Intelligent dynamic anchor chain control method and system

Abstract

The invention discloses an intelligent dynamic anchor chain control method and system, and belongs to the technical field of anchor chain control. The method comprises the following steps of: constructing a matrix type gridding net body and simulating a static interference-free form to obtain a standard three-dimensional control body graph, mapping the standard three-dimensional control body graph into a standard two-dimensional control surface graph and dividing a standard control surface area; generating a dynamic two-dimensional surface control sub-graph according to the moving position of the self-floating bracket impacted by sea waves, overlapping the dynamic two-dimensional surface control sub-graph with the standard graph, marking an area where a dynamic surface point is located, and generating a to-be-controlled sample set; the overall dynamic tendency degree is evaluated to determine the main impacted direction, the anchor chain dynamic curve and the standard curve are compared, and the position of the self-floating bracket is adjusted through the retracting and releasing mechanism. The system comprises a take-up and pay-off mechanism, a three-dimensional simulation module, a two-dimensional simulation module and an anchor chain dynamic control module, and intelligent dynamic control over the anchor chain is achieved. The device can accurately cope with sea wave impact, the stability and impact resistance of the anchoring system are improved, and the device is suitable for sea anchoring scenes such as wave power generation.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of anchor chain control, in particular to an intelligent dynamic anchor chain control method and system. BACKGROUND

[0002] In the field of ocean engineering, anchor chain control technology is a key link to ensure the stable operation of offshore equipment, especially in the scenarios of wave power generation, offshore aquaculture platforms, and ocean monitoring equipment, the anchor chain system needs to withstand the influence of complex marine environmental factors such as waves and ocean currents for a long time.

[0003] At present, the traditional anchor chain control method mostly adopts fixed length anchor chain design, that is, the length of the anchor chain is fixed during installation. For example, in the patent of staggered matrix four-way anchoring system with the application number 202411392968.3 and the publication date January 7, 2025, an anchoring system is introduced, which includes fixed anchors, anchor chains, self-floating brackets, and floating devices installed on the self-floating brackets. The self-floating brackets are grid-arranged on the sea surface at a predetermined matrix spacing, and the fixed anchors are grid-arranged on the seabed directly below the midpoint of the spacing between each adjacent self-floating bracket. Each self-floating bracket and fixed anchor form a planar staggered relationship, forming a grid layout on the sea surface and seabed with equal matrix spacing and staggered matrix nodes. Each self-floating bracket is connected to the adjacent fixed anchor on the seabed by an anchor chain in the diagonal direction of the matrix. Each group of self-floating brackets is pulled by four anchor chains, and each group of fixed anchors pulls four groups of anchor chains to solve the technical problems of drift, collision, and impact on the normal operation and rapid assembly and maintenance of the equipment. However, this fixed mode ignores the functional requirement of real-time adjustment according to the dynamic changes of the marine environment, which has the following significant defects: when encountering wave impact, the self-floating bracket and other equipment will deviate with the waves, and the fixed length anchor chain is difficult to offset this deviation force, which easily leads to the loss of control of the position of the self-floating bracket, affecting the energy conversion efficiency of the wave power generation equipment, and even causing safety accidents such as equipment overturning and anchor chain rupture due to the long-term overstretching or relaxation of the anchor chain.

[0004] Some improved anchor chain control technologies attempt to introduce a simple tension adjustment mechanism by detecting the anchor chain tension with a sensor and making rough adjustments. However, such technologies have the following shortcomings: on the one hand, they lack precise simulation and analysis of the overall anchoring system spatial form, cannot accurately determine the main direction of wave impact, and the adjustment strategy is blind, making it difficult to achieve coordinated control of multiple self-floating brackets; on the other hand, a standardized control surface area and dynamic comparison model are not established during the adjustment process, the adjustment precision is low, and the self-floating bracket cannot be quickly restored to the optimal working position, resulting in poor adaptability in complex wave environments. SUMMARY

[0005] The present application aims to provide an intelligent dynamic anchor chain control method and system to solve the problems raised in the background technology.

[0006] To solve the above technical problems, the present application provides the following technical solutions: The intelligent dynamic anchor chain control system comprises a winding and unwinding mechanism module, a three-dimensional simulation module, a two-dimensional simulation module and an anchor chain dynamic control module. The winding and unwinding mechanism module is used for receiving and executing anchor chain control instructions. The winding and unwinding mechanism is fixedly installed on a fixed anchor, and a motor is installed on the rotating shaft of the winding and unwinding mechanism. The rotation of the motor drives the rotation of the rotating shaft of the winding and unwinding mechanism to execute the anchor chain control instructions. The anchor chain control instructions include chain unwinding state instructions, chain winding state instructions and stop winding action instructions. The three-dimensional simulation module is used for constructing a matrix type grid network body and simulating the form of the matrix type grid network body under the condition of static and non-interference on the sea to obtain a standard three-dimensional control body graph. The two-dimensional simulation module maps the standard three-dimensional control body graph into a standard two-dimensional control surface graph by converting three-dimensional into two-dimensional. In the standard three-dimensional control body graph, a single self-floating carrier standard body point and each fixed anchor standard body point connected by an anchor chain standard curve constitute a standard three-dimensional control body subgraph, which is mapped into a standard two-dimensional control surface subgraph to obtain a standard control surface area. The anchor chain dynamic control module generates a dynamic two-dimensional control surface subgraph based on the moving position of the self-floating carrier under the impact of sea waves. The dynamic two-dimensional control surface subgraph and the standard two-dimensional control surface subgraph are overlapped with the fixed anchor standard surface point to mark the standard control surface area where the self-floating carrier dynamic surface point is located, and a standard control surface area sample set is generated to record the code number of the self-floating carrier. Based on the standard control surface area sample set, the overall dynamic tendency of the standard control surface area in the standard two-dimensional control surface graph caused by the impact of sea waves is evaluated to determine the main impact direction, and the anchor chain control instructions are generated through the analysis of the main impact direction.

[0007] As a preferred scheme of the present application, the three-dimensional simulation module comprises a three-dimensional point position sketching unit and an anchor chain standard curve length measuring unit. The three-dimensional point position sketching unit is used for mapping the self-floating carrier into a self-floating carrier standard body point, mapping the fixed anchor into a fixed anchor standard body point, and mapping the anchor chain into an anchor chain standard curve in the standard three-dimensional control body graph. The anchor chain standard curve length measuring unit is used for taking the self-floating carrier standard body point as the center point of the standard three-dimensional control body graph and marking the anchor chain standard curve length between each fixed anchor standard body point and the center point in the standard three-dimensional control body graph.

