Intelligent dynamic anchor control method and system

Abstract

This invention discloses an intelligent dynamic anchor chain control method and system, belonging to the field of anchor chain control technology. The method includes: constructing a matrix-like grid and simulating its static, undisturbed state to obtain a standard three-dimensional control volume diagram; mapping this diagram to a standard two-dimensional control surface diagram and dividing the control surface region; generating a dynamic two-dimensional control surface sub-diagram based on the movement position of the self-floating support under wave impact, overlapping it with the standard diagram to mark the areas where dynamic surface points are located, and generating a control sample set; evaluating the overall dynamic tendency to determine the main impact direction; comparing the anchor chain dynamics with the standard curve; and adjusting the position of the self-floating support through a deployment and retrieval mechanism. The system includes a deployment and retrieval mechanism, three-dimensional simulation, two-dimensional simulation, and an anchor chain dynamic control module, realizing intelligent dynamic control of the anchor chain. This invention can accurately respond to wave impacts, improve the stability and impact resistance of the anchoring system, and is suitable for offshore anchoring scenarios such as wave energy power generation.

Description

Technical Field

[0001] This invention relates to the field of anchor chain control technology, specifically to an intelligent dynamic anchor chain control method and system. Background Technology

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

[0003] Currently, traditional anchor chain control methods mostly employ fixed-length anchor chain designs, meaning the anchor chain length is fixed during installation. For example, the patent application number 202411392968.3, published on January 7, 2025, titled "Misaligned Matrix Four-Directional Anchoring System," describes an anchoring system including a fixed anchor, an anchor chain, a self-floating bracket, and floating equipment mounted on the self-floating bracket. The self-floating brackets are deployed in a grid pattern on the sea surface according to a predetermined matrix spacing. A fixed anchor is deployed in a grid pattern on the seabed directly below the midpoint of the spacing between each adjacent self-floating bracket. Each self-floating bracket and the fixed anchor form a planar misalignment, creating two grid layouts on the sea surface and seabed with equal matrix spacing and misaligned matrix nodes. Each self-floating bracket is positioned diagonally opposite to the fixed anchor in the matrix... The adjacent seabed anchors are connected by anchor chains. Each set of self-floating supports is pulled by four anchor chains, and each set of fixed anchors pulls four sets of anchor chains to solve the technical problems of drift and collision affecting the normal operation of equipment and rapid assembly and maintenance. However, it ignores the functional requirement of real-time adjustment according to the dynamic changes of the marine environment. That is, this fixing mode has significant defects: when encountering the impact of waves, the self-floating supports and other equipment will shift with the waves. The fixed length of the anchor chains is difficult to counteract this shifting force, which can easily lead to the loss of control of the self-floating supports position. This not only affects the energy conversion efficiency of the wave energy power generation equipment, but may also shorten the service life of the anchor chains due to long-term excessive stretching or slack, and even cause safety accidents such as equipment overturning and anchor chain breakage.

[0004] Some improved anchor chain control technologies attempt to introduce simple tension adjustment mechanisms, using sensors to detect anchor chain tension and make rough adjustments. However, these technologies have the following shortcomings: First, they lack precise simulation and analysis of the overall spatial morphology of the anchoring system, making it impossible to accurately determine the main direction of wave impact. The adjustment strategy is somewhat blind, making it difficult to achieve coordinated control of multiple self-floating supports. Second, standardized control areas and dynamic comparison models are not established during the adjustment process, resulting in low adjustment accuracy and an inability to quickly restore the self-floating supports to their optimal working position. This leads to poor adaptability in complex wave environments. Summary of the Invention

[0005] The purpose of this invention is to provide an intelligent dynamic anchor chain control method and system to solve the problems mentioned in the background art.

[0006] To solve the above-mentioned technical problems, the present invention provides the following technical solution:

[0007] Intelligent dynamic anchor chain control system, which includes: a take-up and release mechanism module, a three-dimensional simulation module, a two-dimensional simulation module, and an anchor chain dynamic control module;

[0008] The outgoing and retracting mechanism module is used to receive and execute anchor chain control commands. The outgoing and retracting mechanism is fixedly installed on the fixed anchor, and a motor is installed on the rotating shaft of the outgoing and retracting mechanism. The rotation of the rotating shaft of the outgoing and retracting mechanism is driven by controlling the rotation of the motor to execute the anchor chain control commands. The anchor chain control commands include outgoing chain status commands, retracting chain status commands, and commands to stop outgoing and retracting actions.

[0009] The three-dimensional simulation module is used to construct a matrix-type gridded net body and simulate the shape of the matrix-type gridded net body under static and undisturbed conditions at sea, so as to obtain a standard three-dimensional control volume diagram.

[0010] The two-dimensional simulation module maps the standard three-dimensional control volume diagram into a standard two-dimensional control surface diagram by converting three-dimensional to two-dimensional. In the standard three-dimensional control volume diagram, a single self-floating bracket standard body point and each fixed anchor standard body point connected by the anchor chain standard curve constitute a standard three-dimensional control volume sub-diagram, which is then mapped into a standard two-dimensional control surface sub-diagram to obtain the standard control surface region.

[0011] The anchor chain dynamic control module generates a dynamic two-dimensional control surface sub-map based on the movement position of the self-floating bracket under the impact of waves. This dynamic sub-map is then overlaid with a standard two-dimensional control surface sub-map and the fixed anchor standard surface point to mark the standard control surface area where the dynamic surface point of the self-floating bracket is located. A sample set of the standard control surface area to be controlled is generated to record the self-floating bracket's code number. Based on this sample set, the overall dynamic tendency of the standard control surface area in the standard two-dimensional control surface map caused by wave impact is evaluated to determine the main impact direction. Anchor chain control commands are then generated through the analysis of the main impact direction.

[0012] As a preferred embodiment of the present invention, the three-dimensional simulation module includes a three-dimensional point position characterization unit and an anchor chain standard curve length measurement unit;

[0013] The three-dimensional point position characterization unit is used to map the self-floating bracket to a standard body point of the self-floating bracket, the fixed anchor to a standard body point of the fixed anchor, and the anchor chain to a standard curve of the anchor chain in the standard three-dimensional control volume diagram.

[0014] The anchor chain standard curve length measuring unit is used to take the self-floating bracket standard body point as the body center point of the standard three-dimensional control 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 diagram.

