Broken cable monitoring method and device, electronic equipment and computer program product

Abstract

The invention discloses a cable breakage monitoring method and device, electronic equipment and a computer program product, and relates to the field of wharf ship cable monitoring, and the method comprises the steps: employing a pre-constructed offshore storm model, an in-port wave model and a mooring mathematical model to analyze the mooring force of a ship at a wharf, and obtaining a mooring force of the ship at the wharf; the method comprises the steps of obtaining mooring force corresponding to a plurality of mooring ropes, sorting the mooring rope force, selecting mooring guide holes corresponding to a preset number of mooring ropes as monitoring objects, monitoring mooring rope abrasion data in real time through radar scanning equipment arranged at the positions of the monitoring objects, and obtaining monitoring data; and comparing the wear value of the cable in the monitoring data with a preset wear threshold value, and sending an alarm signal under the condition that the comparison result indicates that the wear value of the cable exceeds the preset wear threshold value. The invention solves the technical problem that the wear condition of the cable of the ship berthing at the wharf cannot be monitored in real time and the cable of the ship is easy to break in the prior art.

Description

Technical Field

[0001] The present invention relates to the technical field of dock ship cable monitoring or other related fields, and in particular to a cable break monitoring method and device, electronic equipment and computer program product. Background Art

[0002] During the docking of ships, cable safety is a key factor in ensuring that ships and dock facilities are not damaged. However, due to the influence of harsh hydrological conditions such as long-period waves and extreme flow rates, it is not uncommon for docked ships to break cables, most of which are caused by repeated friction between cables and the edge of the fairlead. In order to reduce the wear of the fairlead, many ships add protective covers to the cables, but the visual obstruction of the protective covers makes the wear of the broken cables at this location more difficult to detect.

[0003] There are many problems with the cable monitoring methods in related technologies: 1. It is impossible to monitor the wear in real time. Many warning and forecasting methods based on the safety of ship mooring at docks mainly rely on the prediction and analysis of hydrological conditions to warn of possible cable breakage risks, but lack real-time monitoring of the actual wear status of the cables. 2. The equipment layout and operation are complicated. The current real-time monitoring system for cable status requires multiple test benches and complex equipment layouts. The operation process is cumbersome, which increases the monitoring cost and maintenance difficulty. 3. The monitoring object is not clear. In the existing technical solutions, there is no clear statement on which cables are specifically monitored, which may lead to a waste of monitoring resources. When a ship is moored with multiple cables, there is no targeted monitoring of vulnerable cables.

[0004] To address the above-mentioned problems, no effective solution has been proposed yet. Summary of the invention

[0005] The embodiments of the present invention provide a cable break monitoring method and device, electronic equipment and computer program product, so as to at least solve the technical problem in the related art that the cable wear of the ship docked at the dock cannot be monitored in real time, which easily causes the ship's cable breakage.

[0006] According to one aspect of an embodiment of the present invention, a cable breakage monitoring method is provided, comprising: using a pre-constructed offshore wind and wave model, a port wave model and a mooring mathematical model to analyze the mooring force of a ship at a dock, and obtain the mooring forces corresponding to a plurality of cables; sorting the plurality of cable forces, and selecting fairlead holes corresponding to a preset number of cables as monitoring objects; monitoring the cable wear data in real time by a radar scanning device arranged at the position of the monitoring object, and obtaining monitoring data; comparing the cable wear value in the monitoring data with a preset wear threshold, and issuing an alarm signal when the comparison result indicates that the cable wear value exceeds the preset wear threshold.

[0007] Optionally, a pre-constructed offshore wind and wave model, an in-port wave model and a mooring mathematical model are used to analyze the mooring force of the ship at the dock to obtain the mooring forces corresponding to multiple cables, including: inputting a first dock terrain file into the offshore wind and wave model, driving it with the offshore wave conditions of the dock, and outputting the dock wave value; using the dock wave value as the boundary condition of the in-port wave model, inputting a second dock terrain file, a sponge layer file corresponding to the land boundary, and a void layer file corresponding to the surface layer of the structure into the in-port wave model, driving waves with preset characteristic wave conditions, and outputting a two-dimensional wave field at a specified position in front of the dock; inputting the collected ship response file and ship mooring arrangement data into the mooring mathematical model, driving it with the two-dimensional wave field at the specified position in front of the dock, and outputting the mooring forces corresponding to multiple cables.

[0008] Optionally, when making the first wharf terrain file, it includes: collecting terrain data near the wharf; and using a first mesh generator to make an unstructured triangular mesh according to the collected terrain data to obtain the first wharf terrain file.

[0009] Optionally, when preparing the second wharf terrain file, the sponge layer file corresponding to the land boundary and the void layer file corresponding to the structural surface layer, it includes: collecting terrain data near the wharf, using a second grid generator to produce a quadrilateral grid, and obtaining the second wharf terrain file; locating the land boundary near the wharf, setting a sponge layer at the boundary position corresponding to the land boundary, and preparing a sponge layer file corresponding to the sponge layer, wherein the sponge layer is used to absorb excess wave energy at the wave-making line and the edge position of the wave model in the port; setting a void layer at the surface position of the land boundary, and preparing a void layer file corresponding to the void layer, wherein the void layer is used to reflect the reflection capacity values ​​of different land boundary surfaces.

[0010] Optionally, the step of inputting a ship response file and ship mooring arrangement data into the mooring mathematical model, driving it by the two-dimensional wave field at the designated position in front of the wharf, and outputting mooring forces corresponding to multiple cables comprises: collecting basic ship type data, draft data and ship load data of the ship to obtain ship mooring data, and collecting dock water depth data of the wharf; using a frequency response module to obtain a ship response file; collecting fender arrangement data, mooring arrangement data and bollard arrangement data of the ship to obtain the ship mooring arrangement data; inputting the ship mooring data, the dock water depth data, the ship response file and the ship mooring arrangement data into the mooring mathematical model, driving it by the two-dimensional wave field at the designated position in front of the wharf, and outputting mooring forces corresponding to multiple cables.

[0011] Optionally, the step of obtaining monitoring data by real-time monitoring the cable wear data through a radar scanning device set at the position of the monitored object includes: for each fairing hole indicated by the monitored object, respectively setting a laser radar scanning device at multiple angles of the fairing hole, and using the laser radar scanning device to collect target point cloud data of the fairing hole; generating a target map of the fairing hole under a target feature view; splicing the target point cloud data and the target map shown to establish an initial data image, and reconstructing a three-dimensional model of the initial data image to determine the wear data of the cable passing through the fairing hole to obtain monitoring data.

[0012] Optionally, the radar scanning equipment includes: a plurality of laser radar scanners for collecting target point cloud data; a fuselage, arranged on the deck inside the fairing hole; a fixing clamp, used to fix the fuselage to the upper edge of the bulwark; and an extension rod, fixing the plurality of laser radar scanners above the fairing hole outside the bulwark.

[0013] According to another aspect of an embodiment of the present invention, a cable breakage monitoring device is also provided, comprising: a mooring force analysis unit, used for analyzing the mooring force of a ship at a dock by using a pre-constructed offshore wind and wave model, an in-harbor wave model and a mooring mathematical model, and obtaining mooring forces corresponding to a plurality of cables; a monitoring object selection unit, used for sorting a plurality of cable forces, and selecting a preset number of cable guide holes corresponding to the cables as monitoring objects; a cable wear monitoring unit, used for real-time monitoring of cable wear data by means of a radar scanning device arranged at the position of the monitoring object, and obtaining monitoring data; a cable breakage alarm unit, used for comparing the cable wear value in the monitoring data with a preset wear threshold, and issuing an alarm signal when the comparison result indicates that the cable wear value exceeds the preset wear threshold.