[0008] As a preferred scheme of the present application, the two-dimensional simulation module comprises a dimension position point conversion unit and a standard control surface area division unit. The dimension position point conversion unit is configured to map the self-floating carrier standard body points to self-floating carrier standard surface points, map the fixed anchor standard body points to fixed anchor standard surface points, and map the anchor chain standard curves to anchor chain standard straight lines in the standard two-dimensional control surface graph, and map the body center points to surface center points when taking the self-floating carrier standard body points as the body center points. The standard control surface area division unit is configured to take a single self-floating carrier standard body point as a local control object in the standard three-dimensional control body graph, take the single self-floating carrier standard body point and each fixed anchor standard body point connected to the single self-floating carrier standard body point through an anchor chain standard curve as a local standard control body, record the local standard control body as a standard three-dimensional control body subgraph, and map the standard three-dimensional control body subgraph to a standard two-dimensional control surface subgraph in the standard two-dimensional control surface graph, so as to take a triangle surface formed by a surface center point, a fixed anchor standard surface point, and an anchor chain standard straight line connected between the surface center point and the fixed anchor standard surface point as a standard control surface area in the standard two-dimensional control surface subgraph.

[0009] As a preferred scheme of the present application, the anchor chain dynamic control module comprises a dynamic two-dimensional control surface subgraph construction unit, a sample data recording unit, and an instruction data generation unit. The dynamic two-dimensional control surface subgraph construction unit is configured to mark a real-time moving position point of the self-floating carrier as a self-floating carrier dynamic body point based on the moving position of the self-floating carrier under the impact of the sea waves, and mark an anchor chain connected to the self-floating carrier as an anchor chain dynamic curve based on the real-time moving position of the self-floating carrier; and in the two-dimensional simulation model, the self-floating carrier dynamic body point is mapped to a self-floating carrier dynamic surface point, and the anchor chain dynamic curve is mapped to an anchor chain dynamic straight line, so as to obtain a dynamic two-dimensional control surface subgraph formed by the self-floating carrier dynamic surface point, the fixed anchor standard surface point, and the anchor chain dynamic straight line connected between the self-floating carrier dynamic surface point and the fixed anchor standard surface point. The sample data recording unit is configured to uniformly encode the self-floating carriers and the fixed anchors in a matrix type grid network body formed by the self-floating carriers, lock the anchor chain standard curve and the anchor chain dynamic curve through the double encoding numbers of the self-floating carriers and the fixed anchors, and generate a standard control surface area to-be-controlled sample set by taking the standard control surface area as a class item. The instruction data generation unit is configured to calibrate an anchor chain adjustment value based on the anchor chain standard curve and the anchor chain dynamic curve of each self-floating carrier in the standard control surface area corresponding to the main impact direction after determining the main impact direction, and generate an anchor chain control instruction through the anchor chain adjustment value; if the anchor chain adjustment value is a positive value, it indicates that the chain winding and unwinding mechanism executes an unwinding state, and the unwinding length value is equal to the anchor chain adjustment value; if the anchor chain adjustment value is a negative value, it indicates that the chain winding and unwinding mechanism executes a winding state, and the winding length value is equal to the absolute value of the anchor chain adjustment value; if the anchor chain adjustment value is a zero value, it indicates that the chain winding and unwinding mechanism stops the winding and unwinding action.

[0010] The application discloses a smart dynamic anchor chain control method, which is suitable for a sea anchoring mechanism adopting wave energy power generation, and the sea anchoring mechanism adopts a matrix type grid spacing mode to arrange self-floating brackets, the self-floating brackets are used for placing and fixing floating devices, and fixed anchors are arranged at positions of the sea bottom in different directions at equal intervals and with the center point being directly below the self-floating brackets, and the self-floating brackets are connected with the fixed anchors through anchor chains, wherein one end of the anchor chain is connected with the fixed anchor through a winding and unwinding mechanism, the other end of the anchor chain is fixedly connected with the self-floating bracket, the winding and unwinding mechanism is fixedly installed on the fixed anchor, and a motor is installed on the rotating shaft of the winding and unwinding mechanism, the rotation of the motor drives the rotation of the rotating shaft of the winding and unwinding mechanism, so that the dynamic control of the anchor chain is realized. It should be noted that the self-floating brackets arranged in the matrix type grid mode can be equidistantly arranged, the fixed anchors arranged in the equal intervals can be arranged in three directions, four directions or different directions, i.e., different numbers of fixed anchors, the winding and unwinding mechanism installed on the fixed anchor is a device similar to a reel and capable of winding the anchor chain, and thus the application ignores the introduction, the power supply of the motor installed on the rotating shaft of the winding and unwinding mechanism can be reversely transmitted from a wave energy power generation system or adopt a power supply mode of a storage battery group, and the fixing mode of the winding and unwinding mechanism can adopt a base type fixing mode, the base can be installed on the top platform of the fixed anchor, if three-direction anchoring is adopted, three winding and unwinding mechanisms are fixed on the base, if four-direction anchoring is adopted, four winding and unwinding mechanisms are fixed on the base, and when multi-direction anchoring is adopted, each winding and unwinding mechanism is connected with one self-floating bracket through an anchor chain, so that the equipment can be quickly disassembled and assembled and the later maintenance is facilitated. The anchor chain dynamic control method under the mechanism comprises the following steps. Step S1: a matrix type grid network body is constructed, and the form of the matrix type grid network body under a static and non-interference condition on the sea is simulated to obtain a standard three-dimensional control body graph, and the standard three-dimensional control body graph comprises self-floating bracket standard body points, fixed anchor standard body points and anchor chain standard curves. Step S2: the standard three-dimensional control body graph is mapped into a standard two-dimensional control surface graph through three-dimensional conversion into two dimensions, in the standard three-dimensional control body graph, a single self-floating bracket standard body point and each fixed anchor standard body point connected with the single self-floating bracket standard body point through the anchor chain standard curve form a standard three-dimensional control body subgraph, and the standard three-dimensional control body subgraph is mapped into a standard two-dimensional control surface subgraph, the standard two-dimensional control surface subgraph comprises self-floating bracket standard surface points, fixed anchor standard surface points and anchor chain standard straight lines, and when the self-floating bracket standard body point is taken as a body center point, the body center point is mapped into a surface center point, so that a standard control surface region is obtained. Step S3: based on the moving position of the self-floating carrier impacted by the sea wave, a dynamic two-dimensional control surface subgraph is generated, and the dynamic two-dimensional control surface subgraph includes the self-floating carrier dynamic surface point, the anchor chain dynamic straight line and the fixed anchor standard surface point, the dynamic two-dimensional control surface subgraph is overlapped with the standard two-dimensional control surface subgraph with the fixed anchor standard surface point, so as to mark the standard control surface area where the self-floating carrier dynamic surface point is located; Step S4: based on the standard control surface area result marked by the self-floating carrier dynamic surface point, a standard control surface area to be controlled sample set is generated with the standard control surface area as a class item, for recording the code number of the self-floating carrier; Step S5: based on the standard control surface area to be controlled sample set, the overall dynamic tendency of the standard control surface area in the standard two-dimensional control surface graph caused by the sea wave impact is evaluated to determine the main impact direction; for each self-floating carrier in the standard control surface area corresponding to the main impact direction, comparison is made between the anchor chain dynamic curve and the anchor chain standard curve, and each self-floating carrier is controlled to adjust to the surface center point in the standard two-dimensional control surface subgraph through the command collecting and releasing mechanism.