[0015] As a preferred embodiment of the present invention, the two-dimensional simulation module includes a dimension position point conversion unit and a standard control surface region division unit;

[0016] The dimensional position point conversion unit is used to map the standard body point of the self-floating bracket to the standard surface point of the self-floating bracket, the standard body point of the fixed anchor to the standard surface point of the fixed anchor, and the standard curve of the anchor chain to the standard straight line of the anchor chain in the standard two-dimensional control surface diagram. When the standard body point of the self-floating bracket is used as the body center point, the body center point is mapped to the surface center point.

[0017] The standard control surface area division unit is used in the standard three-dimensional control volume diagram to take a single self-floating bracket standard body point as a local control object. The single self-floating bracket standard body point and each fixed anchor standard body point connected by the anchor chain standard curve constitute a local standard control body. The local standard control body is recorded as a standard three-dimensional control volume sub-diagram. In the standard two-dimensional control surface diagram, the standard three-dimensional control volume sub-diagram is mapped to a standard two-dimensional control surface sub-diagram. Then, the triangular surface formed by the surface center point, the fixed anchor standard surface point and the anchor chain standard straight line connecting them is taken as the standard control surface area in the standard two-dimensional control surface sub-diagram.

[0018] As a preferred embodiment of the present invention, the anchor chain dynamic control module includes a dynamic two-dimensional control surface sub-graph construction unit, a sample data recording unit, and an instruction data generation unit;

[0019] The dynamic two-dimensional control surface sub-graph construction unit marks the real-time movement position of the self-floating bracket as dynamic body points based on the movement position of the self-floating bracket under the impact of sea waves, and marks the anchor chain connecting the self-floating bracket as dynamic curve based on the real-time movement position of the self-floating bracket; and 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 curve of the anchor chain is mapped to a dynamic straight line of the anchor chain, thus obtaining a dynamic two-dimensional control surface sub-graph composed of the dynamic surface points of the self-floating bracket, the standard surface points of the fixed anchor, and the dynamic straight lines of the anchor chain connecting them.

[0020] The sample data recording unit is used to uniformly encode the self-floating brackets and fixed anchors in the matrix-like grid body composed of their respective floating brackets, lock out the standard curve and dynamic curve of the anchor chain through the dual coding number of the self-floating brackets and fixed anchors, and generate a standard control surface area sample set to be controlled by using the standard control surface area as the category.

[0021] The instruction data generation unit is used to, after determining the main impact direction, calibrate the anchor chain adjustment value based on the standard curve and dynamic curve of the anchor chain of each floating bracket in the standard control area corresponding to the main impact direction, and generate an anchor chain control command through the anchor chain adjustment value. If the anchor chain adjustment value is positive, it indicates that the release mechanism is in the release state, and the release length value is equal to the anchor chain adjustment value. If the anchor chain adjustment value is negative, it indicates that the release mechanism is in the retraction state, and the retraction 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 release mechanism stops the release action.

[0022] A smart dynamic anchor chain control method is applicable to marine anchoring mechanisms that utilize wave energy power generation. This wave energy power generation marine anchoring mechanism employs a matrix-like grid-interval arrangement of self-floating support frames. These frames are used to place and secure buoyancy devices. Fixed anchors are positioned at equal intervals along the seabed, with the center point directly below the self-floating support frame. The self-floating support frame is connected to each fixed anchor via anchor chains. One end of the anchor chain is connected to the fixed anchor via a deployment and retrieval mechanism, while the other end is fixedly connected to the self-floating support frame. The deployment and retrieval mechanism is fixedly mounted on the fixed anchor, and a motor is installed on its rotating shaft. The rotation of the motor drives the rotation of the deployment and retrieval mechanism's rotating shaft, thereby achieving dynamic control of the anchor chain.

[0023] It should be noted that the matrix-style grid layout of the self-floating support frame can be evenly spaced; the number of directions of the evenly spaced fixed anchors can be three-way, four-way, or other different directions, i.e., different numbers of fixed anchors; the take-up and release mechanism installed on the fixed anchor is a device similar to a coiled reel that can reel in the anchor chain, so it is not described in this invention. The power supply of the motor installed on the rotating shaft of the take-up and release mechanism can be transmitted in reverse from the wave energy power generation system or powered by a battery pack. The take-up and release mechanism can be fixed by a base, which can be installed on the top platform of the fixed anchor. If it is three-way anchoring, three take-up and release mechanisms are fixed on the base; if it is four-way anchoring, four take-up and release mechanisms are fixed on the base. In multi-way anchoring, each take-up and release mechanism is connected to a self-floating support frame through an anchor chain, so as to facilitate the quick disassembly and assembly of the equipment and facilitate later maintenance.

[0024] The dynamic control method for anchor chains under this mechanism includes the following steps:

[0025] Step S1: Construct a matrix-type gridded net body and simulate the shape of the matrix-type gridded net body under static and undisturbed conditions at sea to obtain a standard three-dimensional control volume diagram, which includes standard points of self-floating brackets, standard points of fixed anchors, and standard curves of anchor chains.

[0026] Step S2: By converting three dimensions into two dimensions, the standard three-dimensional control volume diagram is mapped into a standard two-dimensional control surface diagram. In the standard three-dimensional control volume diagram, a single self-floating bracket standard body point and each fixed anchor standard body point connected by the anchor chain standard curve constitute a standard three-dimensional control volume sub-diagram, which is then mapped into a standard two-dimensional control surface sub-diagram. The standard two-dimensional control surface sub-diagram includes self-floating bracket standard surface points, fixed anchor standard surface points, and anchor chain standard straight lines. When the self-floating bracket standard body point is taken as the body center point, the body center point is mapped to the surface center point to obtain the standard control surface area.

[0027] Step S3: Based on the movement position of the self-floating support under the impact of waves, a dynamic two-dimensional control surface sub-map is generated. The dynamic two-dimensional control surface sub-map includes the dynamic surface points of the self-floating support, the dynamic straight lines of the anchor chain, and the standard surface points of the fixed anchor. The dynamic two-dimensional control surface sub-map and the standard two-dimensional control surface sub-map 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 support are located.

[0028] Step S4: Based on the standard control area results of the dynamic surface point marking of the self-floating bracket, generate a standard control area sample set to be controlled, using the standard control area as the category, to record the coding number of the self-floating bracket;

[0029] Step S5: Based on the sample set to be controlled in the standard control area, evaluate the overall dynamic tendency of the standard control area caused by wave impact in the standard two-dimensional control diagram to determine the main impact direction; for each floating platform in the standard control area corresponding to the main impact direction, compare the dynamic curve of the anchor chain with the standard curve of the anchor chain, and control the floating platform to adjust to the center point of the surface in its standard two-dimensional control diagram through the command deployment and retraction mechanism.