[0014] Optionally, the mooring force analysis unit includes: a first input module, used to input the first wharf terrain file into the offshore wind and wave model, driven by the offshore wave conditions of the wharf, and output the wharf wave value; a second input module, used to use the wharf wave value as the boundary condition of the port wave model, input the second wharf terrain file, the sponge layer file corresponding to the land boundary, and the void layer file corresponding to the structural surface into the port wave model, drive the waves with preset characteristic wave conditions, and output the two-dimensional wave field at the specified position in front of the wharf; a third input module, used to input the ship response file and the ship mooring arrangement data into the mooring mathematical model, driven by the two-dimensional wave field at the specified position in front of the wharf, and output the mooring forces corresponding to multiple cables.

[0015] Optionally, when preparing the first wharf terrain file, the cable break monitoring device includes: a first acquisition unit, used to collect terrain data near the wharf; a first production unit, used to use a first mesh generator to produce an unstructured triangular mesh based on the collected terrain data to obtain the first wharf terrain file.

[0016] Optionally, when preparing the second wharf terrain file, the sponge layer file corresponding to the land boundary and the gap layer file corresponding to the surface layer of the structure, the cable break monitoring device also includes: a second acquisition unit, used to collect terrain data near the wharf, use a second grid generator to produce a quadrilateral grid, and obtain the second wharf terrain file; a land boundary positioning unit, used to locate the land boundary near the wharf, set a sponge layer at the boundary position corresponding to the land boundary, and prepare a sponge layer file corresponding to the sponge layer, wherein the sponge layer is used to absorb excess wave energy at the wave-making line and the edge position of the wave model in the port; a second production unit, used to set a gap layer at the surface position of the land boundary, and prepare a gap layer file corresponding to the gap layer, wherein the gap layer is used to reflect the reflection capacity values ​​of different land boundary surfaces.

[0017] Optionally, the third input module includes: a ship data acquisition submodule, used to collect the basic ship type data, draft data and ship load data of the ship to obtain the ship mooring data, and collect the dock water depth data of the dock; using the frequency response module to obtain the ship response file; a mooring data acquisition submodule, used to collect the fender layout data, mooring layout data and bollard layout data of the ship to obtain the ship mooring layout data; a mooring data input submodule, used to input the ship mooring data, the dock water depth data, the ship response file and the ship mooring layout data into the mooring mathematical model, which is driven by the two-dimensional wave field at the specified position in front of the dock, and outputs the mooring forces corresponding to multiple cables.

[0018] Optionally, the cable wear monitoring unit includes: a point cloud data acquisition module, which is used to set a laser radar scanning device at multiple angles of each cable guide hole indicated by the monitored object, and use the laser radar scanning device to collect target point cloud data of the cable guide hole; a target image generation module, which is used to generate a target image of the cable guide hole under a target feature view; a splicing module, which is used to splice the target point cloud data and the target image shown, establish an initial data image, and reconstruct a three-dimensional model of the initial data image, determine the wear data of the cable passing through the cable guide hole, and obtain monitoring data.

[0019] Optionally, the radar scanning equipment includes: a plurality of laser radar scanners for collecting target point cloud data; a fuselage, arranged on the deck inside the fairing hole; a fixing clamp, used to fix the fuselage to the upper edge of the bulwark; and an extension rod, fixing the plurality of laser radar scanners above the fairing hole outside the bulwark.

[0020] According to another aspect of an embodiment of the present invention, a system for monitoring cable breakage of a docked ship is provided, comprising: a database unit for storing basic information of a docked ship, hull data, mooring simulation data, cable laying method, fairlead hole data and historical monitoring data; an offshore wind and wave model unit, constructed based on the MI KE21SW model, for generating a dock wave value according to offshore wave conditions; an in-port wave model unit, constructed based on the MI KE21 BW model, for generating a two-dimensional wave field at a specified position in front of the dock according to the dock wave value and in-port terrain conditions; a mooring mathematical model unit, constructed based on the MIKE21MA model, for calculating the mooring force of multiple cables according to the two-dimensional wave field, a ship response file and ship mooring arrangement data; a monitoring object determination unit, for selecting a preset number of fairlead holes as monitoring objects according to the mooring forces of the multiple cables; a laser radar monitoring unit, arranged at the monitoring object position, for real-time monitoring of cable wear data to obtain monitoring data; an alarm unit, for comparing the cable wear value in the monitoring data with a preset wear threshold, and issuing an alarm signal when the comparison result indicates that the cable wear value exceeds the preset wear threshold.

[0021] According to another aspect of an embodiment of the present invention, a computer-readable storage medium is further provided, wherein the computer-readable storage medium includes a stored computer program, wherein when the computer program is running, the device where the computer-readable storage medium is located is controlled to execute any one of the above-mentioned cable break monitoring methods.

[0022] According to another aspect of an embodiment of the present invention, there is also provided an electronic device, comprising one or more processors and a memory, wherein the memory is used to store one or more programs, wherein when the one or more programs are executed by the one or more processors, the one or more processors implement any one of the above-mentioned cable break monitoring methods.

[0023] According to another aspect of an embodiment of the present invention, a computer program product is provided, including a computer program, and when the computer program is executed by a processor, the steps of any one of the above-mentioned cable break monitoring methods are implemented.

[0024] In the present disclosure, a pre-constructed offshore wind and wave model, an in-harbor wave model and a mooring mathematical model are used to analyze the mooring force of a ship at a dock, and the mooring forces corresponding to a plurality of cables are obtained; the plurality of cable forces are sorted, and fairlead holes corresponding to a preset number of cables are selected as monitoring objects; the cable wear data is monitored in real time by a radar scanning device arranged at the position of the monitoring object to obtain monitoring data; the cable wear value in the monitoring data is compared with a preset wear threshold, and an alarm signal is issued when the comparison result indicates that the cable wear value exceeds the preset wear threshold.

[0025] According to the above disclosed content, by analyzing the mooring force of each cable, the fairlead to be monitored is selected, thereby avoiding blind monitoring of all cables. By setting up radar scanning equipment at key positions (i.e., the fairlead), the degree of cable wear can be monitored in real time, and an alarm signal can be issued in time when the wear reaches the warning threshold to avoid cable breakage accidents, thereby solving the technical problem in the related technology that the cable wear of ships docked at the dock cannot be monitored in real time, which easily causes the ship's cable to break. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of this application. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0027] Figure 1 is a flow chart of an optional cable break monitoring method according to an embodiment of the present invention;

[0028] Figure 2 is a schematic diagram of configuring a laser radar scanning device at a ship fairlead hole according to an embodiment of the present invention;

[0029] Figure 3 is a schematic diagram of an optional cable break monitoring device according to an embodiment of the present invention;

[0030] Figure 4 The present invention is a hardware structure block diagram of an electronic device (or mobile device) used for a cable break monitoring method according to an embodiment of the present invention. DETAILED DESCRIPTION

[0031] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0032] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0033] To facilitate those skilled in the art to understand the present invention, some terms or nouns involved in the embodiments of the present invention are explained below:

[0034] Fairlead: A closed-hole fairlead installed on the bulwark.

[0035] Long-period wave sea areas refer to sea areas where the period of waves is greater than the preset period threshold. The period of waves in this sea area refers to the time interval between two adjacent wave crests (or troughs). The waves are relatively stable, with large amplitudes and a long distance between wave crests and troughs. Long-period wave sea conditions are usually associated with areas far away from the influence of wind or in the open ocean, such as areas far away from typhoons or in the middle of the ocean. In this sea condition, the sea surface is relatively calm and the waves are relatively regular, so marine engineering construction can be carried out.

[0036] C-MAP is a nautical chart data standard and electronic navigation system that provides detailed ocean geographic information, including water depth, topography, navigation marks, waterways, ports, islands, etc. Using C-MAP chart data, ships and navigators can accurately understand the conditions of the surrounding waters during navigation, avoid obstacles and dangerous areas, and choose safe routes.