[0011] As a preferred scheme of the present application, the specific implementation process of step S1 comprises: The seawater body at the position of the matrix type grid net body composed of each self-floating carrier is taken as a three-dimensional simulation space in a three-dimensional simulation model, the form of the matrix type grid net body under the condition of static and non-interference on the sea is simulated, and a standard three-dimensional control body graph is obtained, in which the self-floating carrier is mapped as a self-floating carrier standard body point, the fixed anchor is mapped as a fixed anchor standard body point, and the anchor chain is mapped as an anchor chain standard curve; In the standard three-dimensional control body graph, the self-floating carrier standard body point is taken as a body center point of the standard three-dimensional control body graph, and the length of the anchor chain standard curve between each fixed anchor standard body point and the body center point in the standard three-dimensional control body graph is marked.

[0012] As a preferred scheme of the present application, the specific implementation process of step S2 comprises: When the three-dimensional simulation model is converted into a two-dimensional simulation model, in the standard three-dimensional control body graph, the sea surface at the position of the matrix type grid net body composed of each self-floating carrier is taken as the bottom surface of the three-dimensional simulation space, the self-floating carrier standard body point, the fixed anchor standard body point and the anchor chain standard curve are mapped to the bottom surface to obtain a standard two-dimensional control surface graph; in the standard two-dimensional control surface graph, the self-floating carrier standard body point is mapped as a self-floating carrier standard surface point, the fixed anchor standard body point is mapped as a fixed anchor standard surface point, and the anchor chain standard curve is mapped as an anchor chain standard straight line; when the self-floating carrier standard body point is taken as a body center point, the body center point is mapped as a surface center point; In the standard three-dimensional control body diagram, a single self-floating carrier standard body point is taken as a local control object, the single self-floating carrier standard body point and each fixed anchor standard body point connected with the single self-floating carrier standard body point through an anchor chain standard curve form a local standard control body, the local standard control body is recorded as a standard three-dimensional control body sub-diagram, and in the standard two-dimensional control surface diagram, the standard three-dimensional control body sub-diagram is mapped into a standard two-dimensional control surface sub-diagram; the standard two-dimensional control surface sub-diagram includes a plurality of standard control surface regions, wherein each standard control surface region is a triangular surface formed by a surface center point, a fixed anchor standard surface point and an anchor chain standard straight line connected between the surface center point and the fixed anchor standard surface point, and the number of the standard control surface regions in the standard two-dimensional control surface sub-diagram is equal to the number of the fixed anchor standard surface points in the standard two-dimensional control surface sub-diagram. It should be noted that, whether it is a four-direction anchoring mechanism of wave energy generation or a three-direction or different standard direction, i.e. three or four fixed anchors taking the self-floating carrier as a local control object, the standard control surface region is a triangular surface, and the essence is that after the number of fixed anchors is determined, the fixed anchors and the self-floating carrier are connected through an anchor chain in a chain direction, and then a structure similar to a cone is formed between the self-floating carrier and each fixed anchor, and the side surface of the cone is similar to a triangular diagram, and the self-floating carrier is the vertex of the cone, i.e. the triangular surface has more stable structural characteristics, and after the three-dimensional structure similar to the cone is projected, the standard two-dimensional control surface sub-diagram of the application is obtained.

[0013] As a preferred scheme of the application, the specific implementation process of step S3 includes: In the three-dimensional simulation model, the moving position of the self-floating carrier under the impact of the sea wave is recorded in real time, the real-time moving position point of the self-floating carrier is marked as a self-floating carrier dynamic body point, and based on the real-time moving position of the self-floating carrier, the anchor chain connected with the self-floating carrier is marked as an anchor chain dynamic curve; and in the two-dimensional simulation model, the self-floating carrier dynamic body point is mapped as a self-floating carrier dynamic surface point, and the anchor chain dynamic curve is mapped as an anchor chain dynamic straight line, so as to obtain a dynamic two-dimensional control surface sub-diagram formed by the self-floating carrier dynamic surface point, the fixed anchor standard surface point and the anchor chain dynamic straight line connected therebetween; The dynamic two-dimensional control surface sub-diagram is overlapped with the standard two-dimensional control surface sub-diagram with the fixed anchor standard surface point, and through the overlapping mode with the fixed anchor standard surface point, the standard control surface region of the self-floating carrier dynamic surface point in the standard two-dimensional control surface sub-diagram is marked; It should be noted that the standard control surface region also reflects the direction of the self-floating carrier floating on the sea surface, for example, in the four-direction anchoring mechanism, the standard two-dimensional control surface sub-diagram includes four triangular surfaces, which can be used to point to the east, south, west or north direction, and such a standard control surface region capable of reflecting the direction can reflect the position state of the self-floating carrier under the impact of the sea wave in a certain direction in the matrix type grid network body.

[0014] As a preferred scheme of the application, the specific implementation process of step S4 includes: In the matrix grid network composed of the respective floating carriers, the self-floating carriers and the fixed anchors are uniformly coded respectively; In the three-dimensional simulation model, the length of the anchor chain standard curve and the anchor chain dynamic curve respectively formed by the self-floating carriers and the fixed anchors are respectively denoted as and , wherein i and j are the coding numbers of the self-floating carriers and the fixed anchors respectively; In the two-dimensional simulation model, the standard two-dimensional control surface subgraph is uniformly classified, and the xth standard control surface region is denoted as , and a standard control surface region to-be-controlled sample set is constructed, denoted as If the self-floating carrier dynamic surface point corresponding to the ith self-floating carrier exists in the xth standard control surface region, the coding number of the self-floating carrier is recorded in the standard control surface region to-be-controlled sample set .

[0015] As a preferred scheme of the present application, the specific implementation process of the step S5 comprises: In the two-dimensional simulation model, based on the standard control surface region to-be-controlled sample set, the overall dynamic tendency degree of the standard control surface region in the standard two-dimensional control surface graph caused by the sea wave impact is evaluated , wherein represents the overall dynamic tendency degree of the xth standard control surface region, represents the total number of the self-floating carriers contained in the standard control surface region to-be-controlled sample set , and y represents the total number of the classes of the standard control surface regions; The standard control surface region corresponding to the maximum overall dynamic tendency degree is selected as the main impact direction of the matrix grid network composed of the respective floating carriers; It should be noted that the overall dynamic tendency degree is the statistical situation of the number of the self-floating carrier dynamic surface points contained in each class of the standard control surface regions, if the number of the self-floating carrier dynamic surface points contained in a certain class of the standard control surface regions is the most, it reflects that most of the self-floating carriers in the matrix grid network migrate to the class of the standard control surface regions under the sea wave impact, and then the main impact direction can be locked; For each self-floating carrier in the standard control surface region corresponding to the main impact direction, the self-floating carrier is controlled to adjust to the face center point in the standard two-dimensional control surface subgraph, and the adjustment process is as follows: In the three-dimensional simulation model, the anchor chain standard curve length and the anchor chain dynamic curve length corresponding to the self-floating carrier connected to the to-be-adjusted position are called, and then the anchor chain adjustment value of the self-floating carrier and the fixed anchor is If the anchor chain adjustment value is positive, it indicates that the chain take-up mechanism is in the chain releasing state, and the chain releasing length value is equal to the anchor chain adjustment value; if the anchor chain adjustment value is negative, it indicates that the chain take-up mechanism is in the chain taking-up state, and the chain taking-up length value is equal to the absolute value of the anchor chain adjustment value; if the anchor chain adjustment value is zero, it indicates that the chain take-up mechanism stops the chain taking-up action; It should be noted that, in the main impact direction, the impact force of the self-floating carrier under the traction of the anchor chain is strong, which makes the anti-impact force exist a safety risk, and the positions of the self-floating carriers floating on the sea surface need to be adjusted, and then the anchor chain standard curve length is compared, and in the standard three-dimensional control body subgraph, the anchor chains connected with the self-floating carriers are mutually tractioned, and after the lengths of the dynamic anchor chain curves in the standard three-dimensional control body subgraph are adjusted to the anchor chain standard curve length, the self-floating carriers approach the body center point, so that the anti-impact force is quickly and synchronously optimized as a whole, so that the matrix type grid net body can more effectively respond to the sea wave energy; and in the anchor chain dynamic control, the disconnection of the anchor chain is not considered, and for the disconnection of the anchor chain, a traction force sensor can be added in the chain take-up mechanism to quickly sense the disconnection of the anchor chain through the traction force, for example, the sudden disappearance of the traction force indicates that the anchor chain exists the risk of disconnection, so that the staff can quickly replace the anchor chain and perform maintenance.

