC controller 7 receives real-time source data from the detection module through the signal conversion system 8 and sends commands for chain retraction / releasing to the execution module.

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

[0109] Figure 5 This illustration demonstrates 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 this embodiment. The arrangement includes a wave-facing cable guide hole 19, a wave-facing third laser displacement sensor 20, a wave-facing second laser displacement sensor 21, a wave-facing first laser displacement sensor 22, a wave-facing cable guide hole 23, a wave-facing third laser displacement sensor 24, a wave-facing second laser displacement sensor 25, and a wave-facing first laser displacement sensor 26. The wave-facing cable guide hole 19 and the wave-facing cable guide hole 23 are located on opposite sides of the transverse central axis of the bottom surface of the floating dock 1. The wave-facing first laser displacement sensor 22 and the wave-facing third laser displacement sensor 24, the wave-facing second laser displacement sensor 25, and the wave-facing first laser displacement sensor 26 are located on opposite 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 wave-facing cable guide hole 19 and the back-facing cable guide hole 23 about the transverse central axis TT. The wave-facing second laser displacement sensor 21 and the back-facing second laser displacement sensor 25 are respectively arranged at the intersection of the longitudinal line passing through the wave-facing cable guide hole 19 and the back-facing cable guide hole 23 and the transverse central axis TT. The wave-facing third laser displacement sensor 20 and the back-facing third laser displacement sensor 24 are respectively arranged at the positions of the longitudinal line passing through the wave-facing cable guide hole 19 and the back-facing cable guide hole 23, and offset inward by a distance S on the same side of the transverse central axis TT and the cable guide hole.

[0110] Those skilled in the art will readily understand that the above description is merely 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 within the scope of protection of the present invention.

Claims

1. A floating dock mooring control method with automatically adjustable anchor chain length, characterized in that, Includes the following steps: Step 1: Detect the actual pretension force on each anchor chain in the floating dock; Step 2: Subtract the actual pretension force value of each anchor chain from the optimal pretension force value and take the absolute value to obtain the pretension force difference. Based on the pretension force difference, identify the abnormal anchor chains. Step 3: Adjust the length of the abnormal anchor chain according to the optimal pretension value until the actual pretension value of all anchor chains is within the allowable range of the optimal pretension value. Step one includes the following steps: (11) Construct the catenary equation of the anchor chain under gravity, and calculate the catenary characteristic parameter a of the i-th anchor chain based on the obtained sag height and horizontal span of the i-th anchor chain. (12) Calculate the pretension force f of the i-th anchor chain based on the characteristic parameter a of the catenary. i，j , where j is 1, 2, or 3; (13) Obtain the anchor chain pretension f of the i-th anchor chain based on the torque applied to the i-th anchor chain. n ; (14) Based on the anchor chain pretension f of the i-th anchor chain i，j and anchor chain pretension f i，n Obtain the actual pretension force value F 张i ; In step (11), multiple laser displacement sensors are used to detect the anchor chain sag height and its horizontal span; a torque sensor is used to detect the torque applied to the anchor chain by the anchor winch; The actual pretension value F 张i The calculation formulas include: In the formula, w1, w2, w3, and w4 are weighting coefficients.

2. The floating dock mooring control method with automatically adjustable anchor chain length according to claim 1, characterized in that, In step (11), the catenary equation includes: In the formula, h(l) is the height at the horizontal span l, and a is the characteristic parameter of the catenary; The formula for calculating the characteristic parameter 'a' of the catenary includes: a = f / w, where w is the weight of the anchor chain per unit length and f is the pretension of the anchor chain.

3. The floating dock mooring control method with automatically adjustable anchor chain length according to claim 1, characterized in that, In step three, determine whether the actual pretension force of the abnormal anchor chain is greater than the optimal pretension force. If so, release the chain; otherwise, retract the chain until the pretension force difference is less than the set threshold T, keeping the length of the anchor chain unchanged.

4. The floating dock mooring control method with automatically adjustable anchor chain length according to claim 3, characterized in that, The formulas for calculating the length of the chain extension or retraction include: d = PL / N In the formula, d is the displacement of the anchor chain during release or retraction, L is the circumference of the anchor winch, and N is the number of encoder pulses per revolution.

5. A floating dock mooring control system with automatically adjustable anchor chain length, used to implement the floating dock mooring control method with automatically adjustable anchor chain length as described in any one of claims 1-4, characterized in that, include: The detection module is used to detect the actual pretension force on each anchor chain of the floating dock; The control module is used to calculate the difference between the actual pretension force value and the optimal pretension force value of each anchor chain and take the absolute value to obtain the pretension force difference, and to identify abnormal anchor chains based on the pretension force difference. The execution module is used to adjust the length of abnormal anchor chains according to the optimal pretension value until the actual pretension value of all anchor chains is within the allowable range of the optimal pretension value.

6. A floating dock mooring control system with automatically adjustable anchor chain length according to claim 5, characterized in that, The detection module includes: Anchor chain laser displacement measurement module, used to measure the suspension height of anchor chains at different positions on the wave-facing and wave-avoiding sides; A torque sensor, located between the transmission device and the anchor winch, is used to detect the torque applied to the anchor chain by the anchor winch; The encoder, installed at the free end of the anchor winch shaft, is used to detect the displacement and speed data of the anchor chain being wound up / out.

7. A floating dock mooring control system with automatically adjustable anchor chain length according to claim 6, characterized in that, The anchor chain laser displacement measurement module includes: a wave-facing guide cable 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 guide cable hole, a third back-wave laser displacement sensor, a second back-wave laser displacement sensor, and a first back-wave laser displacement sensor. The wave-facing and back-wave guide cable holes are located on opposite sides of the bottom of the floating dock about the transverse central axis. The first wave-facing and back-wave laser displacement sensors are arranged symmetrically about the transverse central axis TT. The second wave-facing and back-wave laser displacement sensors are arranged at the intersection of the longitudinal line passing through the wave-facing and back-wave guide cable holes and the transverse central axis TT. The third wave-facing and back-wave laser displacement sensors are arranged on the longitudinal line passing through the wave-facing and back-wave guide cable holes, offset inward by a distance S on the same side of the guide cable hole about the transverse central axis TT.

8. A floating dock mooring control system with automatically adjustable anchor chain length according to claim 7, characterized in that, The control module includes a signal conversion system, a PLC controller, and a power supply system. The PLC controller receives real-time source data from the detection module through the signal conversion system and sends instructions for chain take-up / release actions to the execution module.

9. A floating dock mooring control system with automatically adjustable anchor chain length according to claim 8, characterized in that, The execution module is located inside the floating dock and includes a hydraulic motor, a hydraulic motor output shaft, a transmission device, a transmission device output shaft, an anchor winch shaft, and an anchor winch connected in sequence. The two ends of the torque sensor are respectively connected to the transmission device output shaft and the anchor winch shaft, and the encoder is installed on the free end of the anchor winch shaft.

10. A floating dock mooring control system with automatically adjustable anchor chain length according to claim 9, characterized in that, It also includes an interaction module, which includes a touch screen for displaying tension data, operating status data, and enabling switching between manual and automatic control commands.

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