[0037] MIKE21_SW model, shallow water model 1, is used to simulate and study the wave propagation and evolution in shallow water areas. It is based on shallow water equations and uses numerical methods to solve the wave propagation problem in irregular sea areas, including wave formation, propagation, breaking, reflection, diffraction and other phenomena. In the present invention, the MIKE21SW model is used to establish an offshore wind and wave model. By inputting the topographic data of the dock and the offshore wave conditions, the model can output the dock wave values, which reflect the propagation characteristics of the wave before reaching the dock.

[0038] MI KE21 BW model, Bouss inesq Wave mode 1, is used to simulate the wave field under the complex terrain conditions near the coast and in the port, and can more accurately simulate the nonlinear and dispersion effects of waves, as well as the interaction between waves and port structures (such as breakwaters and docks). In the present invention, the MI KE21 BW model is used to establish a wave model in the port. By inputting the wave value of the dock, the terrain data in the port, the sponge layer and the void layer parameters, the model can output the two-dimensional wave field in front of the dock.

[0039] MI KE21MA model, Marine Structures model 1, is a module used to simulate the interaction between ships, marine structures and fluids, including dynamic response analysis of ships and mooring system simulation. It can calculate the motion response of ships under the action of waves, wind, currents, etc., as well as the stress of mooring cables. In the present invention, the MI KE21MA model is used to establish a mooring mathematical model. By inputting the ship response file, mooring arrangement data and wave field data in the port, the model can calculate the mooring force of the docked ship under different wave conditions, thereby determining which cables are more prone to wear due to the greatest stress, providing a target for subsequent lidar monitoring.

[0040] Mesh Generator is used to generate unstructured triangular meshes for the MI KE21SW model (offshore wind and wave model). Unstructured triangular meshes can better adapt to complex terrain changes, especially irregular terrain features near the coast or coastline. Mesh Generator generates triangular meshes that match the actual terrain by collecting terrain data, such as C-MAP data or measured terrain data. These meshes are used as the basis for calculations in numerical models to accurately simulate phenomena such as wave propagation, diffraction and reflection.

[0041] The mesh generator Bathymetr ies is used when building the MI KE21 BW model (inner harbor wave model) to generate quadrilateral meshes. Unlike unstructured triangular meshes, quadrilateral meshes are usually used in areas with relatively flat or regular terrain, such as the interior of a harbor. In the MI KE21 BW model, the mesh is not only a representation of the terrain, but also cooperates with sponge and void layers to simulate the absorption and reflection of waves near harbor structures.

[0042] It should be noted that in the present disclosure, when collecting and analyzing customer information, corresponding operation entrances are provided for users to choose to agree or reject the automated decision results; if the user chooses to reject, the expert decision-making process is entered.

[0043] The following embodiments of the present invention can be applied to various cable break monitoring systems / applications / devices. The cable break monitoring method and system provided by the present invention are mainly used in cable safety monitoring scenarios of ships docked at ports and docks, especially in berths affected by extreme hydrological conditions (such as long-period waves and extreme flow rates). During the docking of ships, real-time monitoring and early warning of cable wear can be achieved to ensure the safety of berths and docked ships. For example, in cable monitoring scenarios under extreme weather conditions, under extreme weather conditions such as typhoons and storm surges, the wave and water flow conditions of the port will become extremely severe. In this case, the force on the cable will increase significantly, resulting in accelerated cable wear and even cable breakage. The present invention can monitor the cable status in real time, issue early warnings in time, prevent cable breakage, and ensure the safety of ships and berths. Alternatively, in cable monitoring scenarios at night or when visibility is low, it is very difficult or even impossible to manually check the wear of the cable. The radar monitoring equipment used in the present invention can work continuously under any lighting conditions to ensure all-weather monitoring of the cable status. It can also realize the safety monitoring of cables of large ships. Due to the huge size of large ships, the force on their cables when docking is very large. Once the cables break, the consequences will be very serious. This system can accurately identify and monitor the cables with the greatest force, providing more effective cable safety protection for large ships.

[0044] The monitoring model established by the present invention through the laser radar technology can monitor the degree of wear of the cable at the selected fairlead hole in real time and provide accurate wear data. It can promptly issue alarm signals of different levels based on the comparison between the real-time cable wear data and the preset threshold value, and guide relevant personnel to take necessary measures, such as replacing the cable or adding additional mooring equipment, to prevent the occurrence of cable breakage accidents.

[0045] At the same time, the present invention can determine the monitoring priority through the analysis of the mooring force, and only monitor the fairlead holes with the greatest force and the highest wear risk, avoiding the waste of resources for comprehensive monitoring of all cables and achieving efficient use of monitoring resources.

[0046] By detecting and resolving cable wear problems in advance, the safety of port operations can be significantly improved, the risk of ship loss of control or collision with the dock due to cable breakage can be reduced, and the safety of personnel, ships and dock facilities can be protected.

[0047] The present invention is described in detail below in conjunction with various embodiments.

[0048] Embodiment 1

[0049] According to an embodiment of the present invention, an embodiment of a cable break monitoring method is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0050] It should be noted that in the embodiment of the present invention, it is necessary to pre-build a ship type database that can monitor all ships in the port terminal to provide basic data for subsequent real-time cable break monitoring, wherein the data stored in the ship type database may include: 1. Basic hull data: length, width, draft, center of buoyancy, square coefficient, etc. 2. Cable laying data: cable material, cable stiffness performance curve, cable laying method, etc. 3. Simulation data: wave simulation data, and dynamic mooring simulation input conditions and output results. 4. Fairlead hole data: fairlead hole position, monitoring object. 5. Monitoring data: historical monitoring data and real-time monitoring data.

[0051] Figure 1 is a flow chart of an optional cable break monitoring method according to an embodiment of the present invention, such as Figure 1 As shown, the method comprises the following steps:

[0052] Step S101, using a pre-built offshore wind and wave model, a port wave model and a mooring mathematical model to analyze the mooring force of the ship at the dock, and obtain the mooring forces corresponding to multiple cables.

[0053] In this step, the offshore wind and wave model can be used to simulate wave propagation and evolution, and the terrain data around the dock can be input into this model. The offshore wave conditions are used as a driver to output wave parameters in the dock area, such as wave height, wave period and direction. These parameters are the basic inputs for subsequent models and reflect the hydrological environment that moored ships may face. Next, the in-port wave model is used to further refine the simulation of the wave field. The dock wave values ​​output by the model are used as boundary conditions. Combined with the in-port terrain, sponge layer and void layer settings, the two-dimensional wave field at the specified position in front of the dock is output. The two-dimensional wave field provides more detailed and more realistic wave action information for subsequent mooring force calculations. Finally, the mooring mathematical model is used to analyze the mooring force. The ship's response file (reflecting the ship's dynamic response to waves and currents), the ship's mooring layout data (including the layout of fenders, mooring cables and bollards), and the output results of the port wave model are input into the model. The mooring forces borne by multiple cables are calculated through the motion equations in the time domain or frequency domain. The mooring force analysis here is based on the actual force conditions of the docked ship. The load of the cable is predicted through numerical simulation, providing a basis for the subsequent selection of monitoring objects.

[0054] Optionally, step S101 includes: inputting the first wharf terrain file into the offshore wind and wave model, driving it with the offshore wave conditions of the wharf, and outputting the wharf wave value; using the wharf wave value as the boundary condition of the port wave model, inputting the second wharf terrain file, the sponge layer file corresponding to the land boundary, and the void layer file corresponding to the structure surface into the port wave model, driving the waves with preset characteristic wave conditions, and outputting the two-dimensional wave field at the specified position in front of the wharf; inputting the collected ship response file and ship mooring arrangement data into the mooring mathematical model, driving it with the two-dimensional wave field at the specified position in front of the wharf, and outputting the mooring forces corresponding to multiple cables.