[0016] Compared with the prior art, the beneficial effects achieved by the present application are: By standardizing three-dimensional and two-dimensional modeling, a precise anchoring system reference model is established, and by comparative analysis of dynamic and standard models, quantitative adjustment of the anchor chain length can be realized, the adjustment accuracy is greatly improved, and overstretching or relaxation of the anchor chain can be effectively avoided; compared with simple tension adjustment technology, the present application eliminates the blindness of adjustment by standard control surface area division and main impact direction judgment, and can develop differentiated regulation and control strategies for self-floating carriers in different impact directions, so that the collaborative control effect of multiple self-floating carriers is improved; Through overall dynamic tendency evaluation, the present application can determine the main impact direction in a short time, preferentially regulate and control the self-floating carriers in this direction, greatly shorten the adjustment time, improve the dynamic response speed, and quickly restore the self-floating carriers to the optimal working position, thereby ensuring the stable operation of the wave energy generation equipment and the like; Through precise control, the present application can keep the anchor chain in a reasonable working state close to the standard length, avoid that the anchor chain bears abnormal tension for a long time, stabilize the position of the self-floating carrier, reduce mechanical wear caused by deviation of the equipment, and improve the reliability of the overall equipment. BRIEF DESCRIPTION OF DRAWINGS

[0017] The accompanying drawings are included to provide a further understanding of the present application, and constitute a part of the specification, illustrate embodiments of the present application and are used to explain the present application, and do not constitute a limitation on the present application.

[0018] Figure 1is a step schematic diagram of the intelligent dynamic anchor chain control method of the present application. DETAILED DESCRIPTION

[0019] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0020] In the first embodiment: an intelligent dynamic anchor chain control system is provided, which comprises a winding and unwinding mechanism module, a three-dimensional simulation module, a two-dimensional simulation module and an anchor chain dynamic control module. The winding and unwinding mechanism module is used to receive and execute anchor chain control instructions. The winding and unwinding mechanism is fixedly installed on a fixed anchor, and a motor is installed on the rotating shaft of the winding and unwinding mechanism. The rotation of the motor drives the rotation of the rotating shaft of the winding and unwinding mechanism to execute the anchor chain control instructions. The anchor chain control instructions include chain unwinding state instructions, chain winding state instructions and stop winding action instructions. The three-dimensional simulation module is used to construct a matrix type grid net body and simulate the form of the matrix type grid net body under static and non-interference conditions at sea to obtain a standard three-dimensional control body diagram. The three-dimensional simulation module comprises a three-dimensional point position sketching unit and an anchor chain standard curve length measuring unit. The three-dimensional point position sketching unit is used to map a self-floating carriage into a self-floating carriage standard body point, map a fixed anchor into a fixed anchor standard body point and map an anchor chain into an anchor chain standard curve in the standard three-dimensional control body diagram. The anchor chain standard curve length measuring unit is used to take the self-floating carriage standard body point as the center point of the standard three-dimensional control body diagram and mark the anchor chain standard curve length between each fixed anchor standard body point and the center point in the standard three-dimensional control body diagram. The two-dimensional simulation module maps the standard three-dimensional control body diagram into a standard two-dimensional control surface diagram by converting three-dimensional into two-dimensional. In the standard three-dimensional control body diagram, a single self-floating carriage standard body point and each fixed anchor standard body point connected by an anchor chain standard curve constitute a standard three-dimensional control body sub-diagram and are mapped into a standard two-dimensional control surface sub-diagram to obtain a standard control surface area. The two-dimensional simulation module comprises a dimension position point conversion unit and a standard control surface area division unit. The dimension position point conversion unit is configured to map the self-floating carrier standard body points to self-floating carrier standard surface points, map the fixed anchor standard body points to fixed anchor standard surface points, and map the anchor chain standard curves to anchor chain standard straight lines in the standard two-dimensional control surface graph, and map the body center points to surface center points when taking the self-floating carrier standard body points as the body center points. The standard control surface area division unit is configured to take a single self-floating carrier standard body point as a local control object in the standard three-dimensional control body graph, take the single self-floating carrier standard body point and each fixed anchor standard body point connected to the single self-floating carrier standard body point through an anchor chain standard curve as a local standard control body, record the local standard control body as a standard three-dimensional control body subgraph, map the standard three-dimensional control body subgraph to a standard two-dimensional control surface subgraph in the standard two-dimensional control surface graph, and take a triangle surface formed by a surface center point, a fixed anchor standard surface point, and an anchor chain standard straight line connected between the surface center point and the fixed anchor standard surface point as a standard control surface area in the standard two-dimensional control surface subgraph. The anchor chain dynamic control module is configured to generate a dynamic two-dimensional control surface subgraph based on the moving positions of the self-floating carriers under the impact of the sea waves, overlap the dynamic two-dimensional control surface subgraph and the standard two-dimensional control surface subgraph with the fixed anchor standard surface points to mark the standard control surface areas in which the self-floating carrier dynamic surface points are located, and generate a standard control surface area to-be-controlled sample set for recording the coding numbers of the self-floating carriers, evaluate the overall dynamic trend of the standard control surface areas in the standard two-dimensional control surface graph caused by the impact of the sea waves based on the standard control surface area to-be-controlled sample set, determine a main impact direction, and analyze the main impact direction to generate an anchor chain control instruction. The anchor chain dynamic control module includes a dynamic two-dimensional control surface subgraph construction unit, a sample data recording unit, and an instruction data generation unit. The dynamic two-dimensional control surface subgraph construction unit is configured to mark real-time moving position points of the self-floating carriers as self-floating carrier dynamic body points based on the moving positions of the self-floating carriers under the impact of the sea waves, mark the anchor chains connected to the self-floating carriers as anchor chain dynamic curves based on the real-time moving positions of the self-floating carriers, map the self-floating carrier dynamic body points to self-floating carrier dynamic surface points and map the anchor chain dynamic curves to anchor chain dynamic straight lines in a two-dimensional simulation model, and obtain a dynamic two-dimensional control surface subgraph formed by the self-floating carrier dynamic surface points, the fixed anchor standard surface points, and the anchor chain dynamic straight lines connected between the self-floating carrier dynamic surface points and the fixed anchor standard surface points. The sample data recording unit is configured to uniformly code the self-floating carriers and the fixed anchors in a matrix type grid network body formed by the self-floating carriers, lock the anchor chain standard curves and the anchor chain dynamic curves through the double coding numbers of the self-floating carriers and the fixed anchors, take the standard control surface areas as class items, and generate a standard control surface area to-be-controlled sample set. The instruction data generation unit is configured to, after determining the main impact direction, calibrate an anchor chain adjustment value based on the anchor chain standard curve and the anchor chain dynamic curve of each self-floating carrier in the standard control surface area corresponding to the main impact direction, and generate an anchor chain control instruction through the anchor chain adjustment value. If the anchor chain adjustment value is positive, it indicates that the chain winding and unwinding mechanism executes an unwinding state, and the unwinding length value is equal to the anchor chain adjustment value. If the anchor chain adjustment value is negative, it indicates that the chain winding and unwinding mechanism executes a winding state, and the winding length value is equal to the absolute value of the anchor chain adjustment value. If the anchor chain adjustment value is zero, it indicates that the chain winding and unwinding mechanism stops the winding and unwinding action.