[0030] As a preferred embodiment of the present invention, the specific implementation process of step S1 includes:

[0031] The seawater body at the location of the matrix grid-like net body composed of each floating bracket is used as the three-dimensional simulation space in the three-dimensional simulation model to simulate the shape of the matrix grid-like net body under static and undisturbed conditions at sea, so as to obtain a standard three-dimensional control volume diagram. In the standard three-dimensional control volume diagram, the floating bracket is mapped to the standard body point of the 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.

[0032] In the standard three-dimensional control diagram, the self-floating bracket standard body point is taken as the body center point of the standard three-dimensional control 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 diagram is marked.

[0033] As a preferred embodiment of the present invention, the specific implementation process of step S2 includes:

[0034] When converting a three-dimensional simulation model into a two-dimensional simulation model, in the standard three-dimensional control volume diagram, the sea surface at the location of the matrix-like grid body composed of each floating bracket is taken as the bottom surface of the three-dimensional simulation space. The standard body points of the floating brackets, the standard body points of the fixed anchors, and the standard curves of the anchor chains are mapped to the bottom surface to obtain a standard two-dimensional control surface diagram. In the standard two-dimensional control surface diagram, the standard body points of the floating brackets are mapped to the standard surface points of the floating brackets, the standard body points of the fixed anchors are mapped to the standard surface points of the fixed anchors, and the standard curves of the anchor chains are mapped to the standard straight lines of the anchor chains. When the standard body points of the floating brackets are taken as the center point of the volume, the center point of the volume is mapped to the center point of the surface.

[0035] In the standard three-dimensional control volume diagram, a single self-floating bracket standard body point is considered a local control object. A single self-floating bracket standard body point and each fixed anchor standard body point connected by the anchor chain standard curve constitute a local standard control volume. This local standard control volume is denoted as a standard three-dimensional control volume sub-diagram. Furthermore, in the standard two-dimensional control surface diagram, the standard three-dimensional control volume sub-diagram is mapped to a standard two-dimensional control surface sub-diagram. The standard two-dimensional control surface sub-diagram contains several standard control surface regions. Each standard control surface region is a triangular surface formed by the surface center point, fixed anchor standard surface points, and the standard anchor chain lines connecting them. The number of standard control surface regions in the standard two-dimensional control surface sub-diagram is equal to the number of fixed anchor standard surface points in the standard two-dimensional control surface sub-diagram.

[0036] It should be noted that, whether it is a four-way anchored wave energy power generation marine anchoring mechanism or a three-way or different standard direction, that is, three or four fixed anchors with the self-floating bracket as the local control object, the standard control surface area is a triangular surface. In essence, after determining the number of fixed anchors, the fixed anchors and the self-floating bracket are connected by a chain-direction anchor chain, thus forming a cone-like structure between the self-floating bracket and each fixed anchor. The sides of the cone are all triangular in shape, and the self-floating bracket is the vertex of the cone. That is, the triangle has more stable structural characteristics. After projecting the three-dimensional cone-like structure, the standard two-dimensional control surface sub-diagram of the present invention is obtained.

[0037] As a preferred embodiment of the present invention, the specific implementation process of step S3 includes:

[0038] In the 3D simulation model, the movement position of the self-floating support under the impact of sea waves is recorded in real time. The real-time movement position points of the self-floating support are marked as dynamic volume points of the self-floating support. Based on the real-time movement position of the self-floating support, the anchor chains connecting the self-floating support are marked as dynamic curves of the anchor chains. In the 2D simulation model, the dynamic volume points of the self-floating support are mapped to dynamic surface points of the self-floating support, and the dynamic curves of the anchor chains are mapped to dynamic straight lines of the anchor chains. Thus, a dynamic 2D control surface sub-map is obtained, which consists of the dynamic surface points of the self-floating support, the standard surface points of the fixed anchor, and the dynamic straight lines of the anchor chains connecting them.

[0039] The dynamic two-dimensional control surface sub-map and the standard two-dimensional control surface sub-map are overlapped with the fixed anchor standard surface point. By overlapping with the fixed anchor standard surface point, the standard control surface area of ​​the floating bracket dynamic surface point in the standard two-dimensional control surface sub-map is marked.

[0040] It should be noted that the standard control surface area also reflects the orientation of the self-floating support on the sea surface. For example, in the four-way anchoring mechanism, the standard two-dimensional control surface sub-map contains four triangular faces, which can be used to point east, south, west or north. This standard control surface area, which can reflect the orientation, can reflect the position state of the self-floating support caused by the impact of waves from which direction in the matrix grid.

[0041] As a preferred embodiment of the present invention, the specific implementation process of step S4 includes:

[0042] In the matrix-like grid structure composed of individual floating supports, the self-floating supports and fixed anchors are uniformly coded.

[0043] In the 3D simulation model, the lengths of the standard curve and dynamic curve of the anchor chain, formed by the self-floating support and the fixed anchor, are respectively denoted as... and , where i and j are the code numbers of the self-floating bracket and the fixed anchor, respectively;

[0044] In the two-dimensional simulation model, each standard control surface region in the standard two-dimensional control surface sub-graph is uniformly coded, and the x-th type of standard control surface region is denoted as... And construct a standard control surface region sample set to be controlled, denoted as If the dynamic surface point of the self-floating bracket corresponding to the i-th self-floating bracket exists within the x-th type of standard control surface region, then the code number of the self-floating bracket is recorded in the control sample set of the standard control surface region. middle.

[0045] As a preferred embodiment of the present invention, the specific implementation process of step S5 includes:

[0046] In a two-dimensional simulation model, based on the control sample set of the standard control surface region, the overall dynamic tendency of the standard control surface region caused by wave impact in the standard two-dimensional control surface diagram is evaluated. In the formula, This represents the overall dynamic tendency of the x-th type standard control surface region. This represents the standard control surface region and the sample set to be controlled. The total number of self-floating brackets included, where y represents the total number of classes in the standard control area;

[0047] Select the standard control area corresponding to the maximum value of the overall dynamic tendency. As the main impact direction of the matrix-like grid-like net body composed of its respective floating supports;

[0048] It should be noted that the overall dynamic tendency is a statistical analysis of the number of self-floating support dynamic points contained in each type of standard control area. If a certain type of standard control area contains the most self-floating support dynamic points, it reflects that most of the self-floating supports in the matrix grid body migrate to that type of standard control area under the impact of waves, thus enabling the identification of the main impact direction.