[0055] It should be noted that, when constructing the offshore wind and wave model, the present embodiment needs to complete the terrain data collection and gridding processing first. Optionally, when making the first wharf terrain file, it includes: collecting terrain data near the wharf; using the first grid generator to make an unstructured triangular grid according to the collected terrain data, and obtaining the first wharf terrain file. First, the terrain data of the sea area around the wharf is collected, which includes water depth, seabed terrain changes, and any terrain features that may affect wave propagation. Data collection can be carried out with the help of marine surveying and mapping technology, such as multi-beam echo sounding, single-beam sounding or side-scan sonar, to ensure that comprehensive and accurate terrain information is obtained. According to the collected terrain data, the first grid generator (for example, Mesh Generator) is used to generate an unstructured triangular grid. The advantage of unstructured grid is that it can flexibly adapt to the complex terrain features around the wharf, such as irregular coastlines, sudden changes in seabed terrain, etc., thereby providing higher accuracy in numerical simulation. The grid generator will automatically adjust the density of the grid according to the complexity of the terrain data to ensure that the grid is denser in areas with large terrain changes to improve the accuracy of the calculation. The generated unstructured triangular mesh is output as a file, which becomes the terrain file of the first pier. This file will be input into the offshore wind and wave model to simulate the physical processes such as propagation, diffraction and reflection of offshore waves after entering the offshore area, and provide boundary conditions for subsequent in-harbor wave simulation.

[0056] In addition, it should be noted that the terrain file produced in the offshore wind and wave model mentioned in this embodiment needs to set parameters such as grid accuracy, time step, wave frequency range, etc. according to the characteristics of the project.

[0057] After completing the terrain data collection and gridding, the gridded terrain file needs to be input into the offshore wind and wave model, and the driving conditions of the model, that is, the wave conditions in the open sea, need to be set. These conditions can be obtained from historical data, real-time marine meteorological forecasts, or field measurement data to simulate the propagation and evolution of waves after entering the offshore area. After the model is run, the wave values ​​of the dock area will be output, including wave height, wave period, and wave direction, to provide boundary conditions for the subsequent in-port wave model.

[0058] After obtaining the wave value of the wharf area through the offshore wind and wave model, it is necessary to realize the wave field simulation of the wharf surrounding environment through the port wave model. Before that, it is necessary to pre-build the port wave model. In the process of building the port wave model, it is necessary to first complete the file production of the terrain and each special layer (sponge layer and void layer). Optionally, when producing the second wharf terrain file, the sponge layer file corresponding to the land boundary, and the void layer file corresponding to the surface layer of the structure, it includes: collecting terrain data near the wharf, using the second grid generator to produce a quadrilateral grid, and obtaining the second wharf terrain file; locating the land boundary near the wharf, setting a sponge layer at the boundary position corresponding to the land boundary, and producing a sponge layer file corresponding to the sponge layer, wherein the sponge layer is used to absorb excess wave energy at the wave-making line and the edge position of the model of the port wave model; setting a void layer at the surface position of the land boundary, and producing a void layer file corresponding to the void layer, wherein the void layer is used to reflect the reflection capacity value of different land boundary surfaces.

[0059] Similarly, the terrain data of the sea area inside the wharf is collected, including the water depth information of the wharf waterway and berth area. Then, a second mesh generator (e.g., Bathymetrics) is used to generate a quadrilateral mesh. The use of quadrilateral meshes in relatively regular terrain in the port can simplify the calculation and improve the operation efficiency of the model while maintaining sufficient calculation accuracy. After that, the generated quadrilateral mesh is output in the form of a file to form the second wharf terrain file. This file will be used in the port wave model to simulate the specific behavior of waves in the port area, such as the interaction between waves and wharf structures, changes in wave surface morphology, etc.

[0060] It should be noted that when simulating the in-harbor wave model mentioned in this embodiment, it is necessary to complete the file configuration of two special layers in advance. The first is the sponge layer (Damping Layer). At the land boundary, especially at the boundary between the pier and the sea, a sponge layer needs to be set. The function of the sponge layer is to absorb unnatural wave energy reflection at the edge of the numerical model to simulate the natural attenuation of waves at the open boundary, prevent unreal reflection of waves inside the numerical model, and ensure the credibility of the simulation results. In this embodiment, when making the sponge layer file, a specific area will be set, and the grid units in this area have gradually increasing damping coefficients to absorb wave energy. It should be noted that in the in-harbor wave model, the sponge layer file will be used as the external boundary condition of the model to ensure that the wave field calculation inside the model is not affected by external wave reflections, providing more realistic and stable simulation results.

[0061] The second is the void layer, which is set at the surface position of the land boundary to simulate the reflection and transmission characteristics of waves on the surfaces of different structures (such as dock walls, buildings, etc.). When making a void layer file, the porosity of each grid unit will be set according to the contact with the water surface and the physical properties of the structure to reflect the wave reflection intensity at different locations. It should be noted that the void layer file is used to simulate the wave reflection and transmission behavior on the surfaces of different structures, which is crucial for wave simulation of complex port structures. By setting the void layer, the model can more accurately predict the propagation and changes of waves in the port, as well as the interaction between waves and dock structures.

[0062] This embodiment can establish high-precision offshore and port terrain models, providing a solid foundation for subsequent wave simulation and mooring force analysis. The construction of these models takes into account the complexity and accuracy requirements of the port terrain, and at the same time ensures the accuracy and reliability of the model calculation through the setting of special layers (such as sponge layers and void layers).

[0063] After obtaining various files, the wave field simulation in the port can be carried out. The prepared files are used as input, and the offshore waves are set as boundary conditions, and the port wave model is used for simulation. During the simulation process, wave-making conditions such as wave frequency and wave direction are also set to generate a two-dimensional wave field at a specified position in front of the pier. This process can more accurately describe the propagation characteristics of waves in the port, especially considering the interaction between waves and pier structures. After the model is run, the two-dimensional wave field data at the specified position in front of the pier is output.

[0064] After obtaining the two-dimensional wave field data at the designated position in front of the wharf, it can be input into the mooring mathematical model, and the mooring mathematical model performs cable force analysis to obtain the force condition of the cable. Optionally, the ship response file and the ship mooring arrangement data are input into the mooring mathematical model, and driven by the two-dimensional wave field at the designated position in front of the wharf, and the step of outputting the mooring forces corresponding to multiple cables includes: collecting the basic ship type data, draft data and ship load data of the ship to obtain the ship mooring data, and collecting the wharf water depth data of the wharf; using the frequency response module to obtain the ship response file; collecting the ship's fender arrangement data, mooring arrangement data and bollard arrangement data to obtain the ship mooring arrangement data; inputting the ship mooring data, wharf water depth data, the ship response file and the ship mooring arrangement data into the mooring mathematical model, and driven by the two-dimensional wave field at the designated position in front of the wharf, and outputting the mooring forces corresponding to multiple cables.

[0065] In the process of using the mooring mathematical model to analyze the mooring force, the dynamic response of the ship in the water is considered, including swaying, heave, roll, etc., which has a direct impact on the force of the cable. The ship response file and the ship mooring arrangement data are integrated into the mooring mathematical model to achieve accurate calculation of the cable mooring force. Before the analysis, it is necessary to collect the ship mooring data, including the basic data of the ship's ship type (such as length, width, square coefficient, etc.), draft data (reflecting the degree of sinking and floating of the ship in the water) and ship load data (affecting the stability and draft of the ship). At the same time, it is also necessary to collect the water depth data of the dock. These data together constitute a complete description of the ship's mooring status and are necessary inputs for subsequent model analysis. Afterwards, the frequency response module (FRC) is used to generate the ship response file. The frequency response module can calculate the response behavior of the ship at different wave frequencies based on the geometric and physical characteristics of the ship. This file contains the motion modes (such as roll, pitch, heave, etc.) and amplitudes of the ship under the action of waves, which are key parameters for evaluating the force of the cable. The frequency response module solves the frequency domain integral equation by applying the high-order boundary element numerical method in the frequency domain to obtain the wave excitation force, added mass and radiation damping in the frequency domain, and obtains the wave force, added mass and hysteresis function in the time domain through Fourier transform.