[0021] Referring to Figure 1 In the second embodiment, an intelligent dynamic anchor chain control method is provided for the first embodiment. Based on the core logic of “standardized modeling-dynamic monitoring-precise regulation”, the method constructs a standardized space model of the anchoring system through the combination of three-dimensional and two-dimensional simulation modeling. Then, based on the comparative analysis of dynamic monitoring data and the standard model, the method realizes intelligent dynamic control of the anchor chain, which can be summarized as follows: Taking the static and interference-free condition at sea as a benchmark, the method constructs a standard three-dimensional control body diagram of a matrix type grid network, maps the self-floating carrier, fixed anchor and anchor chain into standard body points and standard curves respectively, and clearly defines the spatial position relationship of each component and the standard length of the anchor chain, thereby providing a benchmark basis for subsequent dynamic comparison. Through dimension transformation, the three-dimensional control body diagram is mapped into a standard two-dimensional control surface diagram with the sea surface as the bottom surface. The local control body composed of a single self-floating carrier and a corresponding fixed anchor is transformed into a two-dimensional sub-diagram containing a triangular standard control surface area. The method accurately divides the normal working area of the self-floating carrier by using the stability of the triangular structure, and realizes the precise association of each component and area through coding. In the actual marine environment, the moving position of the self-floating carrier under the impact of sea waves is recorded in real time to generate a dynamic two-dimensional control surface sub-diagram containing the dynamic surface points of the self-floating carrier and the dynamic straight line of the anchor chain. By overlapping the dynamic sub-diagram and the standard sub-diagram with the fixed anchor standard surface points, the method can quickly mark the situation of the dynamic position of the self-floating carrier deviating from the standard control surface area, and then construct a to-be-controlled sample set to realize the precise identification of the self-floating carrier with an abnormal position. Based on the to-be-controlled sample set, the overall dynamic tendency of each standard control surface area (i.e. the proportion of the number of abnormal self-floating carriers in the area) is calculated to determine the main impact direction of the sea waves. For the self-floating carriers in the main impact direction area, the length difference between the anchor chain dynamic curve and the standard curve is compared to obtain the anchor chain adjustment value. Then, through the unwinding and winding actions of the chain winding and unwinding mechanism, the method utilizes the collaborative traction of multiple fixed anchors on a single self-floating carrier to quickly restore the self-floating carrier to the center point of the standard control surface area, thereby realizing the dynamic and precise control of the anchor chain.

[0022] In the second embodiment, the method includes the following steps: Step S1: constructing a matrix grid net body, and simulating the form of the matrix grid net body under static and non-interference conditions on the sea to obtain a standard three-dimensional control body diagram, and the standard three-dimensional control body diagram includes self-floating support standard body points, fixed anchor standard body points, and anchor chain standard curves; Exemplarily, the seawater body at the position of the matrix grid net body composed of the respective self-floating supports is a three-dimensional simulation space in the three-dimensional simulation model, the form of the matrix grid net body under static and non-interference conditions on the sea is simulated to obtain a standard three-dimensional control body diagram, in the standard three-dimensional control body diagram, the self-floating supports are mapped as self-floating support standard body points, the fixed anchors are mapped as fixed anchor standard body points, and the anchor chains are mapped as anchor chain standard curves. In the standard three-dimensional control body diagram, the self-floating support standard body points are taken as body center points of the standard three-dimensional control body diagram, and the lengths of the anchor chain standard curves between the respective fixed anchor standard body points and the body center points in the standard three-dimensional control body diagram are marked.

[0023] Step S2: mapping the standard three-dimensional control body diagram to a standard two-dimensional control surface diagram by three-dimensional conversion to two-dimensional; in the standard three-dimensional control body diagram, a single self-floating support standard body point and the respective fixed anchor standard body points connected by the anchor chain standard curves constitute a standard three-dimensional control body sub-diagram, and are mapped as a standard two-dimensional control surface sub-diagram, the standard two-dimensional control surface sub-diagram includes self-floating support standard surface points, fixed anchor standard surface points, and anchor chain standard straight lines, and when the body center point is taken as a body center point, the body center point is mapped as a surface center point to obtain a standard control surface area. Exemplarily, when the three-dimensional simulation model is converted to a two-dimensional simulation model, in the standard three-dimensional control body diagram, the seawater surface at the position of the matrix grid net body composed of the respective self-floating supports is taken as the bottom surface of the three-dimensional simulation space, the self-floating support standard body points, the fixed anchor standard body points, and the anchor chain standard curves are mapped to the bottom surface to obtain a standard two-dimensional control surface diagram; in the standard two-dimensional control surface diagram, the self-floating support standard body points are mapped as self-floating support standard surface points, the fixed anchor standard body points are mapped as fixed anchor standard surface points, the anchor chain standard curves are mapped as anchor chain standard straight lines, and when the self-floating support standard body points are taken as body center points, the body center points are mapped as surface center points. In the standard three-dimensional control body graph, a single self-floating carrier standard body point is taken as a local control object, the single self-floating carrier standard body point and each fixed anchor standard body point connected by anchor chain standard curves form a local standard control body, and the local standard control body is recorded as a standard three-dimensional control body subgraph, and in the standard two-dimensional control surface graph, the standard three-dimensional control body subgraph is mapped into a standard two-dimensional control surface subgraph; the standard two-dimensional control surface subgraph includes a plurality of standard control surface regions, wherein each standard control surface region is a triangular surface formed by a surface center point, a fixed anchor standard surface point and an anchor chain standard straight line connected therebetween, and the number of standard control surface regions in the standard two-dimensional control surface subgraph is equal to the number of fixed anchor standard surface points in the standard two-dimensional control surface subgraph.