[0049] For each floating support frame within the standard control area corresponding to the main impact direction, the adjustment of each floating support frame toward the center point of its respective standard two-dimensional control area sub-map is as follows:

[0050] 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 anchor chain dynamic curve length The adjustment value of the anchor chain connecting the self-floating bracket and the fixed anchor is... If the anchor chain adjustment value is positive, it means that the release mechanism is in the release state, and the release length is equal to the anchor chain adjustment value. If the anchor chain adjustment value is negative, it means that the release mechanism is in the retraction state, and the retraction 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 release mechanism has stopped the release action.

[0051] It should be noted that under the main impact direction, the self-floating supports, under the traction of the anchor chains, experience strong impact forces, posing a safety risk to their impact resistance. Therefore, it is necessary to adjust the floating positions of these self-floating supports on the sea surface and compare them using the standard anchor chain curve length. Simultaneously, in the standard 3D control sub-map, the anchor chains connecting the self-floating supports are mutually traction-dependent. After adjusting the lengths of each dynamic anchor chain curve in the standard 3D control sub-map to match the standard anchor chain curve length, the self-floating supports move closer to the center point of the body, thereby enabling rapid and synchronous optimization of overall impact resistance. This allows the matrix-like grid structure to respond more effectively to wave energy. Furthermore, the dynamic control of the anchor chains does not consider the possibility of anchor chain breakage. In the event of anchor chain breakage, a traction force sensor can be added to the deployment and retrieval mechanism to quickly detect the breakage. For example, a sudden loss of traction force indicates a risk of anchor chain breakage, allowing personnel to quickly replace or maintain the anchor chains.

[0052] Compared with the prior art, the beneficial effects achieved by the present invention are:

[0053] By standardizing 3D and 2D modeling, a precise benchmark model for the anchoring system was established. Combined with the comparative analysis of dynamic and standard models, quantitative adjustment of the anchor chain length can be achieved, significantly improving adjustment accuracy and effectively preventing excessive stretching or slack of the anchor chain. Compared with simple tension adjustment technology, this invention eliminates the blindness of adjustment by dividing the standard control surface area and judging the main impact direction. Differentiated control strategies can be formulated for self-floating brackets with different impact directions, thereby improving the collaborative control effect of multiple self-floating brackets.

[0054] By assessing the overall dynamic tendency, this invention can determine the main impact direction in a short time, prioritize the adjustment of the self-floating support in that direction, significantly shorten the adjustment time, improve the dynamic response speed, and quickly restore the self-floating support to the optimal working position, ensuring the stable operation of wave energy power generation equipment, etc.

[0055] Through precise control, this invention enables the anchor chain to always be in a reasonable working state close to the standard length, avoiding the anchor chain from being subjected to abnormal tension for a long time. Stabilizing the position of the self-floating bracket can reduce mechanical wear caused by equipment deviation, thereby improving the overall reliability of the equipment. Attached Figure Description

[0056] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used together with the embodiments of the invention to explain the invention and do not constitute a limitation thereof.

[0057] Figure 1 This is a schematic diagram of the steps of the intelligent dynamic anchor chain control method of the present invention. Detailed Implementation

[0058] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0059] In this first embodiment: an intelligent dynamic anchor chain control system is provided, which includes: a take-up and release mechanism module, a three-dimensional simulation module, a two-dimensional simulation module, and an anchor chain dynamic control module;

[0060] The outgoing and retracting mechanism module is used to receive and execute anchor chain control commands. The outgoing and retracting mechanism is fixedly installed on the fixed anchor, and a motor is installed on the rotating shaft of the outgoing and retracting mechanism. The rotation of the rotating shaft of the outgoing and retracting mechanism is driven by controlling the rotation of the motor to execute the anchor chain control commands. The anchor chain control commands include outgoing chain status commands, retracting chain status commands, and commands to stop outgoing and retracting actions.

[0061] The three-dimensional simulation module is used to construct a matrix-type gridded net body and simulate the shape of the matrix-type gridded net body under static and undisturbed conditions at sea, so as to obtain a standard three-dimensional control volume diagram.

[0062] The three-dimensional simulation module includes a three-dimensional point position characterization unit and an anchor chain standard curve length measurement unit.

[0063] The three-dimensional point position characterization unit is used to map the self-floating bracket to a standard body point of the self-floating bracket, the fixed anchor to a standard body point of the fixed anchor, and the anchor chain to a standard curve of the anchor chain in the standard three-dimensional control volume diagram.

[0064] The anchor chain standard curve length measuring unit is used to take the self-floating bracket standard body point as the body 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 body center point in the standard three-dimensional control body diagram.

[0065] The two-dimensional simulation module maps the standard three-dimensional control volume diagram into a standard two-dimensional control surface diagram by converting three-dimensional to two-dimensional. In the standard three-dimensional control volume diagram, a single self-floating bracket standard body point and each fixed anchor standard body point connected by the anchor chain standard curve constitute a standard three-dimensional control volume sub-diagram, which is then mapped into a standard two-dimensional control surface sub-diagram to obtain the standard control surface region.

[0066] The two-dimensional simulation module includes a dimension position point conversion unit and a standard control surface region division unit.

[0067] The dimensional position point conversion unit is used to map the standard body point of the self-floating bracket to the standard surface point of the self-floating bracket, the standard body point of the fixed anchor to the standard surface point of the fixed anchor, and the standard curve of the anchor chain to the standard straight line of the anchor chain in the standard two-dimensional control surface diagram. When the standard body point of the self-floating bracket is used as the body center point, the body center point is mapped to the surface center point.

[0068] The standard control surface area division unit is used in the standard three-dimensional control volume diagram to take a single self-floating bracket standard body point as a local control object. The single self-floating bracket standard body point and each fixed anchor standard body point connected by the anchor chain standard curve constitute a local standard control body. The local standard control body is recorded as a standard three-dimensional control volume sub-diagram. In the standard two-dimensional control surface diagram, the standard three-dimensional control volume sub-diagram is mapped to a standard two-dimensional control surface sub-diagram. Then, the triangular surface formed by the surface center point, the fixed anchor standard surface point and the anchor chain standard straight line connecting them is taken as the standard control surface area in the standard two-dimensional control surface sub-diagram.