[0066] In addition to the response characteristics of the ship itself, the layout of the cables also directly affects their stress conditions. Therefore, it is necessary to collect the ship's fender layout data, mooring layout data, and bollard layout data. These data constitute the ship mooring layout data set, which describes the specific layout of the cables when the ship is docked, including the number, position, direction of the cables, and the connection method with the dock, fender, and bollard. It should be noted that the specific parameters of the cable layout are arranged according to historical data, combined with the ship type and dock conditions.

[0067] The above-collected ship mooring data, dock water depth data, ship response file and ship mooring arrangement data are input into the mooring mathematical model. The model is driven by the two-dimensional wave field data at the specified position in front of the dock. These data reflect the characteristics of waves at specific locations, such as wave height, wave period and wave direction. When the model is running, it will comprehensively consider factors such as wave field, ship response and mooring arrangement. By solving the dynamic equations of the ship and cable system, the mooring force borne by the cable under different states is calculated, thereby obtaining the mooring force results corresponding to multiple cables. Specifically, the mooring mathematical model solves the motion equations in the time domain, solves the force state of the cable under the action of dynamic waves, and outputs the cable force in the time domain, that is, the mooring force.

[0068] Alternatively, the equation of motion in the time domain can be:

[0069]

[0070] Among them, Mkj and C kj is the generalized mass and restoring force coefficient of the object defined the same as in the frequency domain method, B k (ξ(t)) is the viscous damping of the system, G j (t) is the nonlinear force caused by cables, fenders or anchor chains, F j (t) is the wave exciting force.

[0071] The mooring force of each cable is calculated through the motion equation in the time domain. The mooring mathematical model outputs the mooring force data of multiple cables, which not only reflects the instantaneous force of the cable, but can also be used to evaluate the long-term load-bearing capacity and wear trend of the cable. It can fully reflect the force of the cable under actual hydrological conditions and provide a basis for determining the monitoring object and setting the warning threshold. By analyzing the size, change trend and distribution of the mooring force, it can be determined which cables are in a high-risk state and which fairleads need special attention, thereby guiding the deployment of lidar monitoring equipment and realizing real-time monitoring of the wear status of key cables.

[0072] Step S102, sorting a plurality of cable forces, and selecting fairleads corresponding to a preset number of cables as monitoring objects.

[0073] After completing the analysis of the mooring force, the calculated multiple cable forces are sorted, for example, from high to low. Then, based on risk assessment and resource allocation, a preset number of cables (usually the cables with the largest mooring force) are selected as monitoring objects. These cables are usually located at the fairlead holes. Due to the greater force they bear, their risk of wear and cable breakage is also higher. After selecting the monitoring objects, monitoring equipment can be deployed at these specific fairlead hole locations to concentrate resources for real-time monitoring of high-risk cables.

[0074] Step S103, monitoring the cable wear data in real time by means of a radar scanning device arranged at the location of the monitored object to obtain monitoring data.

[0075] At the selected cable guide hole position, a radar scanning device is set up. The radar scanning device can generate high-precision three-dimensional point cloud data to reflect the surface morphology and structure of the cable. The point cloud data of the cable is collected in real time by these devices, and the wear of the cable can be dynamically monitored. After the point cloud data is processed, the degree of wear on the cable surface can be obtained, and monitoring data can be obtained for subsequent comparison and alarm.

[0076] Optionally, the cable wear data is monitored in real time by a radar scanning device set at the location of the monitored object, and the step of obtaining the monitoring data includes: for each cable hole indicated by the monitored object, a laser radar scanning device is respectively set at multiple angles of the cable hole, and the laser radar scanning device is used to collect the target point cloud data of the cable hole; a target map of the cable hole under the target feature view is generated; the target point cloud data and the target map are spliced ​​to establish an initial data image, and a three-dimensional model is reconstructed for the initial data image to determine the wear data of the cable passing through the cable hole to obtain the monitoring data.

[0077] In order to achieve real-time monitoring of the wear status of the cable of the docked ship, this embodiment sets up laser radar scanning equipment at multiple angles of the fairlead hole, and deploys the laser radar scanning equipment from different perspectives at each fairlead hole position selected as the monitoring object. Specifically, three laser radar probes can be set at the lower end, upper left corner and lower right corner of the fairlead hole respectively. This multi-angle arrangement can fully capture the three-dimensional spatial information of the cable when it passes through the fairlead hole, ensuring the integrity and accuracy of the data.

[0078] The laser radar scanning device can emit a laser beam and receive the beam reflected from the cable surface, measure the flight time of the reflected beam or the phase difference of the laser, and thus calculate the distance from the reflecting surface to the radar. In this way, the radar can generate high-density point cloud data on the cable surface, namely the target point cloud data. The target point cloud data reflects the real-time position, shape and surface characteristics of the cable at the fairlead hole. After that, the collected target point cloud data is processed under a specific view to generate a target map. The target map is a visual representation of the point cloud data, which can intuitively show the shape and wear of the cable at the fairlead hole. Finally, the target point cloud data is spliced ​​with the target map to generate an initial data image, and then the initial data image is reconstructed into a three-dimensional model. Three-dimensional model reconstruction is the process of converting two-dimensional image data into a three-dimensional space model. Through this process, the system can construct the three-dimensional shape and structure of the cable at the fairlead hole. The three-dimensional model contains detailed information on the cable surface and provides a basis for determining wear data.

[0079] Optionally, the radar scanning equipment includes: a plurality of laser radar scanners for collecting target point cloud data; a fuselage, arranged on the deck inside the fairlead hole; a fixing clamp, used to fix the fuselage to the upper edge of the bulwark; and an extension rod, fixing the plurality of laser radar scanners above the fairlead hole outside the bulwark.

[0080] Figure 2 is a schematic diagram of configuring a laser radar scanning device at a ship fairlead hole according to an embodiment of the present invention, such as Figure 2As shown in the figure, the laser scanning equipment is mainly divided into four parts: 1. Fixing clamp; 2. Extension rod; 3. LiDAR scanner; 4. Fuselage. The fuselage of the laser scanning equipment is set on the deck inside the fairlead hole, fixed to the upper edge of the bulwark by the fixing clamp, and the three LiDAR scanners are fixed above the fairlead hole outside the bulwark by the extension rod.

[0081] By analyzing the point cloud data of the cable surface in the 3D model, the system can identify the wear area and degree of the cable. The wear data is calculated by comparing the point cloud data of the cable surface with the point cloud data of the original unworn cable surface, and the wear amount and wear ratio are calculated. The monitoring data includes real-time wear data and possible cable break risk assessment, which is key information for early warning judgment and decision support.

[0082] Step S104, comparing the cable wear value in the monitoring data with a preset wear threshold, and sending an alarm signal when the comparison result indicates that the cable wear value exceeds the preset wear threshold.

[0083] In this embodiment, the obtained cable wear value is compared with a preset wear threshold, which is set based on comprehensive factors such as the cable's material properties, service life, and safety standards, and is used to determine whether the cable has reached a level that requires maintenance or replacement. If the cable wear value exceeds the preset threshold, the system will issue different levels of alarm signals, such as level 1, level 2, and level 3 alarms, according to the degree of wear, indicating the severity of the risk.

[0084] The generation and transmission of alarm signals enables staff to respond promptly and take maintenance measures, such as replacing cables or adding auxiliary mooring equipment, to prevent more serious cable breakage accidents.