[0024] Step S3: generating a dynamic two-dimensional control surface subgraph based on the moving position of the self-floating carrier under the impact of the sea waves, and the dynamic two-dimensional control surface subgraph includes self-floating carrier dynamic surface points, anchor chain dynamic straight lines and fixed anchor standard surface points, and the dynamic two-dimensional control surface subgraph is overlapped with the standard two-dimensional control surface subgraph with the fixed anchor standard surface points to mark the standard control surface region where the self-floating carrier dynamic surface point is located; Exemplarily, in the three-dimensional simulation model, the moving position of the self-floating carrier under the impact of the sea waves is recorded in real time, the real-time moving position point of the self-floating carrier is marked as a self-floating carrier dynamic body point, and based on the real-time moving position of the self-floating carrier, the anchor chain connected with the self-floating carrier is marked as an anchor chain dynamic curve; and in the two-dimensional simulation model, the self-floating carrier dynamic body point is mapped into a self-floating carrier dynamic surface point, and the anchor chain dynamic curve is mapped into an anchor chain dynamic straight line, so as to obtain a dynamic two-dimensional control surface subgraph formed by the self-floating carrier dynamic surface point, the fixed anchor standard surface point and the anchor chain dynamic straight line connected therebetween; The dynamic two-dimensional control surface subgraph is overlapped with the standard two-dimensional control surface subgraph with the fixed anchor standard surface points, and the standard control surface region where the self-floating carrier dynamic surface point is located in the standard two-dimensional control surface subgraph is marked by the overlapping mode with the fixed anchor standard surface points.

[0025] Step S4: based on the standard control surface region result marked by the self-floating carrier dynamic surface point, taking the standard control surface region as a class item, generating a standard control surface region to-be-controlled sample set for recording the code number of the self-floating carrier; Exemplarily, in the matrix grid net body composed of the self-floating carriers, the self-floating carriers and the fixed anchors are respectively uniformly coded; In the three-dimensional simulation model, the lengths of the anchor chain standard curve and the anchor chain dynamic curve respectively corresponding to the self-floating carrier and the fixed anchor are respectively recorded as and wherein i and j are respectively the code numbers of the self-floating carrier and the fixed anchor in turn; In the two-dimensional simulation model, the standard two-dimensional control surface subgraph is uniformly coded, and the xth standard control surface region is denoted as , and a standard control surface region to be controlled sample set is constructed, denoted as If the self-floating carrier dynamic surface point corresponding to the ith self-floating carrier exists in the xth standard control surface region, the code number of the self-floating carrier is recorded in the standard control surface region to be controlled sample set .

[0026] Step S5: Based on the standard control surface region to be controlled sample set, the overall dynamic tendency of the standard control surface region in the standard two-dimensional control surface graph caused by the sea wave impact is evaluated to determine the main impact direction; for each self-floating carrier in the standard control surface region corresponding to the main impact direction, the anchor chain dynamic curve and the anchor chain standard curve are compared, and each self-floating carrier is controlled to adjust to the center point of the standard two-dimensional control surface subgraph by the command collecting and releasing mechanism. Exemplarily, in the two-dimensional simulation model, based on the standard control surface region to be controlled sample set, the overall dynamic tendency of the standard control surface region in the standard two-dimensional control surface graph caused by the sea wave impact is evaluated , wherein represents the overall dynamic tendency of the xth standard control surface region, represents the total number of self-floating carriers contained in the standard control surface region to be controlled sample set , and y represents the total number of classes of the standard control surface region. The standard control surface region corresponding to the maximum overall dynamic tendency is selected as the main impact direction of the matrix type grid net body composed of each self-floating carrier. In the four-way anchoring scenario, 100 self-floating carriers are arranged, through overall dynamic tendency analysis, it is obtained that 80 self-floating carriers are located in the first standard control surface region, that is, the impact of the sea wave is directed to the east direction, the maximum overall dynamic tendency is 0.8, and the first standard control surface region is determined as the main impact direction. For each self-floating carrier in the standard control surface region corresponding to the main impact direction, each self-floating carrier is controlled to adjust to the center point of the standard two-dimensional control surface subgraph, and the adjustment process is as follows: In the three-dimensional simulation model, the anchor chain standard curve length and the anchor chain dynamic curve length corresponding to the self-floating carrier connected to the to-be-adjusted position are called, and the anchor chain adjustment value of the self-floating carrier and the fixed anchor is If the anchor chain adjustment value is positive, it indicates that the chain take-up mechanism is in the chain paying-out state, and the paying-out length value is equal to the anchor chain adjustment value. If the anchor chain adjustment value is negative, it indicates that the chain take-up mechanism is in the chain taking-in state, and the taking-in length value is equal to the absolute value of the anchor chain adjustment value. If the anchor chain adjustment value is zero, it indicates that the chain take-up mechanism stops the chain taking-in and paying-out action; When the single self-floating pontoon standard body point is taken as a local control object, the anchor chain dynamic curve lengths corresponding to the four fixed anchors connected with the single self-floating pontoon anchor chain are , and the values are 10, 20, 5 and 15 respectively. The anchor chain standard curve lengths corresponding to each anchor chain dynamic curve are , and the values are 10, 15, 10 and 15 respectively. Then the anchor chain adjustment values are 0, -5, 5 and 0 respectively. 0 indicates that the chain take-up mechanism stops the chain taking-in and paying-out action. -5 indicates that the chain take-up mechanism is in the chain taking-in state, and the taking-in length value is 5. 5 indicates that the chain take-up mechanism is in the chain paying-out state, and the paying-out length value is 5.

[0027] It should be noted that the relational terms such as first and second and the like are used merely to differentiate one entity or action from another entity or action, without necessarily requiring or implying that there is any such actual relationship or order between these entities or actions. In addition, the terms "comprises", "comprising", or any other variations thereof are intended to cover a non-exclusive inclusion, so that a process, method, article, or apparatus that comprises a list of elements does not include only those elements, but can include other elements not expressly listed or inherent to such process, method, article, or apparatus.