[0069] The anchor chain dynamic control module generates a dynamic two-dimensional control surface sub-map based on the movement position of the self-floating bracket under the impact of sea waves. This dynamic two-dimensional control surface sub-map is then overlaid with a standard two-dimensional control surface sub-map and fixed anchor standard points to mark the standard control surface area where the dynamic points of the self-floating bracket are located. A sample set of standard control surface areas to be controlled is generated to record the coding number of the self-floating bracket. Based on this sample set, the overall dynamic tendency of the standard control surface area in the standard two-dimensional control surface map caused by sea wave impact is evaluated to determine the main impact direction. Anchor chain control commands are then generated through the analysis of the main impact direction.

[0070] The anchor chain dynamic control module includes a dynamic two-dimensional control surface sub-graph construction unit, a sample data recording unit, and an instruction data generation unit.

[0071] The dynamic two-dimensional control surface sub-graph construction unit marks the real-time movement position of the self-floating bracket as dynamic body points based on the movement position of the self-floating bracket under the impact of sea waves, and marks the anchor chain connecting the self-floating bracket as dynamic curve based on the real-time movement position of the self-floating bracket; and 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 curve of the anchor chain is mapped to a dynamic straight line of the anchor chain, thus obtaining a dynamic two-dimensional control surface sub-graph composed of the dynamic surface points of the self-floating bracket, the standard surface points of the fixed anchor, and the dynamic straight lines of the anchor chain connecting them.

[0072] The sample data recording unit is used to uniformly encode the self-floating brackets and fixed anchors in the matrix-like grid body composed of their respective floating brackets, lock out the standard curve and dynamic curve of the anchor chain through the dual coding number of the self-floating brackets and fixed anchors, and generate a standard control surface area sample set to be controlled by using the standard control surface area as the category.

[0073] The instruction data generation unit is used to, after determining the main impact direction, calibrate the anchor chain adjustment value based on the standard curve and dynamic curve of the anchor chain of each floating bracket in the standard control area corresponding to the main impact direction, and generate an anchor chain control command through the anchor chain adjustment value. If the anchor chain adjustment value is positive, it indicates that the release mechanism is in the release state, and the release length value is equal to the anchor chain adjustment value. If the anchor chain adjustment value is negative, it indicates that the release mechanism is in the retraction state, and the retraction 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 release mechanism stops the release action.

[0074] Please see Figure 1In this second embodiment: an intelligent dynamic anchor chain control method is provided, applicable to the first embodiment described above. This embodiment is based on the core logic of "standardized modeling - dynamic monitoring - precise control," constructing a standardized spatial morphology model of the anchoring system through a combination of three-dimensional and two-dimensional simulation modeling. Then, based on the comparative analysis of dynamic monitoring data and the standard model, intelligent dynamic control of the anchor chain is achieved. This can be summarized as follows:

[0075] Based on static, undisturbed conditions at sea, a standard three-dimensional control volume diagram of a matrix-grid network is constructed. The self-floating support, fixed anchor, and anchor chain are mapped to standard points and standard curves, respectively, clarifying the spatial relationship of each component and the standard length of the anchor chain, providing a benchmark for subsequent dynamic comparison. Through dimensional transformation, the three-dimensional control volume diagram is mapped to a standard two-dimensional control surface diagram with the sea surface as the base. The local control volume composed of a single self-floating support and its corresponding fixed anchor is transformed into a two-dimensional sub-diagram containing a triangular standard control surface region. Utilizing the stability of the triangular structure, the normal working area of ​​the self-floating support is accurately divided, and the precise association between each component and the region is achieved through coding.

[0076] In actual marine environments, the movement position of the self-floating support under the impact of waves is recorded in real time, generating a dynamic two-dimensional control surface sub-map containing dynamic surface points of the self-floating support and dynamic straight lines of the anchor chain. By overlaying the dynamic sub-map with the standard sub-map with fixed anchor standard surface points, the deviation of the dynamic position of the self-floating support from the standard control surface area can be quickly marked, thereby constructing a sample set to be controlled and achieving accurate identification of self-floating supports in abnormal positions.

[0077] Based on the control sample set, the main impact direction of the waves is determined by calculating the overall dynamic tendency of each standard control area (i.e., the proportion of abnormal self-floating brackets in that area). For the self-floating brackets in the area of ​​the main impact direction, the length difference between their anchor chain dynamic curve and the standard curve is compared to obtain the anchor chain adjustment value. Then, the chain is released, retrieved, or stopped by the release and retrieval mechanism. By utilizing the synergistic traction of multiple fixed anchors on a single self-floating bracket, the self-floating bracket is quickly restored to the center point of the standard control area, achieving dynamic and precise control of the anchor chain.

[0078] In this second embodiment, the method includes the following steps:

[0079] Step S1: Construct a matrix-type gridded net body and simulate the shape of the matrix-type gridded net body under static and undisturbed conditions at sea to obtain a standard three-dimensional control volume diagram, which includes standard points of self-floating brackets, standard points of fixed anchors, and standard curves of anchor chains.

[0080] For example, the seawater body at the location of the matrix grid-like net body composed of each floating bracket is used as the three-dimensional simulation space in the three-dimensional simulation model to simulate the shape of the matrix grid-like net body under static and undisturbed conditions at sea, so as to obtain a standard three-dimensional control volume diagram. In the standard three-dimensional control volume diagram, the floating bracket is mapped to the standard body point of the 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.

[0081] In the standard three-dimensional control diagram, the self-floating bracket standard body point is taken as the body center point of the standard three-dimensional control 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 diagram is marked.

[0082] Step S2: By converting three dimensions into two dimensions, the standard three-dimensional control volume diagram is mapped into a standard two-dimensional control surface diagram. In the standard three-dimensional control volume diagram, a single self-floating bracket standard body point and each fixed anchor standard body point connected by the anchor chain standard curve constitute a standard three-dimensional control volume sub-diagram, which is then mapped into a standard two-dimensional control surface sub-diagram. The standard two-dimensional control surface sub-diagram includes self-floating bracket standard surface points, fixed anchor standard surface points, and anchor chain standard straight lines. When the self-floating bracket standard body point is taken as the body center point, the body center point is mapped to the surface center point to obtain the standard control surface area.