[0085] Through the above steps, the mooring force of the ship at the dock can be analyzed by using the pre-constructed offshore wind and wave model, the port wave model and the mooring mathematical model to obtain the mooring force corresponding to multiple cables; sort the multiple cable forces, and select the fairleads corresponding to a preset number of cables as monitoring objects; monitor the cable wear data in real time by the radar scanning device set at the monitoring object position to obtain monitoring data; compare the cable wear value in the monitoring data with the preset wear threshold, and send an alarm signal when the comparison result indicates that the cable wear value exceeds the preset wear threshold. In this embodiment, by analyzing the mooring force of each cable, the fairlead to be monitored is selected, avoiding blind monitoring of all cables, and by setting the radar scanning device at the key position (i.e., the fairlead), the wear degree of the cable can be monitored in real time, and the alarm signal is issued in time when the wear reaches the warning threshold, avoiding the occurrence of cable breakage accidents, thereby solving the technical problem that the cable wear of the ship docked at the dock cannot be monitored in real time in the related technology, which easily causes the ship to break.

[0086] Another optional specific implementation is described in detail below.

[0087] In the embodiment of the present invention, a cable break monitoring system is established for each docked ship at berths affected by extreme hydrological conditions. In the monitoring system, a ship type database is set up to store basic information of docked ships, hull data, mooring simulation data, cable laying methods, fairlead hole data, etc. The maximum mooring information and dangerous fairlead holes are determined by wave numerical simulation and dynamic mooring simulation. A monitoring model is established by laser radar technology, and a laser radar scanning device is set at the dangerous fairlead hole of each docked ship to monitor the degree of cable wear at the fairlead hole in real time, and an alarm is issued when the wear threshold is exceeded.

[0088] Specifically, the cable break monitoring system includes: ship type database, offshore wind and wave model, port wave model, mooring mathematical model, lidar model, radar monitoring equipment and alarm center. These parts are explained in detail below.

[0089] 1. Ship type database, including:

[0090] Basic hull data: length, width, draft, center of buoyancy, square coefficient, etc.

[0091] Cabling data: cable material, cable stiffness performance curve, cabling method, etc.

[0092] Simulation data: wave simulation data, and dynamic mooring simulation input conditions and output results.

[0093] Fairlead data: Fairlead location, monitoring object.

[0094] Monitoring data: historical monitoring data and real-time monitoring data.

[0095] 2. Offshore wind and wave model, a wind and wave model based on the MI KE21SW model (grid accuracy, time step, wave frequency range and other parameters are set according to project characteristics). The key steps of model setting include:

[0096] Basic data collection: terrain data collection, such as C-MAP and measured terrain data.

[0097] Terrain file production: Based on the collected terrain data, use the Mesh Generator to produce an unstructured triangular mesh.

[0098] Driving conditions: known offshore wave conditions.

[0099] Result output: The calculated wave values ​​are used as boundary conditions of the harbor wave model.

[0100] 3. Port wave model, a wave model based on the MI KE21 BW model. The key steps of model setting include:

[0101] Basic data collection: including model boundary data collection and terrain data collection.

[0102] Terrain file production: Based on the collected terrain data, use the mesh generator Bathymetries to produce a quadrilateral mesh.

[0103] Sponge layer file production: Set up a sponge layer at the land boundary to absorb excess wave energy. Here, the purpose of the sponge layer is to absorb excess energy at the wave line and edge of the model. If it is not set, the model will fail to run.

[0104] Void layer file creation: Set a void layer on the surface of the structure to reflect the strength of the reflection. Here, the void layer is added to the land boundary surface to reflect the reflection strength of different boundary surfaces.

[0105] Driving conditions: Wave generation under characteristic wave conditions.

[0106] Result: Output the two-dimensional wave field in front of the pier.

[0107] 4. Mooring mathematical model, a mathematical model based on the MI KE21MA model. The specific steps are as follows:

[0108] Basic data collection: 3D ship mesh file, draft, dock water depth, and load conditions.

[0109] Ship response file: The ship response file is obtained through the FRC module (frequency response module).

[0110] Mooring arrangement: fender arrangement, mooring cable arrangement, bollard arrangement. Among them, the mooring arrangement is arranged according to historical data, combined with the ship type and dock conditions.

[0111] Driving conditions: The two-dimensional wave field at point D in front of the pier is provided by the results of the in-harbor wave model, and N wave fields are calculated separately.

[0112] Output results: The model outputs the mooring force by solving the equation of motion in the time domain.

[0113] After that, it is necessary to determine the monitoring object. By analyzing the mooring force results, the mooring forces are sorted from large to small, and the cable outlet holes corresponding to the first four largest mooring forces are determined as the monitoring objects.

[0114] The monitoring object is the fairlead holes corresponding to the four cables with the largest cable forces.

[0115] It should be noted that the monitoring object will change according to different ship types and berths, so it is necessary to determine the monitoring object through the previous wave numerical simulation and mooring numerical simulation steps, and then set up the monitor.

[0116] 5. LiDAR model: for the monitored object, three laser scanning devices are set at the lower end, upper left and lower right of each cable guide hole. Figure 2 .

[0117] During the monitoring process, the target point cloud data can be collected by LiDAR to generate a target map under the target feature view; then the target cloud data and the target map are spliced. The initial data image 3D modeling analysis is established to determine the initial tracking target and the initial threshold of each cable.

[0118] Receive LiDAR target cloud data in real time, reconstruct the three-dimensional model, receive the data through the laser receiving system in the monitor, and then analyze and convert it through the LiDAR terminal processing system to obtain the target data.

[0119] Specifically, the laser radar model includes: a laser receiving system and a laser radar terminal information processing system, wherein the laser receiving system includes at least two parts: a receiving optical system and a photoelectric detector. After the laser emitted by the laser irradiates an obstacle, it is reflected by the obstacle and the reflected light is converged onto the receiver through the lens group. The lens group here is the laser radar receiving optical system, and the structures involved include lenses, narrow-band filters, beam splitters, etc.

[0120] The task of the laser radar terminal information processing system is to complete the synchronous coordination and control of various transmission devices, lasers, scanning flagships and signal processing circuits, and to amplify and convert the signals sent by the receiving end. Through calculations by the information processing module, the surface morphology, physical properties and other characteristics of the target are obtained, and finally an object model is established.

[0121] 6. Alarm unit. The specific implementation steps include:

[0122] The target data transmitted in real time is compared with the initial threshold value.

[0123] If the target data differs from the initial threshold by more than 5%, a level 1 alarm is sent;

[0124] If the target data differs from the initial threshold by more than 15%, a level 2 alarm is sent;

[0125] If the target data differs from the initial threshold by more than 25%, a level 3 alarm is sent. It is recommended to replace the cable as soon as possible or add other auxiliary mooring equipment after the level 3 alarm.

[0126] 7. Laser scanning equipment.

[0127] The body of the laser scanning device is arranged on the deck inside the fairlead hole and is fixed to the upper edge of the bulwark by a fixing clamp. The three laser radar scanners are fixed above the fairlead hole outside the bulwark by an extension rod.

[0128] like Figure 2 As shown, the laser scanning device is mainly divided into four parts: 1. Fixing clamp. 2. Extension rod. 3. LiDAR scanner. 4. Body.

[0129] In this embodiment, each berth only needs to be equipped with 4 laser radar devices, which are only used for docked ships and unloaded before leaving the berth.

[0130] Through the above embodiments, by combining the ship response file, ship mooring arrangement data and mooring mathematical model, this technical feature realizes a systematic solution from ship dynamic response to cable force analysis. This process not only takes into account the physical characteristics of the ship, but also combines the actual mooring environment and wave conditions, providing a powerful tool for the safety management of ports and docks, which can effectively prevent cable breakage accidents caused by cable wear and improve the safety and efficiency of port operations.

[0131] The following is a detailed description in conjunction with another embodiment.

[0132] Embodiment 2

[0133] A cable break monitoring device provided in this embodiment includes multiple implementation units, each implementation unit corresponds to each implementation step in the above-mentioned embodiment 1.