[0028] Finally, it should be noted that the above only describes the preferred embodiments of the present application, and is not intended to limit the present application. Although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments, or make equivalent replacements to some technical features. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.​​

Claims

1. Intelligent dynamic anchor chain control method, using a matrix grid spacing to deploy self-floating brackets, which are used to place and fix floating devices, and with the center point directly below the self-floating bracket and fixed anchors arranged at equal intervals in different directions on the seabed, and the self-floating brackets are connected to the fixed anchors by anchor chains, wherein: One end of the anchor chain is connected to the fixed anchor via a retracting and extending mechanism, and the other end of the anchor chain is fixedly connected to the self-floating bracket. The anchor chain is characterized in that the retracting and extending mechanism is fixedly mounted on the fixed anchor, and a motor is mounted on the rotating shaft of the retracting and extending mechanism. The rotation of the rotating shaft of the retracting and extending mechanism is driven by controlling the rotation of the motor to achieve dynamic control of the anchor chain. The control method includes the following steps: Step S1: constructing a matrix grid body and simulating the shape of the matrix grid body under static and interference-free conditions at sea to obtain a standard three-dimensional control body diagram, wherein the standard three-dimensional control body diagram includes the standard body points of the self-floating bracket, the standard body points of the fixed anchor, and the standard curve of the anchor chain; Step S2: Mapping the standard three-dimensional control body diagram into a standard two-dimensional control surface diagram by converting three-dimensional into two-dimensional; in the standard three-dimensional control body diagram, a single self-floating bracket standard body point and each fixed anchor standard body point connected to it by an anchor chain standard curve constitute a standard three-dimensional control body subgraph, and mapping it into a standard two-dimensional control surface subgraph, wherein the standard two-dimensional control surface subgraph includes the self-floating bracket standard surface point, the fixed anchor standard surface point and the anchor chain standard straight line, and when the self-floating bracket standard body point is used as the body center point, the body center point is mapped to the surface center point to obtain a standard control surface area; Step S3: Based on the moving position of the self-floating bracket affected by waves, a dynamic two-dimensional control surface subgraph is generated, and the dynamic two-dimensional control surface subgraph includes the dynamic surface points of the self-floating bracket, the dynamic straight line of the anchor chain, and the standard surface points of the fixed anchor. The dynamic two-dimensional control surface subgraph and the standard two-dimensional control surface subgraph are overlapped with the standard surface points of the fixed anchor to mark the standard control surface area where the dynamic surface points of the self-floating bracket are located; Step S4: Based on the standard control surface area result of the dynamic surface point marking of the self-floating bracket, a sample set of the standard control surface area to be controlled is generated with the standard control surface area as a class item, which is used to record the code number of the self-floating bracket; Step S5: Based on the sample set to be controlled in the standard control surface area, the overall dynamic tendency of the standard control surface area caused by wave impact in the standard two-dimensional control surface diagram is evaluated to determine the main impact direction; for each floating bracket in the standard control surface area corresponding to the main impact direction, the anchor chain dynamic curve is compared with the anchor chain standard curve, and the command retraction and extension mechanism is used to control each floating bracket to adjust to the surface center point in the standard two-dimensional control surface sub-diagram where it is located.

2. The intelligent dynamic anchor chain control method according to claim 1, characterized in that: The specific implementation process of step S1 includes: The seawater at the location of the matrix grid body composed of the respective floating brackets is used as the three-dimensional simulation space in the three-dimensional simulation model. The shape of the matrix grid body under static and interference-free conditions at sea is simulated to obtain a standard three-dimensional control body diagram. In the standard three-dimensional control body diagram, the self-floating bracket is mapped to the standard body point of the self-floating bracket, the fixed anchor is mapped to the standard body point of the fixed anchor, and the anchor chain is mapped to the standard curve of the anchor chain. In the standard three-dimensional control body diagram, the self-floating bracket standard body point is used as the body center point of the standard three-dimensional control body diagram, and the length of the anchor chain standard curve between each fixed anchor standard body point and the body center point in the standard three-dimensional control body diagram is marked.

3. The intelligent dynamic anchor chain control method according to claim 1, characterized in that: The specific implementation process of step S2 includes: When converting a three-dimensional simulation model into a two-dimensional simulation model, in the standard three-dimensional control body diagram, the sea surface at the location of the matrix grid body composed of each floating bracket is used as the bottom surface of the three-dimensional simulation space, and the self-floating bracket standard body points, the fixed anchor standard body points and the anchor chain standard curve are mapped to the bottom surface to obtain a standard two-dimensional control surface diagram; in the standard two-dimensional control surface diagram, the self-floating bracket standard body points are mapped to self-floating bracket standard surface points, the fixed anchor standard body points are mapped to fixed anchor standard surface points, the anchor chain standard curve is mapped to the anchor chain standard straight line, and when the self-floating bracket standard body point is used as the body center point, the body center point is mapped to the surface center point; In the standard three-dimensional control body diagram, a single self-floating bracket standard body point is taken as a local control object, and the single self-floating bracket standard body point and each fixed anchor standard body point connected to it through the anchor chain standard curve constitute a local standard control body, and the local standard control body is recorded as a standard three-dimensional control body subgraph, and in the standard two-dimensional control surface diagram, the standard three-dimensional control body subgraph is mapped into a standard two-dimensional control surface subgraph; the standard two-dimensional control surface subgraph contains several standard control surface areas, wherein each standard control surface area is a triangular surface composed of the surface center point, the fixed anchor standard surface point and the anchor chain standard straight line connecting them, and the number of standard control surface areas in the standard two-dimensional control surface subgraph is equal to the number of fixed anchor standard surface points in the standard two-dimensional control surface subgraph.

4. The intelligent dynamic anchor chain control method according to claim 1, characterized in that: The specific implementation process of step S3 includes: In the three-dimensional simulation model, the moving position of the self-floating bracket under the impact of waves is recorded in real time, and the real-time moving position points of the self-floating bracket are marked as the dynamic body points of the self-floating bracket. Based on the real-time moving position of the self-floating bracket, the anchor chain connecting the self-floating bracket is marked as the anchor chain dynamic curve; and in the two-dimensional simulation model, the dynamic body points of the self-floating bracket are mapped to the dynamic surface points of the self-floating bracket, and the dynamic curve of the anchor chain is mapped to the dynamic straight line of the anchor chain, thereby obtaining a dynamic two-dimensional control surface subgraph consisting of the dynamic surface points of the self-floating bracket, the standard surface points of the fixed anchor, and the dynamic straight line of the anchor chain connecting them; The dynamic two-dimensional control surface subgraph and the standard two-dimensional control surface subgraph are overlapped with the fixed anchor standard surface points, and the standard control surface area of ​​the dynamic surface points of the floating bracket in the standard two-dimensional control surface subgraph is marked by overlapping with the fixed anchor standard surface points.

5. The intelligent dynamic anchor chain control method according to claim 1, characterized in that: The specific implementation process of step S4 includes: In the matrix grid network composed of the floating brackets, the self-floating brackets and the fixed anchors are uniformly coded respectively; In the three-dimensional simulation model, the lengths of the anchor chain standard curve and the anchor chain dynamic curve corresponding to the free-floating bracket and the fixed anchor are recorded as and , where i and j are the code numbers of the self-floating bracket and the fixed anchor respectively; In the two-dimensional simulation model, each standard control surface area in the standard two-dimensional control surface subgraph is uniformly coded, and the x-th type of standard control surface area is recorded as , and construct the sample set to be controlled in the standard control area, recorded as If the dynamic surface point of the self-floating bracket corresponding to the i-th self-floating bracket exists in the x-th standard control surface area, the code number of the self-floating bracket is recorded in the sample set to be controlled in the standard control surface area. middle.