[0083] For example, when converting a three-dimensional simulation model into a two-dimensional simulation model, in the standard three-dimensional control volume diagram, the sea surface at the location of the matrix-like grid body composed of each floating bracket is taken as the bottom surface of the three-dimensional simulation space. The standard body points of the floating brackets, the standard body points of the fixed anchors, and the standard curves of the anchor chains are mapped to the bottom surface to obtain a standard two-dimensional control surface diagram. In the standard two-dimensional control surface diagram, the standard body points of the floating brackets are mapped to the standard surface points of the floating brackets, the standard body points of the fixed anchors are mapped to the standard surface points of the fixed anchors, the standard curves of the anchor chains are mapped to the standard straight lines of the anchor chains, and when the standard body points of the floating brackets are taken as the center points of the volume, the center points of the volume are mapped to the center points of the surfaces.

[0084] In the standard three-dimensional control volume diagram, a single self-floating bracket standard body point is considered a local control object. The single self-floating bracket standard body point and each fixed anchor standard body point connected by the anchor chain standard curve constitute a local standard control volume. This local standard control volume is denoted as a standard three-dimensional control volume sub-diagram. In the standard two-dimensional control surface diagram, the standard three-dimensional control volume sub-diagram is mapped to a standard two-dimensional control surface sub-diagram. The standard two-dimensional control surface sub-diagram contains several standard control surface regions. Each standard control surface region is a triangular surface composed of a surface center point, a fixed anchor standard surface point, and the standard anchor chain straight line connecting them. The number of standard control surface regions in the standard two-dimensional control surface sub-diagram is equal to the number of fixed anchor standard surface points in the standard two-dimensional control surface sub-diagram.

[0085] Step S3: Based on the movement position of the self-floating support under the impact of waves, a dynamic two-dimensional control surface sub-map is generated. The dynamic two-dimensional control surface sub-map includes the dynamic surface points of the self-floating support, the dynamic straight lines of the anchor chain, and the standard surface points of the fixed anchor. The dynamic two-dimensional control surface sub-map and the standard two-dimensional control surface sub-map 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 support are located.

[0086] For example, in the three-dimensional simulation model, the movement position of the self-floating bracket under the impact of sea waves is recorded in real time. The real-time movement position points of the self-floating bracket are marked as dynamic volume points of the self-floating bracket. Based on the real-time movement position of the self-floating bracket, the anchor chain connecting the self-floating bracket is marked as the anchor chain dynamic curve. In the two-dimensional simulation model, the dynamic volume points of the self-floating bracket are mapped to dynamic surface points of the self-floating bracket, and the dynamic curves of the anchor chain are mapped to dynamic straight lines of the anchor chain. Thus, a dynamic two-dimensional control surface sub-map is obtained, which consists of the dynamic surface points of the self-floating bracket, the standard surface points of the fixed anchor, and the dynamic straight lines of the anchor chain connecting them.

[0087] The dynamic two-dimensional control surface sub-map and the standard two-dimensional control surface sub-map are overlapped with the fixed anchor standard surface points. By overlapping with the fixed anchor standard surface points, the standard control surface area of ​​the dynamic surface point of the floating bracket in the standard two-dimensional control surface sub-map is marked.

[0088] Step S4: Based on the standard control area results of the dynamic surface point marking of the self-floating bracket, generate a standard control area sample set to be controlled, using the standard control area as the category, to record the coding number of the self-floating bracket;

[0089] For example, in a matrix-like grid of nets composed of their respective floating supports, the self-floating supports and fixed anchors are uniformly coded respectively;

[0090] In the 3D simulation model, the lengths of the standard curve and dynamic curve of the anchor chain, formed by the self-floating support and the fixed anchor, are respectively denoted as... and , where i and j are the code numbers of the self-floating bracket and the fixed anchor, respectively;

[0091] In the two-dimensional simulation model, each standard control surface region in the standard two-dimensional control surface sub-graph is uniformly coded, and the x-th type of standard control surface region is denoted as... And construct a standard control surface region sample set to be controlled, denoted as If the dynamic surface point of the self-floating bracket corresponding to the i-th self-floating bracket exists within the x-th standard control surface region, then the code number of the self-floating bracket is recorded in the control sample set of the standard control surface region. middle.

[0092] Step S5: Based on the sample set to be controlled in the standard control area, evaluate the overall dynamic tendency of the standard control area in the standard two-dimensional control diagram caused by wave impact to determine the main impact direction; for each floating platform in the standard control area corresponding to the main impact direction, compare the dynamic curve of the anchor chain with the standard curve of the anchor chain, and control the floating platform to adjust to the center point of the surface in its standard two-dimensional control diagram through the command deployment and retraction mechanism;

[0093] For example, in a two-dimensional simulation model, based on the control sample set of the standard control surface region, the overall dynamic tendency of the standard control surface region caused by wave impact in the standard two-dimensional control surface diagram is evaluated. In the formula, This represents the overall dynamic tendency of the x-th type standard control surface region. This represents the standard control surface region and the sample set to be controlled. The total number of self-floating brackets included, where y represents the total number of classes in the standard control area;

[0094] Select the standard control area corresponding to the maximum value of the overall dynamic tendency. As the main impact direction of the matrix-like grid-like net body composed of its respective floating supports;

[0095] Taking a four-way anchoring scenario as an example, this invention deployed a total of 100 self-floating supports. Through overall dynamic tendency analysis, it was found that 80 self-floating supports were located within the first standard control surface area, that is, the impact direction of the waves was eastward. The maximum value of the overall dynamic tendency was 0.8, and the first standard control surface area was determined to be the main impact direction.

[0096] For each floating support frame within the standard control area corresponding to the main impact direction, the adjustment of each floating support frame toward the center point of its respective standard two-dimensional control area sub-map is as follows:

[0097] 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 anchor chain dynamic curve length The adjustment value of the anchor chain connecting the self-floating bracket and the fixed anchor is... If the anchor chain adjustment value is positive, it means that the release mechanism is in the release state, and the release length is equal to the anchor chain adjustment value. If the anchor chain adjustment value is negative, it means that the release mechanism is in the retraction state, and the retraction 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 release mechanism has stopped the release action.

[0098] When a single self-floating support standard point is taken as a local control object, the dynamic curve lengths of the anchor chains corresponding to the four fixed anchors connected to the anchor chains of that single self-floating support are respectively ~ The values ​​are 10, 20, 5, and 15, and the standard curve length of the anchor chain corresponding to each anchor chain dynamic curve is as follows: ~ If the value is 10, 15, 10, 15, then the anchor chain adjustment values ​​are 0, -5, 5, 0 respectively. 0 indicates that the retraction mechanism stops retraction, -5 indicates that the retraction mechanism is in the retraction state with a retraction length of 5, and 5 indicates that the retraction mechanism is in the release state with a release length of 5.