[0134] Figure 3 is a schematic diagram of an optional cable break monitoring device according to an embodiment of the present invention, such as Figure 2 As shown, the cable break monitoring device may include: a mooring force analysis unit 31, a monitoring object selection unit 32, a cable wear monitoring unit 33, and a cable break alarm unit 34.

[0135] The mooring force analysis unit 31 is used to analyze the mooring force of the ship at the dock by using a pre-built offshore wind and wave model, a port wave model and a mooring mathematical model to obtain the mooring forces corresponding to multiple cables.

[0136] The monitoring object selection unit 32 is used to sort the multiple cable forces and select the fairleads corresponding to a preset number of cables as monitoring objects.

[0137] The cable wear monitoring unit 33 is used to monitor the cable wear data in real time through a radar scanning device arranged at the location of the monitored object to obtain monitoring data.

[0138] The cable break alarm unit 34 is used to compare the cable wear value in the monitoring data with a preset wear threshold, and to send out an alarm signal when the comparison result indicates that the cable wear value exceeds the preset wear threshold.

[0139] The above-mentioned cable break monitoring device can analyze the mooring force of the ship at the dock by using the pre-constructed offshore wind and wave model, the port wave model and the mooring mathematical model through the mooring force analysis unit 31, and obtain the mooring forces corresponding to multiple cables. The multiple cable forces are sorted by the monitoring object selection unit 32, and the fairlead holes corresponding to a preset number of cables are selected as monitoring objects. The cable wear monitoring unit 33 monitors the cable wear data in real time through a radar scanning device set at the monitoring object position to obtain monitoring data. The cable break alarm unit 34 compares the cable wear value in the monitoring data with the preset wear threshold, and sends an alarm signal when the comparison result indicates that the cable wear value exceeds the preset wear threshold. In this embodiment, by analyzing the mooring force of each cable, the fairlead to be monitored is selected, thereby avoiding blind monitoring of all cables. By setting up radar scanning equipment at key positions (i.e., the fairlead), the degree of cable wear can be monitored in real time, and an alarm signal can be issued in time when the wear reaches the warning threshold to avoid cable breakage accidents, thereby solving the technical problem in related technologies that the cable wear of ships docked at the dock cannot be monitored in real time, which easily causes the ship's cable to break.

[0140] Optionally, the mooring force analysis unit includes: a first input module, used to input the first wharf terrain file into the offshore wind and wave model, driven by the offshore wave conditions of the wharf, and output the wharf wave value; a second input module, used to use the wharf wave value as the boundary condition of the port wave model, input the second wharf terrain file, the sponge layer file corresponding to the land boundary, and the void layer file corresponding to the structure surface into the port wave model, drive the wave generation with preset characteristic wave conditions, and output the two-dimensional wave field at the specified position in front of the wharf; a third input module, used to input the ship response file and the ship mooring arrangement data into the mooring mathematical model, driven by the two-dimensional wave field at the specified position in front of the wharf, and output the mooring forces corresponding to multiple cables.

[0141] Optionally, when preparing the first wharf terrain file, the cable break monitoring device includes: a first acquisition unit, used to collect terrain data near the wharf; a first production unit, used to use a first mesh generator to produce an unstructured triangular mesh based on the collected terrain data to obtain the first wharf terrain file.

[0142] Optionally, when preparing the second wharf terrain file, the sponge layer file corresponding to the land boundary, and the gap layer file corresponding to the structure surface layer, the cable break monitoring device also includes: a second acquisition unit, used to collect terrain data near the wharf, use a second grid generator to produce a quadrilateral grid, and obtain the second wharf terrain file; a land boundary positioning unit, used to locate the land boundary near the wharf, set a sponge layer at the boundary position corresponding to the land boundary, and prepare a sponge layer file corresponding to the sponge layer, wherein the sponge layer is used to absorb excess wave energy at the wave-making line and the edge position of the model of the wave model in the port; a second production unit, used to set a gap layer at the surface position of the land boundary, and prepare a gap layer file corresponding to the gap layer, wherein the gap layer is used to reflect the reflection capacity values ​​of different land boundary surfaces.

[0143] Optionally, the third input module includes: a ship data acquisition submodule, which is used to collect the basic ship type data, draft data and ship load data of the ship to obtain the ship mooring data, and collect the dock water depth data of the dock; a frequency response module is used to obtain a ship response file; a mooring data acquisition submodule, which is used to collect the ship's fender layout data, mooring layout data and bollard layout data to obtain the ship mooring layout data; a mooring data input submodule, which is used to input the ship mooring data, dock water depth data, ship response file and ship mooring layout data into a mooring mathematical model, which is driven by the two-dimensional wave field at a specified position in front of the dock, and outputs the mooring forces corresponding to multiple cables.

[0144] Optionally, the cable wear monitoring unit includes: a point cloud data acquisition module, which is used to set laser radar scanning devices at multiple angles of the cable guide hole indicated by each monitored object, and use the laser radar scanning device to collect target point cloud data of the cable guide hole; a target image generation module, which is used to generate a target image of the cable guide hole under the target feature view; a splicing module, which is used to splice the target point cloud data and the shown target image to establish an initial data image, and reconstruct a three-dimensional model of the initial data image, determine the wear data of the cable passing through the cable guide hole, and obtain monitoring data.

[0145] Optionally, the radar scanning equipment includes: a plurality of laser radar scanners for collecting target point cloud data; a fuselage, arranged on the deck inside the fairlead hole; a fixing clamp, used to fix the fuselage to the upper edge of the bulwark; and an extension rod, fixing the plurality of laser radar scanners above the fairlead hole outside the bulwark.

[0146] The cable break monitoring device may further include a processor and a memory, and the mooring force analysis unit 31, the monitoring object selection unit 32, the cable wear monitoring unit 33, the cable break alarm unit 34, etc. are all stored in the memory as program units, and the processor executes the program units stored in the memory to realize the corresponding functions.

[0147] The processor includes a kernel, which retrieves the corresponding program unit from the memory. One or more kernels can be set, and the mooring force of the cable of the ship docked in the dock can be monitored by adjusting the kernel parameters to prevent the risk of cable breakage.

[0148] The above-mentioned memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash memory (fl ash RAM), and the memory includes at least one storage chip.

[0149] The embodiment of the present invention provides a system for monitoring the breakage of cables of docked ships, comprising: a database unit, for storing basic information of docked ships, hull data, mooring simulation data, cable laying methods, fairlead hole data and historical monitoring data; an offshore wind and wave model unit, constructed based on the MI KE21SW model, for generating a dock wave value according to offshore wave conditions; an in-port wave model unit, constructed based on the MI KE21 BW model, for generating a two-dimensional wave field at a specified position in front of the dock according to the dock wave value and in-port terrain conditions; a mooring mathematical model unit, constructed based on the MI KE21MA model, for calculating the mooring forces of multiple cables according to the two-dimensional wave field, a ship response file and ship mooring arrangement data; a monitoring object determination unit, for selecting a preset number of fairlead holes as monitoring objects according to the mooring forces of multiple cables; a laser radar monitoring unit, arranged at the monitoring object position, for real-time monitoring of cable wear data to obtain monitoring data; an alarm unit, for comparing the cable wear value in the monitoring data with a preset wear threshold, and sending an alarm signal when the comparison result indicates that the cable wear value exceeds the preset wear threshold.

[0150] According to another aspect of an embodiment of the present invention, a computer-readable storage medium is further provided, the computer-readable storage medium including a stored computer program, wherein when the computer program is running, the device where the computer-readable storage medium is located is controlled to execute any one of the cable break monitoring methods in the above-mentioned embodiment 1.

[0151] According to another aspect of an embodiment of the present invention, there is also provided an electronic device, comprising one or more processors and a memory, wherein the memory is used to store one or more programs, wherein when the one or more programs are executed by one or more processors, the one or more processors implement the cable break monitoring method of any one of the above-mentioned embodiments one.