6. The intelligent dynamic anchor chain control method according to claim 5, characterized in that: The specific implementation process of step S5 includes: In the two-dimensional simulation model, based on the sample set of the standard control surface area to be controlled, the overall dynamic tendency of the standard control surface area caused by wave impact in the standard two-dimensional control surface diagram is evaluated. , where Indicates the overall dynamic tendency of the x-type standard control surface area, Represents the sample set to be controlled in the standard control surface area The total number of self-floating brackets contained in , y represents the total number of classes in the standard control surface area; Select the standard control area corresponding to the maximum value of the overall dynamic tendency , as the main impact direction of the matrix grid body composed of respective floating brackets; For each floating bracket within the standard control surface area corresponding to the main impact direction, each floating bracket is controlled to adjust toward the center point of the standard two-dimensional control surface subgraph where it is located. The adjustment process is as follows: In the 3D simulation model, retrieve the standard curve length of the anchor chain corresponding to the self-floating bracket connected to the position to be adjusted. and the dynamic curve length of the anchor chain , then the anchor chain adjustment value connecting the self-floating bracket and the fixed anchor is If the anchor chain adjustment value is positive, it means that the retracting and releasing mechanism is in the chain releasing state, and the chain releasing length is equal to the anchor chain adjustment value. If the anchor chain adjustment value is negative, it means that the retracting and releasing mechanism is in the chain retracting state, and the chain retracting length is equal to the absolute value of the anchor chain adjustment value. If the anchor chain adjustment value is zero, it means that the retracting and releasing mechanism stops the retracting and releasing action.

7. An intelligent dynamic anchor chain control system, executing the intelligent dynamic anchor chain control method according to claim 1, characterized in that: The system includes: a retracting and extending mechanism module, a three-dimensional simulation module, a two-dimensional simulation module and an anchor chain dynamic control module; The retracting and extending mechanism module is used to receive and execute anchor chain control instructions. The retracting and extending mechanism is fixedly mounted on the fixed anchor, and a motor is installed on the rotating shaft of the retracting and extending mechanism. The motor is controlled to rotate to drive the rotating shaft of the retracting and extending mechanism to execute anchor chain control instructions. The anchor chain control instructions include chain release state instructions, chain retract state instructions, and stop retracting and extending action instructions. The three-dimensional simulation module is used to construct a matrix grid network and simulate the shape of the matrix grid network under static and interference-free conditions at sea to obtain a standard three-dimensional control body diagram; The two-dimensional simulation module maps the standard three-dimensional control body diagram into a standard two-dimensional control surface diagram by converting three-dimensional into two-dimensional. In the standard three-dimensional control body diagram, a single free-floating bracket standard body point and each fixed anchor standard body point connected to it by an anchor chain standard curve constitute a standard three-dimensional control body subgraph, which is mapped into a standard two-dimensional control surface subgraph to obtain a standard control surface area. The anchor chain dynamic control module generates a dynamic two-dimensional control surface subgraph based on the moving position of the self-floating bracket impacted by waves, overlaps the dynamic two-dimensional control surface subgraph with the standard two-dimensional control surface subgraph with the standard surface points of the fixed anchor to mark the standard control surface area where the dynamic surface points of the self-floating bracket are located, and generates a sample set of the standard control surface area to be controlled, which is used to record the code number of the self-floating bracket; based on the sample set of the standard control surface area to be controlled, the module evaluates the overall dynamic tendency of the standard control surface area caused by the wave impact in the standard two-dimensional control surface map to determine the main impact direction, and generates anchor chain control instructions through analysis of the main impact direction.

8. The intelligent dynamic anchor chain control system according to claim 7, characterized in that: The three-dimensional simulation module includes a three-dimensional point position characterization unit and an anchor chain standard curve length measurement unit; The three-dimensional point position depiction unit is used to map the self-floating bracket to a standard body point of the self-floating bracket, map the fixed anchor to a standard body point of the fixed anchor, and map the anchor chain to a standard curve of the anchor chain in the standard three-dimensional control body diagram; The anchor chain standard curve length measurement unit is used to use the self-floating bracket standard body point as the body center point of the standard three-dimensional control body diagram in the standard three-dimensional control body diagram, and mark the anchor chain standard curve length between each fixed anchor standard body point and the body center point in the standard three-dimensional control body diagram.

9. The intelligent dynamic anchor chain control system according to claim 7, characterized in that: The two-dimensional simulation module includes a dimensional position point conversion unit and a standard control surface area division unit; The dimensional position point conversion unit is used to map the self-floating bracket standard body point to the self-floating bracket standard surface point, the fixed anchor standard body point to the fixed anchor standard surface point, the anchor chain standard curve to the anchor chain standard straight line, and when the self-floating bracket standard body point is used as the body center point, the body center point is mapped to the surface center point; The standard control surface area division unit is used to, in the standard three-dimensional control body diagram, take a single self-floating bracket standard body point as a local control object, and the single self-floating bracket standard body point and each fixed anchor standard body point connected to it by the anchor chain standard curve constitute a local standard control body, and record the local standard control body as a standard three-dimensional control body subgraph, and in the standard two-dimensional control surface diagram, map the standard three-dimensional control body subgraph into a standard two-dimensional control surface subgraph, and use the triangular surface formed by the surface center point, the fixed anchor standard surface point and the anchor chain standard straight line connecting them as the standard control surface area in the standard two-dimensional control surface subgraph.

10. The intelligent dynamic anchor chain control system according to claim 7, characterized in that: The anchor chain dynamic control module includes a dynamic two-dimensional control surface subgraph construction unit, a sample data recording unit and an instruction data generation unit; The dynamic two-dimensional control surface subgraph construction unit marks the real-time moving position points of the self-floating bracket as dynamic body points of the self-floating bracket based on the moving position of the self-floating bracket impacted by waves, and marks the anchor chains connecting the self-floating bracket as dynamic curves of the anchor chains based on the real-time moving position of the self-floating bracket. In the two-dimensional simulation model, the dynamic body points of the self-floating bracket are mapped to dynamic surface points of the self-floating bracket, and the dynamic curves of the anchor chains are mapped to dynamic straight lines of the anchor chains, thereby obtaining a dynamic two-dimensional control surface subgraph consisting of the dynamic surface points of the self-floating bracket, the standard surface points of the fixed anchors, and the dynamic straight lines of the anchor chains connecting them. The sample data recording unit is used to uniformly encode the self-floating brackets and fixed anchors in a matrix grid network composed of their respective floating brackets, lock the anchor chain standard curve and anchor chain dynamic curve through the dual coding numbers of the self-floating brackets and the fixed anchors, and generate a sample set to be controlled in the standard control surface area with the standard control surface area as the category item; The instruction data generating unit is used to calibrate the anchor chain adjustment value based on the anchor chain standard curve and the anchor chain dynamic curve of each floating bracket in the standard control surface area corresponding to the main impact direction after determining the main impact direction, and generate the anchor chain control instruction according to the anchor chain adjustment value. If the anchor chain adjustment value is a positive value, it indicates that the retracting and releasing mechanism is in the chain releasing state, and the chain releasing length value is equal to the anchor chain adjustment value; if the anchor chain adjustment value is a negative value, it indicates that the retracting and releasing mechanism is in the chain retracting state, and the chain retracting length value is equal to the absolute value of the anchor chain adjustment value; if the anchor chain adjustment value is zero, it indicates that the retracting and releasing mechanism stops the retracting and releasing action.

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