[0099] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0100] Finally, it should be noted that the above descriptions are merely preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention 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 substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. An intelligent dynamic anchor chain control method employs a matrix-style grid-interval deployment of self-floating support frames. These frames are used to place and secure buoyancy devices. Fixed anchors are deployed at equal intervals along the seabed, with the area directly beneath the self-floating support frame as the center point. The self-floating support frames are connected to these fixed anchors via anchor chains. One end of the anchor chain is connected to a fixed anchor via a retraction mechanism, and the other end of the anchor chain is fixedly connected to a self-floating support. The retraction mechanism is fixedly mounted on the fixed anchor, and a motor is mounted on the rotating shaft of the retraction mechanism. The rotating shaft of the retraction mechanism is rotated by controlling the rotation of the motor to achieve dynamic control of the anchor chain. This control method includes the following steps: Step S1: Construct a matrix-type gridded net body and simulate the shape of the matrix-type gridded net body under static and undisturbed conditions at sea to obtain a standard three-dimensional control volume diagram, which includes standard points of self-floating brackets, standard points of fixed anchors, and standard curves of anchor chains. Step S2: By converting three dimensions into two dimensions, the standard three-dimensional control volume diagram is mapped into a standard two-dimensional control surface diagram. In the standard three-dimensional control volume diagram, a single self-floating bracket standard body point and each fixed anchor standard body point connected by the anchor chain standard curve constitute a standard three-dimensional control volume sub-diagram, which is then mapped into a standard two-dimensional control surface sub-diagram. The standard two-dimensional control surface sub-diagram includes self-floating bracket standard surface points, fixed anchor standard surface points, and anchor chain standard straight lines. When the self-floating bracket standard body point is taken as the body center point, the body center point is mapped to the surface center point to obtain the standard control surface area. Step S3: Based on the movement position of the self-floating support under the impact of waves, a dynamic two-dimensional control surface sub-map is generated. The dynamic two-dimensional control surface sub-map includes the dynamic surface points of the self-floating support, the dynamic straight lines of the anchor chain, and the standard surface points of the fixed anchor. The dynamic two-dimensional control surface sub-map and the standard two-dimensional control surface sub-map 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 support are located. Step S4: Based on the standard control area results of the dynamic surface point marking of the self-floating bracket, generate a standard control area sample set to be controlled, using the standard control area as the category, to record the coding number of the self-floating bracket; Step S5: Based on the sample set to be controlled in the standard control area, evaluate the overall dynamic tendency of the standard control area caused by wave impact in the standard two-dimensional control diagram to determine the main impact direction; for each floating platform in the standard control area corresponding to the main impact direction, compare the dynamic curve of the anchor chain with the standard curve of the anchor chain, and control the floating platform to adjust to the center point of the surface in its standard two-dimensional control diagram through the command deployment and retraction mechanism.

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 body at the location of the matrix grid-like net body composed of each floating bracket is used as the three-dimensional simulation space in the three-dimensional simulation model to simulate the shape of the matrix grid-like net body under static and undisturbed conditions at sea, so as to obtain a standard three-dimensional control volume diagram. In the standard three-dimensional control volume diagram, the floating bracket is mapped to the standard body point of the 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 diagram, the self-floating bracket standard body point is taken as the body center point of the standard three-dimensional control 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 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 volume diagram, the sea surface at the location of the matrix-like grid body composed of each floating bracket is taken as the bottom surface of the three-dimensional simulation space. The standard body points of the floating brackets, the standard body points of the fixed anchors, and the standard curves of the anchor chains are mapped to the bottom surface to obtain a standard two-dimensional control surface diagram. In the standard two-dimensional control surface diagram, the standard body points of the floating brackets are mapped to the standard surface points of the floating brackets, the standard body points of the fixed anchors are mapped to the standard surface points of the fixed anchors, and the standard curves of the anchor chains are mapped to the standard straight lines of the anchor chains. When the standard body points of the floating brackets are taken as the center point of the volume, the center point of the volume is mapped to the center point of the surface. In the standard three-dimensional control volume diagram, a single self-floating bracket standard body point is considered a local control object. The single self-floating bracket standard body point and each fixed anchor standard body point connected by the anchor chain standard curve constitute a local standard control volume. This local standard control volume is denoted as a standard three-dimensional control volume sub-diagram. In the standard two-dimensional control surface diagram, the standard three-dimensional control volume sub-diagram is mapped to a standard two-dimensional control surface sub-diagram. The standard two-dimensional control surface sub-diagram contains several standard control surface regions. Each standard control surface region is a triangular surface composed of a surface center point, a fixed anchor standard surface point, and the standard anchor chain straight line connecting them. The number of standard control surface regions in the standard two-dimensional control surface sub-diagram is equal to the number of fixed anchor standard surface points in the standard two-dimensional control surface sub-diagram.

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 3D simulation model, the movement position of the self-floating support under the impact of sea waves is recorded in real time. The real-time movement position points of the self-floating support are marked as dynamic volume points of the self-floating support. Based on the real-time movement position of the self-floating support, the anchor chains connecting the self-floating support are marked as dynamic curves of the anchor chains. In the 2D simulation model, the dynamic volume points of the self-floating support are mapped to dynamic surface points of the self-floating support, and the dynamic curves of the anchor chains are mapped to dynamic straight lines of the anchor chains. Thus, a dynamic 2D control surface sub-map is obtained, which consists of the dynamic surface points of the self-floating support, the standard surface points of the fixed anchor, and the dynamic straight lines of the anchor chains connecting them. The dynamic two-dimensional control surface sub-map and the standard two-dimensional control surface sub-map are overlapped with the fixed anchor standard surface points. By overlapping with the fixed anchor standard surface points, the standard control surface area of ​​the dynamic surface point of the floating bracket in the standard two-dimensional control surface sub-map is marked.