[0152] The present application also provides a computer program product, including a computer program, which, when executed by a processor, implements the steps of the cable break monitoring method described in each embodiment of the present application.

[0153] The present application also provides a computer program product, including a non-volatile computer-readable storage medium, wherein the non-volatile computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the cable break monitoring method described in each embodiment of the present application are implemented.

[0154] Figure 4 1 is a hardware structure block diagram of an electronic device (or mobile device) for a cable break monitoring method according to an embodiment of the present invention. Figure 4 As shown, the electronic device may include one or more ( Figure 4 402a, 402b, ..., 402n are used to illustrate) a processor (the processor may include but is not limited to a processing device such as a microprocessor MCU or a programmable logic device FPGA), and a memory 404 for storing data. In addition, it may also include: a display, an input / output interface (I / O interface), a universal serial bus (USB) port (which may be included as one of the ports of the I / O interface), a network interface, a keyboard, a power supply and / or a camera. It can be understood by those skilled in the art that Figure 4 The structure shown is only for illustration and does not limit the structure of the above electronic device. Figure 4 More or fewer components as shown, or with Figure 4 Different configurations are shown.

[0155] The serial numbers of the above embodiments of the present invention are only for description and do not represent the advantages or disadvantages of the embodiments.

[0156] In the above embodiments of the present invention, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0157] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are only schematic. For example, the division of the units can be a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, which can be electrical or other forms.

[0158] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple units. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0159] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0160] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, magnetic disk or optical disk and other media that can store program codes.

[0161] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A cable break monitoring method, characterized in that: include: The pre-built offshore wind and wave model, harbor wave model and mooring mathematical model are used to analyze the mooring force of the ship at the dock, and the mooring force corresponding to multiple cables is obtained; Sort multiple cable forces and select fairleads corresponding to a preset number of cables as monitoring objects; The radar scanning device disposed at the position of the monitored object monitors the cable wear data in real time to obtain monitoring data; The cable wear value in the monitoring data is compared with a preset wear threshold, and an alarm signal is issued when the comparison result indicates that the cable wear value exceeds the preset wear threshold.

2. The method according to claim 1, characterized in that: The steps of analyzing the mooring force of the ship at the dock by using the pre-built offshore wind and wave model, the port wave model and the mooring mathematical model to obtain the mooring forces corresponding to multiple cables include: Inputting the first wharf terrain file into the offshore wind and wave model, driving it with the offshore wave conditions of the wharf, and outputting the wharf wave value; Taking the wharf wave value as the boundary condition of the port wave model, the second wharf terrain file, the sponge layer file corresponding to the land boundary and the void layer file corresponding to the structure surface layer are input into the port wave model, and wave generation is driven by the preset characteristic wave condition to output the two-dimensional wave field at the specified position in front of the wharf; The ship response file and the ship mooring arrangement data are input into the mooring mathematical model, which is driven by the two-dimensional wave field at the designated position in front of the wharf to output the mooring forces corresponding to the multiple cables.

3. The method according to claim 2, characterized in that When making the first pier terrain file, include: Collect terrain data near the dock; According to the collected terrain data, an unstructured triangular mesh is produced using a first mesh generator to obtain the first wharf terrain file.

4. The method according to claim 2, characterized in that: When preparing the second wharf terrain file, the sponge layer file corresponding to the land boundary, and the void layer file corresponding to the structure surface layer, it includes: Collecting terrain data near the wharf, using a second mesh generator to create a quadrilateral mesh, and obtaining the second wharf terrain file; Locating the land boundary near the wharf, setting a sponge layer at a boundary position corresponding to the land boundary, and making a sponge layer file corresponding to the sponge layer, wherein the sponge layer is used to absorb excess wave energy at the wave-making line and the edge position of the wave model in the port; A gap layer is set at the surface position of the land boundary, and a gap layer file corresponding to the gap layer is prepared, wherein the gap layer is used to reflect the reflection ability values ​​of different land boundary surfaces.

5. The method according to claim 2, characterized in that: The step of inputting the ship response file and the ship mooring arrangement data into the mooring mathematical model, driving it by the two-dimensional wave field at the designated position in front of the wharf, and outputting the mooring forces corresponding to the multiple cables comprises: Collecting basic ship type data, draft data and ship load data of the ship to obtain ship mooring data, and collecting dock water depth data of the dock; The frequency response module is used to obtain the ship response file; Collecting fender arrangement data, mooring cable arrangement data and bollard arrangement data of the ship to obtain mooring arrangement data of the ship; The ship mooring data, the dock water depth data, the ship response file and the ship mooring arrangement data are input into the mooring mathematical model, which is driven by the two-dimensional wave field at a designated position in front of the dock to output mooring forces corresponding to multiple cables.

6. The method according to claim 1, characterized in that The step of obtaining monitoring data by real-time monitoring the cable wear data through a radar scanning device arranged at the location of the monitoring object comprises: For each chock indicated by the monitored object, laser radar scanning devices are respectively arranged at multiple angles of the chock, and the target point cloud data of the chock is collected by using the laser radar scanning devices; Generating a target map of the fairlead under a target feature view; The target point cloud data and the target image are spliced ​​to establish an initial data image, and a three-dimensional model is reconstructed for the initial data image to determine the wear data of the cable passing through the fairlead hole to obtain monitoring data.

7. The method according to any one of claims 1 to 6, characterized in that: The radar scanning device comprises: Multiple LiDAR scanners for collecting target point cloud data; The fuselage is arranged on the deck inside the fairlead hole; A fixing clip, used for fixing the fuselage to the upper edge of the bulwark; Extension rods are used to fix multiple lidar scanners above the fairlead holes on the outside of the bulwark.

8. A cable break monitoring device, characterized in that: include: The mooring force analysis unit is used to analyze the mooring force of the ship at the dock using the pre-built offshore wind and wave model, the port wave model and the mooring mathematical model to obtain the mooring forces corresponding to multiple cables; A monitoring object selection unit, used for sorting a plurality of cable forces and selecting fairleads corresponding to a preset number of cables as monitoring objects; A cable wear monitoring unit, used to monitor the cable wear data in real time through a radar scanning device arranged at the location of the monitored object to obtain monitoring data; The cable break alarm unit is used to compare the cable wear value in the monitoring data with a preset wear threshold, and to send out an alarm signal when the comparison result indicates that the cable wear value exceeds the preset wear threshold.

9. A system for monitoring cable breakage of a docked ship, characterized in that: include: Database unit, used to store basic information of docked ships, hull data, mooring simulation data, cable laying methods, fairlead hole data and historical monitoring data; The offshore wind and wave model unit is built based on the MIKE21SW model and is used to generate dock wave values ​​based on offshore wave conditions; The in-harbor wave model unit is constructed based on the MIKE21 BW model and is used to generate a two-dimensional wave field at a specified location in front of the pier according to the pier wave value and the in-harbor terrain conditions; A mooring mathematical model unit, constructed based on the MIKE21MA model, is used to calculate the mooring forces of multiple cables according to the two-dimensional wave field, the ship response file and the ship mooring arrangement data; a monitoring object determination unit, configured to select a preset number of fairleads as monitoring objects according to the mooring forces of the plurality of cables; A laser radar monitoring unit is arranged at the position of the monitored object and is used to monitor the cable wear data in real time to obtain monitoring data; The alarm unit is used to compare the cable wear value in the monitoring data with a preset wear threshold value, and to send out an alarm signal when the comparison result indicates that the cable wear value exceeds the preset wear threshold value.

10. An electronic device, characterized in that: It comprises one or more processors and a memory, wherein the memory is used to store one or more programs, wherein when the one or more programs are executed by the one or more processors, the one or more processors implement the cable break monitoring method described in any one of claims 1 to 7.

11. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the cable break monitoring method according to any one of claims 1 to 7 are implemented.

Images