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-like grid structure composed of individual floating supports, the self-floating supports and fixed anchors are uniformly coded. In the 3D simulation model, the lengths of the standard curve and dynamic curve of the anchor chain, formed by the self-floating support and the fixed anchor, are respectively denoted 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 region in the standard two-dimensional control surface sub-graph is uniformly coded, and the x-th type of standard control surface region is denoted as... And construct a standard control surface region sample set to be controlled, denoted as If the dynamic surface point of the self-floating bracket corresponding to the i-th self-floating bracket exists within the x-th type of standard control surface region, then the code number of the self-floating bracket is recorded in the control sample set of the standard control surface region. 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 a two-dimensional simulation model, based on the control sample set of the standard control surface region, the overall dynamic tendency of the standard control surface region caused by wave impact in the standard two-dimensional control surface diagram is evaluated. In the formula, This represents the overall dynamic tendency of the x-th type standard control surface region. This represents the standard control surface region and the sample set to be controlled. The total number of self-floating brackets included, where y represents the total number of classes in the standard control area; Select the standard control area corresponding to the maximum value of the overall dynamic tendency. As the main impact direction of the matrix-like grid-like net body composed of its respective floating supports; For each floating support frame within the standard control area corresponding to the main impact direction, the adjustment of each floating support frame toward the center point of its respective standard two-dimensional control area sub-map 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 anchor chain dynamic curve length The adjustment value of the anchor chain connecting the self-floating bracket and the fixed anchor is... If the anchor chain adjustment value is positive, it indicates that the release mechanism is in the release state, and the release length is equal to the anchor chain adjustment value. If the anchor chain adjustment value is negative, it indicates that the release mechanism is in the retraction state, and the retraction length is equal to the absolute value of the anchor chain adjustment value. If the anchor chain adjustment value is zero, it indicates that the release mechanism has stopped the release action.

7. An intelligent dynamic anchor chain control system, executing the intelligent dynamic anchor chain control method as described in claim 1, characterized in that, The system includes: a launching and retracting mechanism module, a three-dimensional simulation module, a two-dimensional simulation module, and an anchor chain dynamic control module; The outgoing and retracting mechanism module is used to receive and execute anchor chain control commands. The outgoing and retracting mechanism is fixedly installed on the fixed anchor, and a motor is installed on the rotating shaft of the outgoing and retracting mechanism. The rotation of the rotating shaft of the outgoing and retracting mechanism is driven by controlling the rotation of the motor to execute the anchor chain control commands. The anchor chain control commands include outgoing chain status commands, retracting chain status commands, and commands to stop outgoing and retracting actions. The three-dimensional simulation module is used to construct a matrix-type gridded net body and simulate the shape of the matrix-type gridded net body under static and undisturbed conditions at sea, so as to obtain a standard three-dimensional control volume diagram. The two-dimensional simulation module maps the standard three-dimensional control volume diagram into a standard two-dimensional control surface diagram by converting three-dimensional to two-dimensional. In the standard three-dimensional control volume diagram, a single self-floating bracket standard body point and each fixed anchor standard body point connected by the anchor chain standard curve constitute a standard three-dimensional control volume sub-diagram, which is then mapped into a standard two-dimensional control surface sub-diagram to obtain the standard control surface region. The anchor chain dynamic control module generates a dynamic two-dimensional control surface sub-map based on the movement position of the self-floating bracket under the impact of waves. This dynamic sub-map is then overlaid with a standard two-dimensional control surface sub-map and the fixed anchor standard surface point to mark the standard control surface area where the dynamic surface point of the self-floating bracket is located. A sample set of the standard control surface area to be controlled is generated to record the self-floating bracket's code number. Based on this sample set, the overall dynamic tendency of the standard control surface area in the standard two-dimensional control surface map caused by wave impact is evaluated to determine the main impact direction. Anchor chain control commands are then generated through the 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 characterization unit is used to map the self-floating bracket to a standard body point of the self-floating bracket, the fixed anchor to a standard body point of the fixed anchor, and the anchor chain to a standard curve of the anchor chain in the standard three-dimensional control volume diagram. The anchor chain standard curve length measuring unit is used to take the self-floating bracket standard body point as the body center point of the standard three-dimensional control 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 diagram.

9. The intelligent dynamic anchor chain control system according to claim 7, characterized in that, The two-dimensional simulation module includes a dimension location point conversion unit and a standard control surface region division unit; The dimensional position point conversion unit is used to map the standard body point of the self-floating bracket to the standard surface point of the self-floating bracket, the standard body point of the fixed anchor to the standard surface point of the fixed anchor, and the standard curve of the anchor chain to the standard straight line of the anchor chain in the standard two-dimensional control surface diagram. When the standard body point of the self-floating bracket 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 in the standard three-dimensional control volume diagram to take a single self-floating bracket standard body point as a local control object. The single self-floating bracket standard body point and each fixed anchor standard body point connected by the anchor chain standard curve constitute a local standard control body. The local standard control body is recorded as a standard three-dimensional control volume sub-diagram. In the standard two-dimensional control surface diagram, the standard three-dimensional control volume sub-diagram is mapped to a standard two-dimensional control surface sub-diagram. Then, the triangular surface formed by the surface center point, the fixed anchor standard surface point and the anchor chain standard straight line connecting them is taken as the standard control surface area in the standard two-dimensional control surface sub-diagram.

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 sub-graph construction unit, a sample data recording unit, and an instruction data generation unit; The dynamic two-dimensional control surface sub-graph construction unit marks the real-time movement position of the self-floating bracket as dynamic body points based on the movement position of the self-floating bracket under the impact of sea waves, and marks the anchor chain connecting the self-floating bracket as dynamic curve based on the real-time movement position of the self-floating bracket; and 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 curve of the anchor chain is mapped to a dynamic straight line of the anchor chain, thus obtaining a dynamic two-dimensional control surface sub-graph composed of the dynamic surface points of the self-floating bracket, the standard surface points of the fixed anchor, and the dynamic straight lines of the anchor chain connecting them. The sample data recording unit is used to uniformly encode the self-floating brackets and fixed anchors in the matrix-like grid body composed of their respective floating brackets, lock out the standard curve and dynamic curve of the anchor chain through the dual coding number of the self-floating brackets and fixed anchors, and generate a standard control surface area sample set to be controlled by using the standard control surface area as the category. The instruction data generation unit is used to, after determining the main impact direction, calibrate the anchor chain adjustment value based on the standard curve and dynamic curve of the anchor chain of each floating bracket in the standard control area corresponding to the main impact direction, and generate an anchor chain control command through the anchor chain adjustment value. If the anchor chain adjustment value is positive, it indicates that the release mechanism is in the release state, and the release length value is equal to the anchor chain adjustment value. If the anchor chain adjustment value is negative, it indicates that the release mechanism is in the retraction state, and the retraction 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 release mechanism stops the release action.

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